JP2017526593A - 自動化されたラック搬出装置 - Google Patents
自動化されたラック搬出装置 Download PDFInfo
- Publication number
- JP2017526593A JP2017526593A JP2017511342A JP2017511342A JP2017526593A JP 2017526593 A JP2017526593 A JP 2017526593A JP 2017511342 A JP2017511342 A JP 2017511342A JP 2017511342 A JP2017511342 A JP 2017511342A JP 2017526593 A JP2017526593 A JP 2017526593A
- Authority
- JP
- Japan
- Prior art keywords
- spoon
- rack
- container
- transport assembly
- shelf
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000003780 insertion Methods 0.000 claims abstract description 5
- 230000037431 insertion Effects 0.000 claims abstract description 5
- 230000003213 activating effect Effects 0.000 claims 3
- 238000007599 discharging Methods 0.000 claims 2
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 241000287828 Gallus gallus Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 210000004712 air sac Anatomy 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000011143 downstream manufacturing Methods 0.000 description 1
- 235000013601 eggs Nutrition 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
Claims (14)
- 自動化されたラック搬出装置であって、
フレームと、
前記フレームと動作可能に係合され、かつラック棚から搬出されることになる容器が位置する前記ラック棚と整合するように垂直方向に往復運動するように構成される、搬送アセンブリと、を備え、前記搬送アセンブリが、
第1の端部、
第2の端部、
枢動点において、前記搬送アセンブリの前記第1の端部に枢動的に接続されるスプーン、及び
前記搬送アセンブリの前記第2の端部を支持するように構成される、退縮可能な支持機構を備え、前記退縮可能な支持機構が、前記枢動点を参照して、前記スプーンの前縁部を降下させ、それによって、前記スプーンを前記容器の下に挿入するために下方に傾斜させるように動作可能である、装置。 - 前記退縮可能な支持機構が、回転可能なカムである、請求項1に記載の装置。
- 前記スプーンが、平坦な細長いシート様デバイスである、請求項1に記載の装置。
- 前記スプーンが、前記ラック棚上へ延伸することが可能であるように、前記搬送アセンブリ内に摺動可能に装着される、請求項1に記載の装置。
- 前記搬送アセンブリが、前記スプーンを延伸及び退縮させるために起動されるように構成される、空気圧式ロッドレスシリンダを更に備える、請求項4に記載の装置。
- 前記搬送アセンブリから前記容器を放出するように構成される、排出コンベヤを更に備える、請求項1に記載の装置。
- 前記排出コンベヤが、前記容器に係合して、前記容器を前記スプーンから後方方向において押すように構成される階段を有する、請求項6に記載の装置。
- 前記排出コンベヤが、前記階段が接続されるエンドレスベルトを備える、請求項6に記載の装置。
- ラック棚上に格納された容器を搬出する自動化された方法であって、
自動化されたラック搬出装置を、そこから搬出されることになる容器を有するラック棚に隣接して位置付けることと、
前記自動化されたラック搬出装置の搬送アセンブリを、前記ラック棚に近接して、垂直方向に位置付けることと、
スプーンの前縁部が前記ラック棚に重なって位置付けられるように、前記搬送アセンブリの前記スプーンを延伸させることと、
前記ラック棚に係合するように、傾斜位置において前記スプーンの前記前縁部を降下させることと、
前記ラック棚に沿って、かつ前記容器の下で摺動するように、前記スプーンを延伸させることと、
前記ラック棚から前記容器を取り出すように、前記スプーンを退縮させることと、を含む、方法。 - 前記スプーンの前記前縁部を降下させることが、前記搬送アセンブリの端部と相互作用するように、退縮可能な支持機構を起動させることを含む、請求項9に記載の方法。
- 退縮可能な支持機構を起動させることが、回転可能なカムを回転させることを含む、請求項10に記載の方法。
- 前記スプーンを延伸及び退縮させることが、前記スプーンの延伸及び退縮のうちの一方を行うように、空気圧式ロッドレスシリンダを起動させることを含む、請求項9に記載の方法。
- 排出コンベヤを介して、前記自動化されたラック搬出装置から前記容器を放出することを更に含む、請求項9に記載の方法。
- 前記容器を放出することが、前記容器を前記排出コンベヤのエンドレスベルトに接続される階段と係合させて、前記容器を前記スプーンから後方方向において押すことを含む、請求項13に記載の方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201462049043P | 2014-09-11 | 2014-09-11 | |
US62/049,043 | 2014-09-11 | ||
US201462058325P | 2014-10-01 | 2014-10-01 | |
US62/058,325 | 2014-10-01 | ||
PCT/US2015/048809 WO2016040235A1 (en) | 2014-09-11 | 2015-09-08 | Automated rack unloading apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017526593A true JP2017526593A (ja) | 2017-09-14 |
JP7027164B2 JP7027164B2 (ja) | 2022-03-01 |
Family
ID=54147332
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017511342A Active JP7027164B2 (ja) | 2014-09-11 | 2015-09-08 | 自動化されたラック搬出装置 |
Country Status (11)
Country | Link |
---|---|
US (1) | US10000336B2 (ja) |
EP (1) | EP3191381B1 (ja) |
JP (1) | JP7027164B2 (ja) |
KR (1) | KR101928679B1 (ja) |
