JP2013517500A - 取り外し可能なアクセサリを有する座標測定機 - Google Patents
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- G05B19/401—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 control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G01—MEASURING; TESTING
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- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
- G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
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- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
- G01B7/008—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points using coordinate measuring machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/58—Wireless transmission of information between a sensor or probe and a control or evaluation unit
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- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31048—Project on workpiece, image of finished workpiece, info or a spot
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- G—PHYSICS
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- 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
- G05B2219/33162—Two bus, high speed and low speed bus, linked or not
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- 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
- G05B2219/37—Measurements
- G05B2219/37193—Multicoordinate measuring system, machine, cmm
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- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40233—Portable robot
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- 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
- G05B2219/45—Nc applications
- G05B2219/45061—Measuring robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
Description
本出願は、2010年1月20日に出願した仮出願第61/296,555号、2010年6月16日に出願した仮出願第61/355,279号、および2010年6月4日に出願した仮出願61/351,347号の利益を主張するものであり、これらの仮出願の内容は、それらの全体を本願に引用して援用する。
Claims (54)
- 空間内の物体の座標を測定するための可搬型の関節アーム座標測定機(AACMM)であって、
基部(116)と、
反対側にある第1の端部および第2の端部を有する手動で位置付けることが可能なアーム部(104)であって、前記基部(116)に回転可能に結合され、複数の接続されたアームセグメント(106、108)を含み、各アームセグメント(106、108)が、位置信号を生成するための少なくとも1つの位置トランスデューサを含む、アーム部(104)と、
前記第1の端部に結合された測定デバイス(118、500、600、700)と、
前記少なくとも1つの位置トランスデューサから前記位置信号を受信し、前記測定デバイス(118)の位置に対応するデータを提供する電子回路(210)と、
前記測定デバイス(118、500、600、700)と前記第1の端部の間に配置されたプローブ端(401)であって、締め具(438)および第1のコネクタ(428)を有する、プローブ端(401)と、
前記締め具(438)によって前記プローブ端に取り外し可能なように結合されたデバイス(400)であって、前記締め具(438)がデバイス(400)を前記プローブ端(401)に結合するときに前記第1のコネクタ(428)に係合するように構成された第2のコネクタ(429)を有する、デバイス(400)とを含むことを特徴とする関節アーム座標測定機(AACMM)。 - 請求項1に記載のAACMMであって、
前記プローブ端(401)が、第1のコントローラ(420)に結合された第1の作動装置(422)および第2の作動装置(424)を含み、
前記デバイス(400)が、第2のコントローラ(408)に電気的に結合された第3の作動装置(416)および第4の作動装置(418)を含むことを特徴とするAACMM。 - 請求項2に記載のAACMMであって、前記デバイス(400)が、ハンドル部(404)を含むことを特徴とするAACMM。
- 請求項3に記載のAACMMであって、前記デバイス(400)が、前記ハンドル部(404)の端部に、前記締め具(438)に近接して配置された平坦な部分(436)を含み、前記平坦な部分(436)が、間隙を画定するように前記締め具(438)からずらされて配置されることを特徴とするAACMM。
- 請求項4に記載のAACMMであって、前記締め具(438)が、前記プローブ端(401)に同軸上に配置されたカラー(438)であることを特徴とするAACMM。
- 請求項5に記載のAACMMであって、前記デバイス(500、600)が、カメラ(510、602)を含むことを特徴とするAACMM。
- 請求項6に記載のAACMMであって、前記デバイス(400)が、前記カメラ(510)に近接して配置された光学式デバイス(508)を含むことを特徴とするAACMM。
- 請求項1に記載のAACMMであって、前記デバイス(600)が、バーコードスキャナ、熱スキャナ、ビデオカメラ、光源、画像プロジェクタ、マイクロホン、音声記録システム、およびペイントスプレーノズルからなる群から選択された特徴(602)を含むことを特徴とするAACMM。
- 請求項1に記載のAACMMであって、
前記プローブ端(401)が、前記第1の端部に軸周りで回転可能に結合され、
前記デバイス(400)が、前記軸周りで回転するように配置されることを特徴とするAACMM。 - 請求項1に記載のAACMMであって、
第1のコネクタ(429)が、電気コネクタ部(434)を含み、
前記第2のコネクタ(428)が、電気コネクタ部(442)を含むことを特徴とするAACMM。 - 空間内の物体の座標を測定するための可搬型の関節アーム座標測定機(AACMM)であって、
反対側にある第1の端部および第2の端部を有する手動で位置付けることが可能なアーム部(104)であって、複数の接続されたアームセグメント(106、108)を含み、各アームセグメント(106、108)が、位置信号を生成するための少なくとも1つの位置トランスデューサを含む、アーム部(104)と、
前記第1の端部に結合された測定デバイス(118、500、600、700)と、
前記少なくとも1つの位置トランスデューサから前記位置信号を受信し、前記測定デバイス(118)の位置に対応するデータを提供する電子回路(210)と、
前記第1の端部と前記測定デバイス(118)の間に配置された筐体(102)と、
前記筐体(102)内に配置された第1のコントローラ(420)と、
前記筐体(102)の片側に配置された第1の結合部(438)と、
前記筐体(102)に取り外し可能なように結合され、ハンドル部(404)を有するデバイス(400)であって、前記第1の結合部(428)に係合し、それによって、デバイスを前記筐体に固定するように構成された第2の結合部(432)を一端に有する、デバイス(400)とを含むことを特徴とする関節アーム座標測定機(AACMM)。 - 請求項11に記載のAACMMであって、
前記第1の結合部(454)に近接し、前記第1のコントローラ(420)に電気的に結合された第1のコネクタ(442)と、
前記デバイス(400)に結合され、前記第1のコネクタ(442)に電気的に結合される第2のコネクタ(434)と、
前記デバイス(400)内に配置され、前記第1のコネクタ(442)および前記第2のコネクタ(434)を介して前記第1のコントローラ(420)に電気的に結合される第2のコントローラ(408)とをさらに含み、前記第2のコントローラ(408)が、少なくとも部分的に、前記ハンドル部(404)内に配置されることを特徴とするAACMM。 - 請求項12に記載のAACMMであって、前記デバイス(400)が、前記第2のコントローラ(408)に動作可能に結合された第1の作動装置(416)をさらに含み、前記第1の作動装置(416)が、前記ハンドル部(404)に配置されることを特徴とするAACMM。
- 請求項13に記載のAACMMであって、前記デバイス(400)が、前記第2のコントローラ(408)に動作可能に結合された第2の作動装置(418)をさらに含み、前記第2の作動装置(418)が、前記ハンドル部(404)に前記第1の作動装置(416)に近接して配置されることを特徴とするAACMM。
- 請求項11に記載のAACMMであって、
前記第2の結合部(432)が、前記第2のコネクタ(434)に近接する、前記デバイス(400)から延びる第1の凸部(454)を含み、前記第1の凸部が、片側に角度をつけられた第1の表面(456)を有し、
前記第1の結合部(438)が、前記第1の凸部454に対向する、前記第1のコネクタ(442)に近接する、前記筐体(102)に動くことができるように結合された締め具(438)であり、前記締め具が、前記第1の表面(456)に係合するように第1の位置と第2の位置の間を動くことができることを特徴とするAACMM。 - 請求項15に記載のAACMMであって、前記第2の結合部(432)が、前記第2のコネクタ(434)に近接して延びる第2の凸部(444)をさらに含み、前記第2の凸部(444)が、溝(450)内に受けられるように大きさを決められたへり部(446)を有することを特徴とするAACMM。
- 請求項16に記載のAACMMであって、前記デバイスが、
前記第1の凸部(454)と前記第2の凸部(444)の間に配置された第2の表面(430)と、
前記第2の表面(430)に近接し、前記第2の表面(430)から所定の差の段差を付けられ、第3の表面(436)と前記締め具(438)の間に間隙(472)を画定するように構成された第3の表面(436)とを含むことを特徴とするAACMM。 - 請求項17に記載のAACMMであって、前記筐体(102)が、第1のねじ部を含み、前記締め具(438)が、第2のねじ部を含み、前記締め具(438)が、前記第2のねじ部が前記第1のねじ部に対して回転されるときに前記第1の位置から前記第2の位置に動かされることを特徴とするAACMM。
- 請求項11に記載のAACMMであって、前記デバイス(500、600)が、前記測定デバイス(118)に近接する側に配置されたカメラ(510、602)を含み、前記カメラ(510、602)が、前記第2のコントローラ(512)に電気的に結合されることを特徴とするAACMM。
- 請求項19に記載のAACMMであって、前記カメラ(602)が、ビデオカメラであることを特徴とするAACMM。
- 請求項19に記載のAACMMであって、前記デバイス(500)が、前記カメラ(510)に近接して配置されたレーザ(508)をさらに含み、前記レーザ(508)が、前記第2のコントローラ(512)に電気的に結合されることを特徴とするAACMM。
- 請求項11に記載のAACMMであって、前記デバイス(700)が、少なくとも1つのペイントスプレーノズル(702)を含むことを特徴とするAACMM。
- 請求項11に記載のAACMMであって、前記デバイス(600)が、バーコードスキャナ(602)を含むことを特徴とするAACMM。
- 請求項11に記載のAACMMであって、前記デバイス(600)が、熱スキャナ(602)を含むことを特徴とするAACMM。
- 請求項11に記載のAACMMであって、前記デバイス(600)が、画像プロジェクタ(602)を含むことを特徴とするAACMM。
- 請求項11に記載のAACMMであって、前記デバイス(600)が、光源(602)を含むことを特徴とするAACMM。
- 空間内の物体の座標を測定するための可搬型の関節アーム座標測定機を動作させる方法であって、
反対側にある第1の端部および第2の端部を有する手動で位置付けることが可能なアーム部(104)を設けるステップあって、前記アーム部(104)が、複数の接続されたアームセグメント(106、108)を含み、各アームセグメント(106、108)が、位置信号を生成するための少なくとも1つの位置トランスデューサを含む、ステップと、
前記物体を測定するためのプローブ端(401)を設けるステップであって、前記プローブ端(401)が、第1のコントローラ(420)を有し、前記第1のコントローラ(420)に電気的に結合された第1の電気コネクタ(442)、および締め具(438)を有し、前記第1の端部に結合される、ステップと、
プローブ端(401)に動作可能に結合された測定デバイス(118)を設けるステップと、
前記トランスデューサから前記位置信号を電子回路(210)で受信するステップと、
前記電子回路(210)を用いて前記測定デバイス(118)の位置に対応するデータを決定するステップと、
第2のコントローラ(408)を有するデバイス(400)を設けるステップであって、前記デバイス(400)が、前記第2のコントローラ(408)に電気的に結合された第2の電気コネクタ(434)、および結合部(432)を有する、ステップと、
