CN105555488B - Operation device - Google Patents
Operation device Download PDFInfo
- Publication number
- CN105555488B CN105555488B CN201480038805.3A CN201480038805A CN105555488B CN 105555488 B CN105555488 B CN 105555488B CN 201480038805 A CN201480038805 A CN 201480038805A CN 105555488 B CN105555488 B CN 105555488B
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- CN
- China
- Prior art keywords
- operation device
- secondary cell
- residual volume
- processing
- portable operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000012545 processing Methods 0.000 claims abstract description 46
- 230000006854 communication Effects 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 238000012790 confirmation Methods 0.000 abstract 1
- 238000012549 training Methods 0.000 description 9
- 230000000977 initiatory effect Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013439 planning Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000013316 zoning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34073—Backup battery
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Portable operation device (TP) is connected by radio communication with robot controller (RC).Portable operation device (TP) is worked by the supply of electric power from secondary cell (36).Portable operation device (TP) possesses voltage monitoring circuit (51) and starts control unit (52).The residual volume of voltage monitoring circuit (51) monitoring secondary cell (36).When power knob (7) is pressed, requires to perform startup processing, start the residual volume for the secondary cell (36) that control unit (52) confirmation is measured by voltage monitoring circuit (51).When judging the residual volume of secondary cell (36) as below designated value, start control unit (52) and stop startup processing.
Description
Technical field
The present invention relates to a kind of operation device, it is connected by radio communication with operation object machine, to operation object
Machine is operated when sending and receiving various data messages.
Background technology
Worked in patent document 1 and Patent Document 2 discloses a kind of by the supply of electric power from external power source
The information processors such as Desktop PC (personal computer).Information processor disclosed in these documents possesses for the countermeasure that has a power failure
Non-break power supply.Therefore, in the case where the supply of electric power from external power source stops, by switch to never powering off
Supply unit supplies electric power, so as to normally terminate operating application program or operating system.Thereby, it is possible to prevent letter
Cease the breakage of the internal storage data or hardware inside processing unit.
Patent document 3 discloses that a kind of portable phone or notes type worked by the secondary cell being assembled in framework
The information processors such as PC.Information processor is configured to disclosed in the literature, when the residual volume step-down of secondary cell,
Just normal termination system (following, the also known as shutdown processing) before the supply of electric power from secondary cell is stopped, thereby with guarantor
Protect internal storage data.
Patent document 4 and patent document 5 discloses that a kind of robot system, possesses：The robot control of control machine people
Device；And the portable operation device that can be communicated with robot controller.In the robot system disclosed in these documents
In, the communication between robot controller and portable operation device passes through the network service skill corresponding to IEEE802 standards
Art and wireless penetration.Therefore, operator can use portable operation device, and the robot as operation object machine is controlled to fill
Put carry out remote operation.In addition, portable operation device is configured to work by the supply of electric power from secondary cell.Cause
This, identically with information processor disclosed in patent document 3, can be by automatic when the residual volume step-down of secondary cell
Shutdown processing is carried out to protect the internal storage data inside portable operation device.
However, according to the structure, even in having carried out after shutdown processing, secondary cell still remaining has a little capacity.Cause
This, after shutdown processing is being carried out, if the improper power supply for touching portable operation device of user and when opening, will start
The initiating task of portable operation device.In the case, the residual volume of secondary cell would be possible to fill in portable operation
Become zero in the initiating task put, and then have the possibility for causing the supply of electric power for coming from secondary cell to stop completely.I.e.
It is the initiating task for completing portable operation device, can be still needed again because of the residual volume step-down for being immediately detected secondary cell
Secondary implementation shutdown processing, causes to remain unchanged to have in the operation way to come from the possibility that the supply of electric power of secondary cell stops completely
Property.If as described above, when stopping supply of electric power in the startup of portable operation device or in the way of shutdown processing, inciting somebody to action
Have the possibility of the internal storage data breakage inside portable operation device.
Prior art literature
Patent document
Patent document 1：Japanese Patent Laid-Open 2011-39685 publications
Patent document 2：Japanese Patent Laid-Open 2002-297270 publications
Patent document 3：Japanese Patent Laid-Open 2004-310665 publications
Patent document 4：International Publication No. 2009/119379
Patent document 5：Japanese Patent Laid-Open 2006-341356 publications
The content of the invention
Invent problem to be solved
It is an object of the present invention to provide a kind of can prevent secondary cell from stopping internal memory number caused during supply of electric power
According to damaged operation device.
Means for solving the problems
In order to solve above-mentioned problem, according to the 1st aspect of the present invention there is provided a kind of operation device, it passes through radio communication
And be connected with operation object machine, it is operated when sending and receiving data to operation object machine, in operation device
Portion is assembled with secondary cell, and operation device is worked by the supply of electric power from secondary cell.Operation device possesses：Monitoring is single
Member, monitors the residual volume of secondary cell；And start control unit, held when the power supply of operation device has been carried out and opened operation
Row startup is handled, and startup control unit confirms the residual volume of secondary cell, when judgement two when being required to perform startup processing
When the residual volume of primary cell is the situation below designated value, stop to start the execution of processing.
In above-mentioned operation device, informing unit is also equipped with, the informing unit is described in the residual volume of secondary cell
Informed when below designated value.
In above-mentioned operation device, operation object machine is manipulator or the robot control dress of control machinery hand
Put.
Brief description of the drawings
Fig. 1 is the schematic diagram for representing to possess the robot control system of the operation device of the present invention.
Fig. 2 is the block diagram for the composition for representing robot control system.
Embodiment
Referring to Fig. 1 and Fig. 2, for the operation device of the present invention is embodied as using in robot control system
The embodiment of portable operation device illustrate.
As shown in figure 1, robot control system 1 possesses：Robot R；The robot control dress of control machine people R action
Put RC；And the portable operation device TP that can be communicated with robot controller RC.Robot R refer to carry out arc welding or
The industrial robot of the operations such as spot welding.Robot control system 1 is configured in portable operation device TP and robot
Radio communication is carried out between control device RC.Therefore, operator HM can operate portable operation device TP, carry out robot R
Teaching operation.In addition, the radio communication carried out between portable operation device TP and robot controller RC is a pair
One two-way communication.
Robot R is arranged on the inner side of guard boom 2.In the front end of robot R wrist portion, be provided with arc torch or
It is a weld through the power tool such as rifle T.
Portable operation device TP possesses the micro computer for being provided with the operating systems such as Windows (registration mark).In addition,
Portable operation device TP possesses display 5, keyboard 6, emergency stop switch 4, power knob 7 and wireless switching switch 8.It is aobvious
Show that device 5 plays a role as the display part for showing various data.Operator HM operation keyboards 6, the teaching for implementing robot R is made
Industry.In addition, the also operable emergency stop switch 4 of operator HM, makes robot R emergent stoppings.
In portable operation device TP inside, secondary cell (not shown) is assembled with.By being grasped to power knob 7
Make, so as to supply electric power from secondary cell.Secondary cell is configured to, and is not schemed by the way that portable operation device TP is connected to
The charging device shown, so as to be charged from source power supply.Operator HM is operated to wireless switching switch 8, foundation or
Cut off the radio communication between portable operation device TP and robot controller RC.When radio communication is set up, by that can take
The teaching operation signal of formula operation device TP outputs is transferred into robot controller RC by radio communication.Teaching operation
Signal includes：Come mobile robot R inching feed signal, the operation position for storing robot R for being manually operated
The teaching signal put and the washout for making robot R emergent stoppings in emergency etc..When these teachings
Operation signal by portable operation device TP send if, robot controller RC then carry out robot R inching feed behaviour
The various processing such as work, the making of training data, emergent stopping.
Robot controller RC produces teaching number according to the teaching operation signal from portable operation device TP
According to.Also, robot controller RC stores training data the storage part (not shown) to inside robot controller RC.
In addition, when by outside input enabling signal, training data can then be regenerated, implement robot R by robot controller RC
Automatic operating.
As shown in Fig. 2 robot control system 1 is except possessing robot controller RC and portable operation device TP,
It is also equipped with the charging device CU for being charged to portable operation device TP.
Portable operation device TP is except possessing emergency stop switch 4, display 5, keyboard 6, power knob 7 and wireless
Outside switching switch 8, it is also equipped with the CPU33 as central operation processing unit, the RAM34 as temporary zoning, receives
Hair machine 32, it is used as portable operation device TP secondary cell 36, storage part 15 and ROM35 of driving source etc..Storage part 15
It is made up of the hard disk or semiconductor memory for storing various data.Be stored with various software programs in ROM35.
Transceiver 32 has WLAN interface.Transceiver 32 is in robot controller RC and portable operation device TP
Between carry out radio communication.Storage part 15 possesses link information storage part 47.In link information storage part 47, being stored with is used for
The link information communicated between portable operation device TP and robot controller RC.As link information, for example
Such as IP address, subnet mask, default gateway, MAC Address information can be enumerated.Emergency stop switch 4, display 5, keyboard 6, electricity
Each portions such as source button 7, wireless switching switch 8, CPU33, RAM34, transceiver 32, secondary cell 36, storage part 15 and ROM35
Point, it is connected with each other via bus 39.
Secondary cell 36 can be charged using charging device.Specifically, installed when by portable operation device TP
To charging device CU specified location when, charging circuit (not shown) is electrically connected with charging device CU, proceeds by secondary cell
36 charging.Charging device CU power supply can be supplied by robot controller RC, can also be supplied by source power supply.
Portable operation device TP is also equipped with：As monitoring unit voltage monitoring circuit 51 and be used as informing unit
LED53.Voltage monitoring circuit 51 measures the battery remaining surplus of secondary cell 36 with the specified cycle.LED53 then be when by
When the battery remaining surplus that voltage monitoring circuit 51 is detected is below designated value, operation is informed in progress.
It is stored with ROM35 for the software program for planning as a whole control each part mentioned above in operating system (not shown).
In addition, ROM35 possesses display control unit 45, keystroke monitoring unit 46, communication processing section 41, power control part 49 and starts control
Portion 52 processed.
Display control unit 45 is by display data display in display 5.Keystroke monitoring unit 46 monitors hitting from keyboard 6
Key.Communication processing section 41 carries out for the connection setup and cutoff process pair between robot controller RC or communicates this
The processing that body is controlled.In addition, communication processing section 41 is used for into the machine for being about to communicate to connect with portable operation device TP
Network connection informations such as people's control device RC identiflication number or IP address etc. store the processing into storage part 15 or RAM34.
The various data inputted by keyboard 6, via communication processing section 41 and transceiver 32, are sent with the data of data packet form
To robot controller RC.
Power control part 49 is in order to open or close portable operation device TP power supply, according to pressing for power knob 7
Press and make and control supply of electric power from secondary cell 36 and stop power supply.It is pressed when power knob 7, requires that execution is opened
During dynamic processing, the startup for performing various hardware as the startup control unit 52 for starting control unit is handled, while starting not shown
Operating system.As a result, portable operation device TP turns into serviceable condition.
Robot controller RC possesses：As the CPU13 of central operation processing unit, it is used as temporary zoning
RAM14, ROM16, storage part 19, operation control part 17, driving instruction portion 18 and transceiver 12 etc..It is stored with ROM16
Various software programs.Storage part 19 is by the hard disk or semiconductor for storing the various data constants such as training data etc.
Internal memory is constituted.Operation control part 17 carries out the operations such as robot R track computing, and believes the operation result as driving
Number and export to driving instruction portion 18.Driving instruction portion 18 exports the SERVO CONTROL of each servo motor for control machine people R
Signal.Transceiver 12 carries out radio communication between robot controller RC and portable operation device TP.CPU13、
The each several parts such as RAM14, ROM16, storage part 19, operation control part 17, driving instruction portion 18 and transceiver 12 are via bus 9
It is connected with each other.
Transceiver 12 has WLAN interface.Transceiver 12 is in robot controller RC and portable operation device TP
Between carry out radio communication.Storage part 19 possesses link information storage part 27 and training data storage part 30.In training data
In storage part 30, be stored with the training data for corresponding to the input operation from portable operation device TP and being made.In connection letter
Cease in storage part 27, be stored with for the connection communicated between portable operation device TP and robot controller RC
Information.As link information, for example, it there are：IP address, subnet mask, default gateway, MAC Address etc..
It is stored with ROM16 for the software program for planning as a whole control each part mentioned above under operating system (not shown).
In addition, ROM16 possesses communication processing section 21, display processing portion 25 and explains enforcement division 26 etc..Communication processing section 21 carry out with
Communication process between portable operation device TP.Display processing portion 25 generates the display for being shown in portable operation device TP
5 display data.Explain that enforcement division 26 understands the training data for being stored in training data storage part 30, by action control signal
Export to operation control part 17.
Hereinafter, reference picture 1 and Fig. 2, illustrate the effect of robot control system 1.
(1. common use)
As shown in Figures 1 and 2, operator HM presses the power knob for the portable operation device TP for being stopped supply of electric power
7.Like this, the startup processing of various hardware will be performed by starting control unit 52, start operating system (not shown).Afterwards,
The application program specified by os starting, final portable operation device TP turns into what can be operated by operator HM
State.In this condition, operator HM set up by being operated to wireless switching switch 8 with robot controller RC it
Between radio communication after, carry out robot R teaching operation.After the robot R teaching end of job, operator HM operations
Wireless switching switch 8, terminates the radio communication between robot controller RC.
(2. in use, when battery remaining surplus drops to the situation of below the 1st designated value)
Voltage monitoring circuit 51 monitors residual volume (the hreinafter referred to as battery remaining of secondary cell 36 to specify the cycle
Amount).When battery remaining surplus is in below the 1st designated value, the request operating system of power control part 49 carries out shutdown processing.1st
Designated value is performed for the battery remaining surplus needed for shutdown processing.In this way, when battery remaining surplus turns into below the 1st designated value
It is automatic to carry out shutdown processing during the stage.
(3. after shutdown processing has been carried out, it is desirable to perform the situation for starting processing)
It is assumed herein that situation：As described above after shutdown processing has been carried out, keep what secondary cell 36 was not charged
Under state, operator HM presses power knob 7.In this case, when power knob 7 is pressed, start control unit 52 and judge
There is the request for performing and starting processing, proceed by startup processing.But, start control unit 52 before startup processing is carried out, first
Carry out following processing.That is, start the battery remaining surplus that control unit 52 confirms to be measured by voltage monitoring circuit 51, judge battery
Whether residual volume is below the 2nd designated value.So-called 2nd designated value refers to perform the battery remaining surplus needed for startup processing.When
When battery remaining surplus is below the 2nd designated value, starts control unit 52 and stop startup processing.At the same time, starting control unit 52 is
Inform because battery remaining surplus is, so startup processing can not be performed, the LED53 is lighted or is flashed below the 2nd designated value.
More than, according to the present invention, in the case that battery remaining surplus is below designated value, it is impossible to start portable operation dress
TP is put, thus, it is possible to prevent that the supply of electric power from secondary cell 36 stops completely in portable operation device TP start-up course
Only.Thereby, for portable operation device TP, the internal memory number caused by secondary cell 36 stops supply electric power can be prevented
According to breakage.
In addition, according to the present invention, due to that can inform that battery remaining surplus is finger by making LED53 light or flash
Situation below definite value.Thereby, operator HM only needs to confirm lighting or flicker state for LED53, and just could be aware that can not
The reasons why starting portable operation device TP.As a result, the charging that operator HM can be supervised to carry out portable operation device TP is made
Industry.
In addition, although the operation device of the present invention is embodied as being assembled to the portable operation dress in robot control system
Put and illustrate, but be not limited to this.That is, operation device of the invention, is also applicable to be operated using secondary cell
Portable equipment, specifically, be applicable to be assembled with the operating system or firmware for carrying out shutdown processing
(firmware) operation device.As this operation device, for example, it there are the long-range behaviour of the machine of welding or processing equipment device
Make device etc..
Claims (3)
1. a kind of operation device, it is connected by radio communication with operation object machine, is sent out to the operation object machine
It is operated when sending and receive data, has secondary cell in the operation device assembled inside, the operation device is by coming
Worked from the supply of electric power of the secondary cell, it is characterised in that the operation device possesses：
Monitoring unit, monitors the residual volume of the secondary cell；
Start control unit, startup processing is performed when the power supply of the operation device open operation；And
The micro computer of operating system is installed,
The operating system shutdown processing be the secondary cell residual volume be in be used for perform shutdown processing needed for
Performed during stage below battery remaining surplus,
The startup control unit is after the shutdown processing has been carried out, when being required that the execution startup is handled, really
Recognize the residual volume of the secondary cell, when judging the residual volume of the secondary cell as the situation below designated value, stop institute
State the execution for starting processing.
2. operation device according to claim 1, it is characterised in that
Informing unit is also equipped with, the informing unit is accused when the residual volume of the secondary cell is below the designated value
Know.
3. operation device according to claim 1 or 2, it is characterised in that
The operation object machine is the robot controller of manipulator or the control manipulator.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013145934A JP2015016531A (en) | 2013-07-12 | 2013-07-12 | Handling apparatus |
| JP2013-145934 | 2013-07-12 | ||
| PCT/JP2014/068089 WO2015005293A1 (en) | 2013-07-12 | 2014-07-07 | Operation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105555488A CN105555488A (en) | 2016-05-04 |
| CN105555488B true CN105555488B (en) | 2017-09-15 |
Family
ID=52279973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480038805.3A Active CN105555488B (en) | 2013-07-12 | 2014-07-07 | Operation device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2015016531A (en) |
| CN (1) | CN105555488B (en) |
| TW (1) | TWI638259B (en) |
| WO (1) | WO2015005293A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160228971A1 (en) * | 2015-02-06 | 2016-08-11 | Illinois Tool Works | Wearable technology for interfacing with welding equipment and monitoring equipment using wireless technologies |
| JP7026495B2 (en) * | 2017-11-28 | 2022-02-28 | 株式会社ダイヘン | Portable operating device |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3858653B2 (en) * | 2000-12-21 | 2006-12-20 | カシオ計算機株式会社 | Power system |
| JP4460411B2 (en) * | 2004-10-01 | 2010-05-12 | 本田技研工業株式会社 | Robot controller |
| JP2008029087A (en) * | 2006-07-19 | 2008-02-07 | Matsushita Electric Ind Co Ltd | Electronic equipment system |
| JP5072800B2 (en) * | 2008-10-29 | 2012-11-14 | 京セラ株式会社 | Portable electronic devices |
| FR2946160B1 (en) * | 2009-05-26 | 2014-05-09 | Aldebaran Robotics | SYSTEM AND METHOD FOR EDIT AND ORDER BEHAVIOR OF MOBILE ROBOT. |
| JP5402750B2 (en) * | 2010-03-18 | 2014-01-29 | 株式会社安川電機 | Robot system |
| TWI429321B (en) * | 2011-01-04 | 2014-03-01 | Generalplus Technology Inc | Ir remote controller with ir current controlled by the working voltage and method thereof |
| TWM416582U (en) * | 2011-03-24 | 2011-11-21 | Formosa Plastics Transp Corp | Intelligence-type over-discharge protection device |
| TWI432759B (en) * | 2011-09-19 | 2014-04-01 | Ship & Ocean Ind R & D Ct | The charging function for secondary battery performance analysis system |
| JP2013068431A (en) * | 2011-09-20 | 2013-04-18 | Jvc Kenwood Corp | Battery level indicator, battery level indication method and program |
| US9146280B2 (en) * | 2011-10-26 | 2015-09-29 | Industrial Technology Research Institute | Method and system for estimating a capacity of a battery |
| JP5516563B2 (en) * | 2011-12-13 | 2014-06-11 | 株式会社安川電機 | Robot system |
-
2013
- 2013-07-12 JP JP2013145934A patent/JP2015016531A/en active Pending
-
2014
- 2014-07-07 CN CN201480038805.3A patent/CN105555488B/en active Active
- 2014-07-07 WO PCT/JP2014/068089 patent/WO2015005293A1/en active Application Filing
- 2014-07-10 TW TW103123743A patent/TWI638259B/en active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105555488A (en) | 2016-05-04 |
| TW201516642A (en) | 2015-05-01 |
| WO2015005293A1 (en) | 2015-01-15 |
| TWI638259B (en) | 2018-10-11 |
| JP2015016531A (en) | 2015-01-29 |
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