CN (1) | CN107000934B (ja) |
AU (1) | AU2015315432B2 (ja) |
BR (1) | BR112017003831A2 (ja) |
CA (1) | CA2958658C (ja) |
MX (1) | MX2017003250A (ja) |
RU (1) | RU2680879C2 (ja) |
WO (1) | WO2016040235A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113245140A (zh) * | 2021-06-02 | 2021-08-13 | 山东晶创新材料科技有限公司 | 一种无纺布正反面喷胶翻转结构 |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10294027B2 (en) * | 2015-01-09 | 2019-05-21 | Carefusion Germany 326 Gmbh | Operating device for an order-picking apparatus |
US10954065B2 (en) * | 2015-07-27 | 2021-03-23 | Tgw Logistics Group Gmbh | Method and system for delivering items in delivery containers |
KR102617249B1 (ko) | 2017-11-21 | 2023-12-21 | 풀필 솔루션스, 인크. | 제품 핸들링 및 포장 시스템 |
CN108945915B (zh) * | 2018-04-28 | 2020-12-18 | 国网智能科技股份有限公司 | 一种传送式信息存储实体件机械手爪及工作方法 |
JP7065287B2 (ja) * | 2018-06-22 | 2022-05-12 | パナソニックIpマネジメント株式会社 | 移動装置、搬送装置、移動システム、及び移動方法 |
CN108792391A (zh) * | 2018-07-06 | 2018-11-13 | 中国科学院自动化研究所(洛阳)机器人与智能装备创新研究院 | 一种自动取货机构 |
TWI689877B (zh) * | 2018-09-14 | 2020-04-01 | 財團法人工業技術研究院 | 揀貨及補貨方法、揀貨台車以及揀貨及補貨系統 |
US11130242B1 (en) * | 2020-01-23 | 2021-09-28 | Amazon Technologies, Inc. | Container transporter |
CN111634597B (zh) * | 2020-03-09 | 2021-09-28 | 深圳市海柔创新科技有限公司 | 装卸货装置及装卸货方法 |
DE102020111980A1 (de) * | 2020-05-04 | 2021-11-04 | Rocket Solution Gmbh | Shuttle und Regalsystem |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3750804A (en) * | 1969-03-07 | 1973-08-07 | Triax Co | Load handling mechanism and automatic storage system |
US3572563A (en) * | 1969-10-01 | 1971-03-30 | Emerson T Oliver | Truck unloader |
JPS51116579A (en) * | 1975-04-02 | 1976-10-14 | Itoki Kosakusho Co Ltd | System for article storage and for individual exit |
US4203696A (en) * | 1975-08-18 | 1980-05-20 | Lindberg Gunnar Vilhelm | Tray unloading device |
JPS5244984A (en) * | 1975-10-06 | 1977-04-08 | Itoki Kosakusho Co Ltd | Articles unloading equipment |
SU649640A1 (ru) * | 1975-10-24 | 1979-02-28 | Дальневосточный Филиал Государственного Проектного Института "Союзпроммеханизация" | Телескопический захват дл грузоподъемных машин |
US4283164A (en) * | 1979-11-26 | 1981-08-11 | Reaney Lawrence A | Battery mover |
SU1180313A1 (ru) * | 1984-04-10 | 1985-09-23 | Проектно-Конструкторское Бюро Управления Местной Промышленности Свердловского Облисполкома | Ленточный конвейер дл транспортировани штучных грузов |
US5380139A (en) * | 1986-06-30 | 1995-01-10 | Kone Oy | Load handling method and system |
SU1530535A1 (ru) * | 1987-03-02 | 1989-12-23 | Предприятие П/Я Х-5618 | Грузоподъемна площадка крана-штабелера |
SU1564065A1 (ru) * | 1988-06-20 | 1990-05-15 | Производственное объединение "Новокраматорский машиностроительный завод" | Перегрузочное устройство механизированного стеллажа |
DE3840748A1 (de) * | 1988-12-03 | 1990-06-07 | Dickertmann Ag | Vorrichtung zum einstellen von lastaufnehmenden gabelzinken in eine schraeg nach oben gerichtete tragstellung |
US5589113A (en) * | 1994-05-06 | 1996-12-31 | Mim Industries, Inc. | Process of inverting an article or air bag |
US5934195A (en) * | 1997-06-05 | 1999-08-10 | Western Litho Plate & Supply Co. | Apparatus for and method of exposing lithographic plates |
FR2791330B1 (fr) * | 1999-03-26 | 2001-04-20 | Hki Electronic Components Ltd | