JP2005254848A - 電動操舵装置 - Google Patents
電動操舵装置 Download PDFInfo
- Publication number
- JP2005254848A JP2005254848A JP2004065689A JP2004065689A JP2005254848A JP 2005254848 A JP2005254848 A JP 2005254848A JP 2004065689 A JP2004065689 A JP 2004065689A JP 2004065689 A JP2004065689 A JP 2004065689A JP 2005254848 A JP2005254848 A JP 2005254848A
- Authority
- JP
- Japan
- Prior art keywords
- force
- torque
- steering
- ship
- external force
- 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.)
- Granted
Links
- 230000000694 effects Effects 0.000 claims abstract description 32
- 230000001141 propulsive effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H20/00—Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
- B63H20/08—Means enabling movement of the position of the propulsion element, e.g. for trim, tilt or steering; Control of trim or tilt
- B63H20/12—Means enabling steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/022—Steering wheels; Posts for steering wheels
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
【解決手段】 電動モータにより駆動される舵取装置15と、この舵取装置15を操作するハンドル7と、このハンドル7の操作に応じた反力をこのハンドルに付与する反トルクモータ11と、操舵したときに船に作用する外力を検出する荷重センサー16と、この荷重センサー16の出力に応じて前記反トルクモータ11の目標トルクを算出する反トルク演算回路17とを備えた。
【選択図】 図2
Description
なお、アクチュエータは、電動モータあるいは電動油圧ポンプ等のように電動駆動部を含む駆動装置である。
船体1の船尾板2にクランプブラケット4を介して船外機本体3が取り付けられる。船外機本体3は、スイベル軸(操舵軸)6廻りに回転可能である。スイベル軸6の上端部にステアリングブラケット5が固定される。ステアリングブラケット5の端部5aに舵取装置15が連結される。この舵取装置15は、例えばDD(Direct Drive)型電動モータからなり、船尾板2と平行に設けたネジ軸(不図示)に沿ってモータ本体(不図示)がスライド動作する。このモータ本体にステアリングブラケット5を連結してモータ本体のスライド動作に連動して船外機本体3をスイベル軸6廻りに回転させる。
操船者によりハンドル7が操作されると、その回転角がハンドル操作角センサー9で検出され、その検出信号に基づいてコントローラ(ECU)12の操舵トルク演算回路21が操舵トルクを演算し、舵取装置15の電動モータ(不図示)を駆動する。これにより船外機本体3がスイベル軸6廻りに回動して船の方向が変わる。
図示したように、ハンドルに対する反力の回転トルクは、点線で示す補正がない場合(図3(B)に相当)から上記(A)で説明したようにパドルラダー効果による力を差し引いて補正した場合のグラフ(実線)で表される。
5:ステアリングブラケット、5a:端部、6:スイベル軸、7:ハンドル、
8:ハンドル軸、9:ハンドル操作角センサー、10:信号ケーブル、
11:反トルクモータ、12:コントローラ、13:ハンドル制御装置、
14:プロペラ、15:舵取装置、16:荷重センサー、
17:反トルク演算回路、18:船の情報、19:速度センサー、
20:エンジン回転数センサー、21:操舵トルク演算回路。
Claims (5)
- 船舶の進行方向を変えるため電動アクチュエータによって駆動される舵取装置と、
繰船者によって操作され、操作量に応じた駆動信号を前記電動アクチュエータに与えるために前記電動アクチュエータと電気的に接続されたハンドルと、
航走中に船に作用する外力を検出する荷重センサーと、
前記ハンドルに反力を付与する反トルクモータと、
前記荷重センサーの出力に応じて前記反トルクモータの目標トルクを算出する反トルク演算回路とを備えたことを特徴とする船舶の操舵装置。 - 前記反トルク演算回路は、前記荷重センサーの出力からパドルラダー効果による力を差し引いて目標トルクを算出することを特徴とする請求項1に記載の船舶の操舵装置。
- 前記反トルクモータによる反力の強さを調整可能としたことを特徴とする請求項1又は2に記載の船舶の操舵装置。
- 前記反トルク演算回路は、船速に応じて目標トルクを算出することを特徴とする請求項1から3のいずれかに記載の船舶の操舵装置。
- 推進力を発生する推進装置を有し、前記舵取装置は、前記推進装置を回動して推進力の方向を変えることにより操舵を行うことを特徴とする請求項1から4のいずれかに記載の船舶の操舵装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004065689A JP4303149B2 (ja) | 2004-03-09 | 2004-03-09 | 電動操舵装置 |
US11/075,131 US7063030B2 (en) | 2004-03-09 | 2005-03-08 | Electric steering apparatus for watercraft |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004065689A JP4303149B2 (ja) | 2004-03-09 | 2004-03-09 | 電動操舵装置 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006146540A Division JP2006256616A (ja) | 2006-05-26 | 2006-05-26 | 電動操舵装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005254848A true JP2005254848A (ja) | 2005-09-22 |
JP4303149B2 JP4303149B2 (ja) | 2009-07-29 |
Family
ID=34918268
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004065689A Expired - Fee Related JP4303149B2 (ja) | 2004-03-09 | 2004-03-09 | 電動操舵装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US7063030B2 (ja) |
JP (1) | JP4303149B2 (ja) |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006290323A (ja) * | 2005-03-18 | 2006-10-26 | Yamaha Marine Co Ltd | 船舶の操舵装置 |
JP2007091213A (ja) * | 2005-09-28 | 2007-04-12 | Teleflex Canada Inc | 複数ワイヤ操舵ヘルムシステム |
JP2007203841A (ja) * | 2006-01-31 | 2007-08-16 | Jtekt Corp | 航行用操舵装置 |
JP2007203844A (ja) * | 2006-01-31 | 2007-08-16 | Jtekt Corp | 航行用操舵装置 |
JP2007331553A (ja) * | 2006-06-14 | 2007-12-27 | Jtekt Corp | 船用操舵装置 |
JP2007331552A (ja) * | 2006-06-14 | 2007-12-27 | Jtekt Corp | 船用操舵装置 |
JP2008001205A (ja) * | 2006-06-21 | 2008-01-10 | Jtekt Corp | 船用操舵装置 |
JP2008001206A (ja) * | 2006-06-21 | 2008-01-10 | Jtekt Corp | 船用操舵装置 |
JP2008094369A (ja) * | 2006-09-11 | 2008-04-24 | Yamaha Marine Co Ltd | 船舶用転舵装置、及び船舶 |
JP2008094256A (ja) * | 2006-10-12 | 2008-04-24 | Yamaha Marine Co Ltd | ウォータービークル |
EP1923308A2 (en) | 2006-11-17 | 2008-05-21 | Yamaha Marine Kabushiki Kaisha | Steering system for a watercraft |
JP2008126777A (ja) * | 2006-11-17 | 2008-06-05 | Yamaha Marine Co Ltd | 船舶用転舵装置、及び船舶 |
US7422496B2 (en) | 2005-09-02 | 2008-09-09 | Yamaha Marine Kabushiki Kaisha | Steering system for small boat |
US7455557B2 (en) | 2005-10-25 | 2008-11-25 | Yamaha Marine Kabushiki Kaisha | Control unit for multiple installation of propulsion units |
US7465200B2 (en) | 2005-09-02 | 2008-12-16 | Yamaha Marine Kabushiki Kaisha | Steering method and steering system for boat |
US7494390B2 (en) | 2005-08-19 | 2009-02-24 | Yamaha Marine Kabushiki Kaisha | Action control device for small boat |
US7517262B2 (en) | 2006-07-26 | 2009-04-14 | Yamaha Hatsudoki Kabushiki Kaisha | Steering system for outboard motor |
US7527537B2 (en) | 2005-11-04 | 2009-05-05 | Yamaha Hatsudoki Kabushiki Kaisha | Electric type steering device for outboard motors |
US7540253B2 (en) | 2006-11-17 | 2009-06-02 | Yamaha Hatsudoki Kabushiki Kaisha | Boat steering system |
US7844374B2 (en) | 2006-11-17 | 2010-11-30 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering system |
US7930986B2 (en) | 2006-11-17 | 2011-04-26 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering device and watercraft |
JP2011098723A (ja) * | 2009-11-06 | 2011-05-19 | Becker Marine Systems Gmbh & Co Kg | 舵に作用する力を決定するための装置 |
US8046121B2 (en) | 2006-11-17 | 2011-10-25 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering device and watercraft |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4327617B2 (ja) | 2004-01-29 | 2009-09-09 | ヤマハ発動機株式会社 | 船舶推進装置のステアリング制御方法 |
JP4327637B2 (ja) * | 2004-03-26 | 2009-09-09 | ヤマハ発動機株式会社 | 船外機の操舵装置および船外機 |
JP2006001432A (ja) * | 2004-06-18 | 2006-01-05 | Yamaha Marine Co Ltd | 小型船舶用ステアリング装置 |
JP2006224695A (ja) * | 2005-02-15 | 2006-08-31 | Yamaha Marine Co Ltd | 船舶用転舵装置 |
JP4828897B2 (ja) * | 2005-09-21 | 2011-11-30 | ヤマハ発動機株式会社 | 多機掛け推進機型小型船舶 |
JP4927372B2 (ja) * | 2005-09-29 | 2012-05-09 | ヤマハ発動機株式会社 | 小型船舶 |
JP2008126775A (ja) * | 2006-11-17 | 2008-06-05 | Yamaha Marine Co Ltd | 船舶用転舵装置、及び船舶 |
GB0920249D0 (en) * | 2009-11-19 | 2010-01-06 | Mactaggart Scott | Actuator |
EP2404823A3 (en) * | 2010-05-17 | 2012-04-11 | Alloy Yachts International Limited | Steering system for sailing vessels |
US10457370B1 (en) * | 2016-11-18 | 2019-10-29 | Brunswick Corporation | Marine steering system and method of providing steering feedback |
US10232925B1 (en) | 2016-12-13 | 2019-03-19 | Brunswick Corporation | System and methods for steering a marine vessel |
JP2019049440A (ja) * | 2017-09-08 | 2019-03-28 | Toyo Tire株式会社 | ゴム摩擦試験方法 |
EP3898407A1 (en) | 2018-12-21 | 2021-10-27 | KA Group AG | Enhanced steering control system for personal watercrafts |
US11628920B2 (en) | 2021-03-29 | 2023-04-18 | Brunswick Corporation | Systems and methods for steering a marine vessel |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2739208B2 (ja) | 1988-06-16 | 1998-04-15 | カヤバ工業株式会社 | 船外機付ボートのパワーステアリング装置 |
JP2959044B2 (ja) | 1990-05-31 | 1999-10-06 | スズキ株式会社 | 船外機のステアリング装置 |
JP3493568B2 (ja) | 1997-02-12 | 2004-02-03 | 光洋精工株式会社 | 自動車の舵取装置 |
US6273771B1 (en) * | 2000-03-17 | 2001-08-14 | Brunswick Corporation | Control system for a marine vessel |
US6535806B2 (en) * | 2001-01-30 | 2003-03-18 | Delphi Technologies, Inc. | Tactile feedback control for steer-by-wire systems |
US6678596B2 (en) * | 2002-05-21 | 2004-01-13 | Visteon Global Technologies, Inc. | Generating steering feel for steer-by-wire systems |
-
2004
- 2004-03-09 JP JP2004065689A patent/JP4303149B2/ja not_active Expired - Fee Related
-
2005
- 2005-03-08 US US11/075,131 patent/US7063030B2/en not_active Expired - Fee Related
Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4703263B2 (ja) * | 2005-03-18 | 2011-06-15 | ヤマハ発動機株式会社 | 船舶の操舵装置 |
JP2006290323A (ja) * | 2005-03-18 | 2006-10-26 | Yamaha Marine Co Ltd | 船舶の操舵装置 |
US7494390B2 (en) | 2005-08-19 | 2009-02-24 | Yamaha Marine Kabushiki Kaisha | Action control device for small boat |
US7422496B2 (en) | 2005-09-02 | 2008-09-09 | Yamaha Marine Kabushiki Kaisha | Steering system for small boat |
US7465200B2 (en) | 2005-09-02 | 2008-12-16 | Yamaha Marine Kabushiki Kaisha | Steering method and steering system for boat |
JP2007091213A (ja) * | 2005-09-28 | 2007-04-12 | Teleflex Canada Inc | 複数ワイヤ操舵ヘルムシステム |
US7455557B2 (en) | 2005-10-25 | 2008-11-25 | Yamaha Marine Kabushiki Kaisha | Control unit for multiple installation of propulsion units |
US7527537B2 (en) | 2005-11-04 | 2009-05-05 | Yamaha Hatsudoki Kabushiki Kaisha | Electric type steering device for outboard motors |
JP2007203841A (ja) * | 2006-01-31 | 2007-08-16 | Jtekt Corp | 航行用操舵装置 |
JP2007203844A (ja) * | 2006-01-31 | 2007-08-16 | Jtekt Corp | 航行用操舵装置 |
JP2007331553A (ja) * | 2006-06-14 | 2007-12-27 | Jtekt Corp | 船用操舵装置 |
JP2007331552A (ja) * | 2006-06-14 | 2007-12-27 | Jtekt Corp | 船用操舵装置 |
JP2008001206A (ja) * | 2006-06-21 | 2008-01-10 | Jtekt Corp | 船用操舵装置 |
JP2008001205A (ja) * | 2006-06-21 | 2008-01-10 | Jtekt Corp | 船用操舵装置 |
US7517262B2 (en) | 2006-07-26 | 2009-04-14 | Yamaha Hatsudoki Kabushiki Kaisha | Steering system for outboard motor |
US7506599B2 (en) | 2006-09-11 | 2009-03-24 | Yamaha Marine Kabushiki Kaisha | Boat steering system |
JP2008094369A (ja) * | 2006-09-11 | 2008-04-24 | Yamaha Marine Co Ltd | 船舶用転舵装置、及び船舶 |
JP2008094256A (ja) * | 2006-10-12 | 2008-04-24 | Yamaha Marine Co Ltd | ウォータービークル |
US7533624B2 (en) | 2006-11-17 | 2009-05-19 | Yamaha Hatsudoki Kabushiki Kaisha | Boat steering system |
EP1923308A2 (en) | 2006-11-17 | 2008-05-21 | Yamaha Marine Kabushiki Kaisha | Steering system for a watercraft |
EP1923307A2 (en) | 2006-11-17 | 2008-05-21 | Yamaha Marine Kabushiki Kaisha | Steering system for a watercraft |