前記結合部(432)および前記締め具(438)を用いて前記デバイス(400)を前記プローブ端(401)に機械的に結合するステップと、
前記第1の電気コネクタ(442)を前記第2の電気コネクタ(434)に電気的に結合するステップと、
第1の信号を前記第2のコントローラ(408)から前記第1のコントローラ(420)に送信するステップとを含むことを特徴とする方法。 - 請求項27に記載の方法であって、
前記デバイス(400)が前記プローブ端(401)に結合されるときに前記第1のコントローラ(420)を用いて第1の機能を実行するステップと、
前記第1の信号に応答して前記第1のコントローラ(420)を用いて第2の機能を実行するステップとをさらに含むことを特徴とする方法。 - 請求項28に記載の方法であって、第2の信号を前記第1のコントローラ(420)から前記第2のコントローラ(408)に送信するステップをさらに含むことを特徴とする方法。
- 請求項29に記載の方法であって、
前記第2の端部に結合された基部(116)を設けるステップと、
前記基部(116)に配置された第3のコントローラ(210)を設けるステップであって、前記第3のコントローラ(210)が、前記第1のコントローラ(420)および前記第2のコントローラ(408)と双方向通信する、ステップとをさらに含むことを特徴とする方法。 - 請求項30に記載の方法であって、第3の信号を前記第2のコントローラ(408)から前記第3のコントローラ(210)に送信するステップをさらに含むことを特徴とする方法。
- 請求項31に記載の方法であって、前記第3の信号が、画像信号、ビデオ画像信号、レーザラインプローブ信号、温度信号、およびバーコード信号からなる群から選択されることを特徴とする方法。
- 請求項30に記載の方法であって、第4の信号を前記第3のコントローラ(210)から前記第2のコントローラ(408)に送信するステップをさらに含むことを特徴とする方法。
- 請求項33に記載の方法であって、前記第4の信号が、光源信号、投影画像信号、および塗装色からなる群から選択されることを特徴とする方法。
- 請求項30に記載の方法であって、前記第3のコントローラ(210)が、前記第2のコントローラ(408)と通信し、無線通信接続を含むことを特徴とする方法。
- 請求項34に記載の方法であって、前記第4の信号が、無線通信接続を介して送信されることを特徴とする方法。
- 空間内の物体の座標を測定するための可搬型の関節アーム座標測定機(AACMM)であって、
基部と、
反対側にある第1の端部および第2の端部を有する手動で位置付けることが可能なアーム部(104)であって、前記基部(116)に回転可能に結合され、複数の接続されたアームセグメント(106、108)を含み、各アームセグメント(106、108)が、位置信号を生成するための少なくとも1つの位置トランスデューサを含む、アーム部(104)と、
前記第1の端部に結合されたプローブ端(401)と、
前記少なくとも1つの位置トランスデューサから前記位置信号を受信し、前記プローブ端(401)の位置に対応するデータを提供する電子回路(210)と、
AACMM(100)に取り付けられ、前記プローブ端(401)に取り外し可能なように結合された第1のプロジェクタ(604)であって、第1の投影面(608)に第1の情報を投影するように動作可能であり、投影される第1の情報が、前記第1の投影面(608)に関連する1つ以上の特徴(612、634、636)の存在および位置を示す、第1のプロジェクタ(604)とを含むことを特徴とする関節アーム座標測定機(AACMM)。 - 請求項37に記載のAACMMであって、前記1つ以上の特徴(634、636)が、前記投影面(608)の裏に視線から外れて配置された物体を含み、前記投影される情報が、前記プローブ端(401)の決定された位置によって少なくとも部分的に決定されることを特徴とするAACMM。
- 請求項37に記載のAACMMであって、前記第1の情報の投影が、前記第1の投影面(608)上の特徴(612)を強調するインジケータ(610)を含むことを特徴とするAACMM。
- 請求項39に記載のAACMMであって、前記第1の情報の前記投影が、テキスト形式の指示(618)を含むことを特徴とするAACMM。
- 請求項39に記載のAACMMであって、前記第1の情報の前記投影が、測定値のテキスト形式のインジケータ(620)を含むことを特徴とするAACMM。
- 請求項39に記載のAACMMであって、前記第1の情報の前記投影が、許容範囲のインジケータ(622)を含むことを特徴とするAACMM。
- 請求項39に記載のAACMMであって、前記第1の情報の前記投影が、測定のインジケータ(616)を含むことを特徴とするAACMM。
- 請求項38に記載のAACMMであって、前記プローブ端(401)に近接して、前記AACMM(100)に取り付けられた第2のプロジェクタ(626)をさらに含み、前記第2のプロジェクタ(626)が、前記第1の投影面(608)に第2の情報を投影するように動作可能であることを特徴とするAACMM。
- 請求項38に記載のAACMMであって、前記AACMM(100)に動作可能に結合された第3のプロジェクタ(646)をさらに含み、前記第3のプロジェクタ(624)が、第2の投影面(628)に第3の情報を投影するように動作可能であることを特徴とするAACMM。
- 請求項45に記載のAACMMであって、前記第3の情報が、前記第1の情報と同じであることを特徴とするAACMM。
- 空間内の物体の座標を測定するための可搬型の関節アーム座標測定機(AACMM)用の取り外し可能なアクセサリであって、前記AACMMが、前記AACMMの端部に結合されたプローブ端を有し、前記プローブ端が、第1の機械的結合部および第1の電気コネクタを有する、AACMM用の取り外し可能なアクセサリにおいて、
前記第1の機械的結合部に取り外し可能なように結合される第2の機械的結合部と、
前記第2の機械的結合部に結合されるハンドル部とを含むことを特徴とするAACMM用の取り外し可能なアクセサリ。 - 請求項47に記載のAACMM用の取り外し可能なアクセサリであって、前記第1の電気コネクタに取り外し可能なように接続される第2の電気コネクタをさらに含むことを特徴とするAACMM用の取り外し可能なアクセサリ。
- 請求項48に記載のAACMM用の取り外し可能なアクセサリであって、前記第2の電気コネクタに電気的に結合されたコントローラをさらに含むことを特徴とするAACMM用の取り外し可能なアクセサリ。
- 請求項49に記載のAACMM用の取り外し可能なアクセサリであって、前記コントローラに電気的に結合されたセンサをさらに含むことを特徴とするAACMM用の取り外し可能なアクセサリ。
- 請求項50に記載のAACMM用の取り外し可能なアクセサリであって、前記センサがカメラであることを特徴とするAACMM用の取り外し可能なアクセサリ。
- 請求項51に記載のAACMM用の取り外し可能なアクセサリであって、前記カメラ(510)に近接して配置された光学式デバイス(508)をさらに含むことを特徴とするAACMM用の取り外し可能なアクセサリ。
- 請求項50に記載のAACMM用の取り外し可能なアクセサリであって、前記センサが、バーコードスキャナ、熱スキャナ、ビデオカメラ、光源、画像プロジェクタ、マイクロホン、および音声記録システムからなる群から選択されることを特徴とするAACMM用の取り外し可能なアクセサリ。
- 請求項49に記載のAACMM用の取り外し可能なアクセサリであって、前記コントローラに動作可能に結合されたペイントスプレーノズルをさらに含むことを特徴とするAACMM用の取り外し可能なアクセサリ。
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CN102947667A (zh) | 2013-02-27 |
GB2489651A (en) | 2012-10-03 |
WO2011090895A4 (en) | 2011-09-22 |
US8683709B2 (en) | 2014-04-01 |
GB201418273D0 (en) | 2014-11-26 |
GB2490631B (en) | 2016-11-02 |
WO2011090892A3 (en) | 2011-11-24 |
DE112011100294B4 (de) | 2019-06-13 |
CN102713776B (zh) | 2015-04-22 |
JP5615382B2 (ja) | 2014-10-29 |
US8533967B2 (en) | 2013-09-17 |
WO2011090892A2 (en) | 2011-07-28 |
DE112011100294T5 (de) | 2013-01-10 |
GB2490631A (en) | 2012-11-07 |
GB2515693B (en) | 2015-02-11 |
GB201214570D0 (en) | 2012-09-26 |
DE112011100309B4 (de) | 2015-06-11 |
JP2014199257A (ja) | 2014-10-23 |
US20110178764A1 (en) | 2011-07-21 |
CN102713776A (zh) | 2012-10-03 |
GB2515693A (en) | 2014-12-31 |
US20110173827A1 (en) | 2011-07-21 |
JP5925244B2 (ja) | 2016-05-25 |
WO2011090895A1 (en) | 2011-07-28 |
JP2013519070A (ja) | 2013-05-23 |
GB2489651B (en) | 2015-01-28 |
JP5587431B2 (ja) | 2014-09-10 |
DE112011100309T5 (de) | 2012-12-20 |
GB201214426D0 (en) | 2012-09-26 |
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