WO2006137239A1 - 自動機械システムおよびその通信制御方法 - Google Patents
自動機械システムおよびその通信制御方法 Download PDFInfo
- Publication number
- WO2006137239A1 WO2006137239A1 PCT/JP2006/310453 JP2006310453W WO2006137239A1 WO 2006137239 A1 WO2006137239 A1 WO 2006137239A1 JP 2006310453 W JP2006310453 W JP 2006310453W WO 2006137239 A1 WO2006137239 A1 WO 2006137239A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- controller
- wireless communication
- operation unit
- teaching operation
- portable teaching
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33192—Radio link, wireless
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36163—Local as well as remote control panel
Definitions
- the present invention relates to an automatic machine system for connecting an automatic machine controller and a teaching device via wireless communication and a communication control method thereof.
- a system for controlling automatic machines, motors, and industrial robots has a control unit for controlling the operations of the automatic machines, motors, and robots, and is portable that can be carried by an operator during teaching work.
- a teaching operation part also called a pendant
- FIG. 5 a configuration diagram of a conventional robot system described in Patent Document 1 is shown in FIG.
- 101 is a robot
- 102 is a control unit that controls the operation of the robot 101
- 103 is a portable teaching operation unit
- 104 is an operation button or emergency stop between the control unit 102 and the portable teaching operation unit 103.
- It is a cable that transmits information such as.
- a detailed view of the portable teaching operation unit 103 is shown in FIG.
- reference numeral 105 denotes a substantially T-shaped casing
- 106 denotes a hand portion held by an operator.
- a keyboard (or key sheet) 107 that is operated during teaching work, an L CD display 108 that displays various information such as teaching data and robot position, and an emergency stop switch 109 (emergency stop) Corresponding to the operation means).
- a cable 104 is connected to the housing 105.
- the axis operation information is transmitted to the control unit 102 via the cable 104, and the control unit 102 outputs a command to a drive axis motor (not shown) of the robot 101.
- the direction key is a key for instructing the motor operating direction during teaching work.
- the emergency stop information is transmitted to the control unit 102 via the cable 104, and the control unit 102 transmits the driving mode (not shown) of the robot 101.
- the power supply to the motor is cut off, and each drive shaft motor is braked (not shown) to forcibly stop the operation of the robot 101. This makes it possible to make an emergency stop of the robot with certainty against unintended movements.
- Patent Document 2 discloses that a portable teaching operation unit having an emergency stop operation unit for interrupting power supply to a robot drive motor and placing the robot in an emergency stop state controls the robot. It describes means for realizing an emergency stop function in a robot system configured to communicate with a control unit wirelessly.
- Patent Document 3 when a signal with a normal transmitter provided in the portable teaching operation unit is interrupted, a stop signal for stopping the operation of the robot is output to the control unit, and the control unit is stopped.
- a stop signal for stopping the operation of the robot is output to the control unit, and the control unit is stopped.
- Patent Document 1 Japanese Patent Laid-Open No. 2000-280193 (page 7, FIG. 1 and FIG. 2)
- Patent Document 2 JP 2004-148488 A
- Patent Document 3 JP-A-7-195285 (Page 3, Figure 1)
- an object of the present invention is to provide an automatic machine system and a communication control method therefor without stopping the robot operation even when a communication failure occurs in wireless communication.
- the present invention is configured as follows to solve the above problems.
- the invention according to claim 1 is an automatic machine system including a mechanism unit including one or more drive mechanisms, a controller for driving and controlling the mechanism units, and a portable teaching operation unit for operating and teaching the mechanism units.
- the controller includes: a controller wireless communication unit that performs wireless communication with the portable teaching operation unit; and the mechanism unit based on a command signal of the portable teaching operation unit force received by the controller wireless communication unit.
- a drive unit that drives, the portable teaching operation unit includes a teaching operation unit wireless communication unit that performs wireless communication with the controller, and a wireless switching switch that selects establishment or cancellation of wireless communication with the controller; An emergency stop switch for shutting off and stopping driving energy supply to the driving unit, and a display device for presenting information to an operator are provided. .
- the portable teaching operation unit transmits a wireless communication cancellation request to the controller by selecting a cancellation side with the wireless switching switch, and the controller cancels the wireless communication.
- the wireless communication established state with the portable teaching operation unit is canceled, and the stop of the driving unit by the emergency stop switch of the portable teaching operation unit is invalidated.
- the controller when the controller reproduces the operation taught by the mechanism unit, the controller cancels establishment of wireless communication with the portable teaching operation unit and the portable teaching operation.
- the stop of the drive unit by the emergency stop switch of the unit is invalidated.
- the portable teaching operation unit performs setting for establishing wireless communication for each of the plurality of controllers when the wireless communication is not established, After selecting a controller, a wireless communication establishment request is transmitted to the selected controller by selecting an establishment side with the wireless switching switch.
- the invention according to claim 6 is characterized in that the wireless switching switch is a touch switch provided on a display screen of the portable teaching operation unit.
- the invention according to claim 8 is characterized in that the mechanism section is a robot.
- the invention according to claim 9 relates to a communication control method for an automatic machine system including a controller that drives and controls a mechanism unit including one or more drive mechanisms, and a portable teaching operation unit that operates the mechanism unit. Then, by operating the wireless switching switch of the portable teaching operation unit, the wireless communication between the portable teaching operation unit and the controller is established or canceled. If the controller enables the function to shut off and stop the drive energy supply to the mechanism by the emergency stop switch of the portable teaching operation unit, and the wireless communication establishment is canceled, the portable teaching operation The function of shutting off and stopping the drive energy supply to the mechanism unit by the emergency stop switch of the unit is invalidated by the controller.
- the operator when the taught operation is reproduced, the operator cancels the establishment of wireless communication between the teaching device and the controller with the wireless switching switch of the portable teaching operation unit, and is portable.
- the function that causes the emergency stop of the mechanism by the emergency stop switch operation of the teaching operation unit even if a wireless communication failure occurs during playback operation, the operation of the mechanism does not stop, affecting the production process. Don't give it! /
- wireless communication between the portable teaching operation unit and the controller is established by the wireless switching switch of the portable teaching operation unit, and the emergency stop switch of the portable teaching operation unit is established.
- connection target controller is selected and the wireless switching switch is established with the wireless switching switch.
- the setting of the connection target controller can be registered in advance, and work can be done by following the selection and switch operations and the! / ⁇ ⁇ procedure. It is also possible to prevent the establishment of a wireless connection with the V ⁇ control device, which is not intended by the operator's mistaken operation!
- the wireless switching switch is a touch switch on the display screen of the portable teaching operation unit, there is no space for arranging keys on the portable teaching operation unit. This also makes it possible to reduce the size of the portable teaching operation unit.
- the monitor request is transmitted to the controller from the portable teaching operation unit by operating the wireless switching switch, and the emergency stop switch of the portable teaching operation unit is operated to By disabling the function to stop and sending the information in the controller to the portable teaching operation unit and presenting it on the display screen, the operation of the mechanism unit even when a wireless communication failure occurs during playback operation As a result, the operator can monitor the controller state with the portable teaching operation unit at hand.
- the wireless switching switch of the portable teaching operation unit cancels the establishment of the wireless communication between the portable teaching operation unit and the controller, and the portable teaching operation unit By disabling the emergency stop switch function that stops the mechanism, the mechanism does not stop even if a wireless communication failure occurs during regeneration, etc., and the production process is not affected. There is.
- FIG. 1 is a block diagram of a robot system according to a first embodiment of the present invention.
- FIG. 2 is a detailed view of the portable teaching operation unit in the first embodiment of the present invention.
- FIG. 3 is a detailed view of the robot system in the first embodiment of the present invention.
- FIG. 4 is a detailed view of a portable teaching operation unit in the third embodiment of the present invention.
- FIG. 1 is a configuration diagram of an automatic machine (here, a robot) system in a first embodiment of the present invention.
- 1 is a robot
- 2 is a controller that controls the operation of robot 1
- 3 is a portable teaching operation unit
- 4 is an operation button, emergency stop, etc. between controller 2 and portable teaching operation unit 3.
- Wireless communication that transmits information (reference 4 is drawn schematically)
- FIG. 5 is a substantially T-shaped housing, and 6 is a hand portion gripped by an operator.
- the operation surface of the case 5 has an operator
- a keyboard (or key sheet) 7 that is operated by the keyboard
- an LCD display 8 that displays various information such as teaching data and robot position
- an emergency stop switch 9 corresponding to an emergency stop operation means
- the LCD display may be another display means such as an organic EL display.
- the housing 5 is provided with an antenna 10 which is a transmission / reception means of the wireless communication 4, a battery 11 for supplying power independently from the controller 2, and a power switch 12 for starting and stopping power supply Z. ing.
- FIG. 21 is a control unit that calculates a current command to the drive motor
- 22 is a servo amplifier that drives the drive motor by the current command
- 23 is a drive motor attached to the robot 1
- 24 is a transmission / reception means for wireless communication 4.
- An antenna, 25, is an LCD display that displays robot operating status and alarms.
- the LCD display may be other display means such as an organic EL display.
- the axis movement information is transmitted to the control unit 21 of the controller 2 via the wireless communication 4,
- the control unit 21 operates the robot 1 by supplying electric power to the drive motor 23 of the robot 1.
- the emergency stop information is transmitted to the controller 2 via the wireless communication 4, and the control unit 21 cuts off the power supply to the drive motor 23 of the robot 1 to cut off the robot.
- the operation of 1 is forcibly stopped. With this emergency stop function, the robot 1 is surely stopped for unexpected movements.
- the operator first repeats the operation of moving the robot 1 to an appropriate position using the operation button on the portable teaching operation unit 3 and storing the position. Then, teaching work constituting a series of operations is performed. When the teaching work is completed, a series of operations taught to the robot 1 are continuously replayed by commands from the portable teaching operation unit 3 and the controller 2 to perform the desired work.
- a wireless switching switch 13 is newly provided in the portable teaching operation unit 3.
- wireless communication between the portable teaching operation unit 3 and the controller 2 is performed. It is possible to select whether to cut off the key to establish communication.
- the operator switches the wireless switching switch 13 to the establishment side, so that a wireless communication establishment request is transmitted from the portable teaching operation unit 3 to the controller 2, and the controller 2 communicates with the portable teaching operation unit 3.
- Establish wireless communication By establishing this wireless communication, the controller 2 enables the energization control to the servo amplifier 22 by the emergency stop switch 9 from the portable teaching operation unit 3.
- the energization control to the servo amplifier 22 by the emergency stop switch 9 means that the emergency stop switch 9 is pushed down.
- the servo amplifier 22 In the (OFF) state, the servo amplifier 22 is energized and the emergency stop switch 9 is pushed down.
- the (ON) state it means that the servo amplifier 22 is turned off.
- the power supply to the servo amplifier 22 is cut off, the power supply to the drive motor 23 is also cut off and the robot 1 stops.
- the operator can safely drive the motor 23 of the robot 1 and perform the teaching work of the mouth bot 1.
- the emergency stop switch operation information is transmitted from the portable teaching operation unit 3 by wireless communication 4. Transmitted to controller 2, and controller 2 cuts off power to servo amplifier 22 connected to motor 23. Since the drive power supply to the motor 23 is also cut off, the robot 1 can be safely stopped immediately.
- disabling the energization control to the servo amplifier 22 by the emergency stop switch 9 means that the state in which the servo amplifier 22 is energized continues regardless of the operation of the emergency stop switch.
- the robot 1 can perform a regenerative operation without stopping.
- the controller 2 can operate the robot 1 alone. According to this method, the operator operates the wireless switching switch 13 on the portable teaching operation unit 3 so that the portable teaching operation can be performed during teaching work.
- Emergency stop by wireless communication from part 3 Robot 1 can be arbitrarily stopped according to the switch information, and during the regenerative operation, the portable teaching operation part 3 emergency stop switch information by wireless communication and the surrounding wireless communication Regardless of the communication environment, the robot 1 can continue to be regenerated.
- an operation mode switching switch 14 for switching between the teaching work mode and the regeneration operation mode is arranged on the portable teaching operation unit 3 or the controller 2.
- the operation mode switching switch 14 is used in place of the wireless switching switch 13.
- the operator executes the same process as that performed when the radio switching switch 13 was switched to the establishment side.
- the operation mode switching switch 14 to the regeneration operation mode the same processing as that performed when the radio switching switch 13 is switched to the release side is executed.
- the actual processing flow is as follows. If the operation mode switching switch 14 is arranged in the portable teaching operation unit 3, wireless communication is performed from the portable teaching operation unit 3 to the controller 2 when the operation mode switching switch 14 is switched to the teaching work mode. An establishment request is transmitted, and controller 2 establishes wireless communication. At the same time, the energization control to the servo amplifier 22 by the emergency stop switch 9 of the portable teaching operation unit 3 is enabled to switch to the teaching work mode. Similarly, when the operation mode switching switch 14 is switched to the regeneration operation mode, the portable teaching operation unit 3 transmits a wireless communication establishment cancellation request to the controller 2, and the controller 2 cancels the wireless communication establishment. At the same time, the energization control to the servo amplifier 22 by the emergency stop switch 9 of the portable teaching operation unit 3 is invalidated and switched to the regeneration operation mode.
- the operation mode switching without the operator being particularly aware of wireless communication can be automatically switched to establish or cancel the establishment of wireless communication by operating the switch.
- the communication method and settings (for example, the IP address and channel number of the connection target controller if wireless LAN is used) ) are set individually.
- the operator can connect the portable teaching operation unit 3 to multiple wireless communication target controllers.
- FIG. 4 is an example in which a state in which wireless communication can be established Z is not displayed on the LCD display 8 for a plurality of wireless communication target controllers.
- 15 and 16 are touch switches displayed on the LCD display 8 having a touch screen function. By touching the switch portion on the LCD display 8, the same effect as when the actual switch is pressed is brought about.
- the operator selects a specific controller from the list of controllers that can establish wireless communication by pressing the touch switch 15, and switches the wireless switching switch 13 on the portable teaching operation unit 3 to the establishment side.
- Establish wireless communication with a specific controller if wireless communication is established immediately by simply pressing the touch switch 15, there is a risk of performing wireless communication with an unintended other controller due to the operator's mistaken operation, so after selection by the touch switch 15, It is a two-step operation that actually establishes wireless communication by operating the wireless switch 13.
- touch switch 15 is pressed, a process for displaying a touch switch for confirmation on LCD display 8 along with a message asking the operator whether or not it is really possible to establish wireless communication is provided.
- the switching process of the wireless switching switch 13 may be omitted.
- the touch switch 16 may be used to immediately call and change the connection setting screen with the controller.
- the wireless switching switch 13 is also a touch switch displayed on the LCD display 8, so that it is possible to cope with a case where there is no space for key arrangement on the portable teaching operation unit 3.
- a plurality of wireless communication target controllers may be assigned in advance to the same number of switches instead of the touch switch so that they can be selected. Good.
- an operator when there are multiple target controllers for one portable teaching operation unit 3, an operator can select a communication target without going through complicated procedures, or set communication settings for each controller. It can be changed easily.
- a list of controllers that can be connected is displayed and can be selected, enabling operators to perform intuitive operations.
- the worker may need to monitor the internal information of the controller 2 and the operation state of the robot 1 during the regeneration operation.
- the wireless switching switch 13 of the portable teaching operation unit 3 is provided with a function for selecting the monitor mode in addition to the establishment of wireless communication Z cancellation. .
- the controller 2 invalidates the energization control to the servo amplifier 22 by the emergency stop switch 9 of the portable teaching operation unit 3 while maintaining the establishment of wireless communication with the portable teaching operation unit 3.
- the motor 23 of the robot 1 can be driven regardless of the emergency stop switch operation of the portable teaching operation unit 3, and the robot 1 can be regenerated.
- the difference from the first embodiment is that the establishment of wireless communication between the controller 2 and the portable teaching operation unit 3 is not canceled even during the regeneration operation. As a result, the operator can check the internal information of the controller 2 and the operating state of the robot 1 transmitted to the portable teaching operation unit 3 by wireless communication 4.
- the robot 1 can be operated by the controller 2 alone regardless of the radio wave condition of wireless communication.
- the operator operates the wireless switching switch 13 on the portable teaching operation unit 3 so that the robot responds to emergency stop switch information by wireless communication from the portable teaching operation unit 3 during teaching work. 1 can be stopped arbitrarily, and the robot 1 can continue to be regenerated during regenerative operation regardless of the emergency stop switch information by wireless communication from the portable teaching operation unit 3 and the surrounding wireless communication environment.
- the controller 2 A function to monitor the part information and the operation state of the robot is added.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112006001639T DE112006001639T5 (de) | 2005-06-20 | 2006-05-25 | Automatisches Maschinensystem und Verfahren zur Steuerung dessen Kommunikation |
JP2007522220A JP4596376B2 (ja) | 2005-06-20 | 2006-05-25 | 自動機械システムおよびその通信制御方法 |
SE0702828A SE531329C2 (sv) | 2005-06-20 | 2006-05-25 | Automatiskt maskinsystem och metod för att kontrollera dess kommunikation |
US11/993,227 US20100106299A1 (en) | 2005-06-20 | 2006-05-25 | Automatic machine system and method for controlling communication thereof |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-178675 | 2005-06-20 | ||
JP2005178675 | 2005-06-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006137239A1 true WO2006137239A1 (ja) | 2006-12-28 |
Family
ID=37570274
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/310453 WO2006137239A1 (ja) | 2005-06-20 | 2006-05-25 | 自動機械システムおよびその通信制御方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20100106299A1 (ja) |
JP (1) | JP4596376B2 (ja) |
DE (1) | DE112006001639T5 (ja) |
SE (1) | SE531329C2 (ja) |
TW (1) | TW200714429A (ja) |
WO (1) | WO2006137239A1 (ja) |
Cited By (10)
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JP2008080474A (ja) * | 2006-08-29 | 2008-04-10 | Daihen Corp | ロボット制御システム |
WO2009119379A1 (ja) * | 2008-03-28 | 2009-10-01 | 株式会社 ダイヘン | ロボット制御システム |
JP2012148350A (ja) * | 2011-01-17 | 2012-08-09 | Daihen Corp | ロボット制御システム |
JP2014124703A (ja) * | 2012-12-26 | 2014-07-07 | Daihen Corp | ロボット制御システム |
JP2017077606A (ja) * | 2015-10-21 | 2017-04-27 | ファナック株式会社 | ネットワークを介して接続された複数の制御装置を備えるロボットシステム |
CN107791252A (zh) * | 2016-09-06 | 2018-03-13 | 夏普株式会社 | 控制装置、控制***、控制方法以及记录介质 |
JP2019102838A (ja) * | 2017-11-28 | 2019-06-24 | Idec株式会社 | 無線端末および制御システム |
US11331798B2 (en) | 2017-01-20 | 2022-05-17 | Kawasaki Jukogyo Kabushiki Kaisha | Robot system and robot controller |
US11657985B2 (en) | 2017-11-28 | 2023-05-23 | Idec Corporation | Operation switch unit, remote operation terminal and operation system |
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KR20070112820A (ko) * | 2005-03-25 | 2007-11-27 | 가부시키가이샤 야스카와덴키 | 자동 기계 시스템 및 그 무선 통신 방법 |
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JP6046467B2 (ja) * | 2012-11-29 | 2016-12-14 | 株式会社ダイヘン | ロボットシステム |
JP5956324B2 (ja) * | 2012-12-13 | 2016-07-27 | 東京エレクトロン株式会社 | 搬送基台及び搬送システム |
JP2014167681A (ja) * | 2013-02-28 | 2014-09-11 | Fanuc Ltd | 着脱可能な操作盤を備えた制御システム |
JP2015024467A (ja) * | 2013-07-26 | 2015-02-05 | セイコーエプソン株式会社 | ロボット及びロボットの緊急停止方法 |
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CN103386684B (zh) * | 2013-08-21 | 2016-02-24 | 福州大学 | 一种防止机器人产生意外碰撞的装置及设计方法 |
JP6208114B2 (ja) * | 2014-11-21 | 2017-10-04 | 株式会社神戸製鋼所 | 産業用ロボットの操作に用いられる教示装置 |
US10661989B2 (en) * | 2015-05-11 | 2020-05-26 | Murata Machinery, Ltd. | Automated equipment system, emergency stop terminal, and operation terminal control method |
DE102015209899B4 (de) * | 2015-05-29 | 2019-06-19 | Kuka Roboter Gmbh | Auswahl eines Gerätes oder eines Objektes mit Hilfe einer Kamera |
JP6657600B2 (ja) * | 2015-06-01 | 2020-03-04 | セイコーエプソン株式会社 | ロボットシステム、及び非常停止処理装置 |
JP6338617B2 (ja) * | 2016-05-31 | 2018-06-06 | 株式会社アスコ | 教示装置 |
JP6453825B2 (ja) * | 2016-09-27 | 2019-01-16 | ファナック株式会社 | 操作盤と無線通信を行う制御装置、無線モジュール、及び無線中継器 |
JP6348159B2 (ja) | 2016-10-24 | 2018-06-27 | ファナック株式会社 | 携帯機器に取り付けられる非常停止システム |
CN109202890A (zh) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | 一种用于机器人的无线操作器及无线操作*** |
JP1606242S (ja) * | 2017-11-22 | 2018-06-11 | ||
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US11726451B2 (en) * | 2021-05-26 | 2023-08-15 | Caterpillar Inc. | Remote processing of sensor data for machine operation |
CN116476101A (zh) * | 2023-06-25 | 2023-07-25 | 云南涟浪机器人科技有限公司 | 一种用于工业机器人的控制器及工业机器人 |
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- 2006-05-25 SE SE0702828A patent/SE531329C2/sv not_active IP Right Cessation
- 2006-05-25 US US11/993,227 patent/US20100106299A1/en not_active Abandoned
- 2006-05-25 DE DE112006001639T patent/DE112006001639T5/de not_active Ceased
- 2006-05-25 JP JP2007522220A patent/JP4596376B2/ja active Active
- 2006-06-14 TW TW095121268A patent/TW200714429A/zh not_active IP Right Cessation
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Also Published As
Publication number | Publication date |
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JP4596376B2 (ja) | 2010-12-08 |
US20100106299A1 (en) | 2010-04-29 |
SE0702828L (sv) | 2008-01-09 |
SE531329C2 (sv) | 2009-02-24 |
TWI313219B (ja) | 2009-08-11 |
JPWO2006137239A1 (ja) | 2009-01-08 |
DE112006001639T5 (de) | 2008-07-17 |
TW200714429A (en) | 2007-04-16 |
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