JP2008126777A (ja) * | 2006-11-17 | 2008-06-05 | Yamaha Marine Co Ltd | 船舶用転舵装置、及び船舶 |
US7540253B2 (en) | 2006-11-17 | 2009-06-02 | Yamaha Hatsudoki Kabushiki Kaisha | Boat steering system |
US7844374B2 (en) | 2006-11-17 | 2010-11-30 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering system |
US7930986B2 (en) | 2006-11-17 | 2011-04-26 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering device and watercraft |
EP1923309A2 (en) | 2006-11-17 | 2008-05-21 | Yamaha Marine Kabushiki Kaisha | Steering system for a watercraft |
US8046121B2 (en) | 2006-11-17 | 2011-10-25 | Yamaha Hatsudoki Kabushiki Kaisha | Watercraft steering device and watercraft |
JP2011098723A (ja) * | 2009-11-06 | 2011-05-19 | Becker Marine Systems Gmbh & Co Kg | 舵に作用する力を決定するための装置 |
JP2014073840A (ja) * | 2009-11-06 | 2014-04-24 | Becker Marine Systems Gmbh & Co Kg | 船舶の自動操舵及び動的位置決めのシステム並びに方法 |
Also Published As
Publication number | Publication date |
---|---|
JP4303149B2 (ja) | 2009-07-29 |
US20050199168A1 (en) | 2005-09-15 |
US7063030B2 (en) | 2006-06-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4303149B2 (ja) | 電動操舵装置 | |
JP4327617B2 (ja) | 船舶推進装置のステアリング制御方法 | |
JP4938271B2 (ja) | 船舶の操舵方法及び操舵装置 | |
JP4303150B2 (ja) | 船舶の操舵装置 | |
JP4828897B2 (ja) | 多機掛け推進機型小型船舶 | |
JP4994007B2 (ja) | 船舶用転舵装置、及び船舶 | |
JP2005254849A (ja) | 船舶の操舵装置 | |
JP4994005B2 (ja) | 船舶用操舵装置及び船舶 | |
WO2013001875A1 (ja) | 船舶操船装置及び船舶の操船方法 | |
KR101422499B1 (ko) | 조타 장치 및 그 제어방법 | |
JP2007050823A (ja) | 小型船舶の挙動制御装置 | |
JP2005212603A (ja) | 船舶推進装置の操舵方法 | |
JP2006224695A (ja) | 船舶用転舵装置 | |
JP5303341B2 (ja) | 船推進機 | |
JP5441531B2 (ja) | 船推進機 | |
JP2005280572A (ja) | 小型船舶用ステアリング装置 | |
US10969787B2 (en) | Sailboat steering system and method for steering a sailboat | |
JP4303260B2 (ja) | 船舶の操舵装置 | |
JP6146355B2 (ja) | 船舶の舵角制御装置、方法及びプログラム | |
JP2005280579A (ja) | 小型船舶用ステアリング装置 | |
JP2007203840A (ja) | 航行用操舵装置 | |
JP2006256616A (ja) | 電動操舵装置 | |
US8265830B2 (en) | Steering control method, steering control device, and watercraft | |
JP4767027B2 (ja) | 航行用操舵装置 | |
JP2009083595A (ja) | 転舵制御方法、転舵制御装置および船舶 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20060522 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20060522 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20061117 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20061117 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20061122 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20080724 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20080805 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080926 |
|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A712 Effective date: 20090119 |
|
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: 20090421 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20090423 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120501 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4303149 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120501 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130501 Year of fee payment: 4 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140501 Year of fee payment: 5 |
|
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 |
|
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 |
|
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 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |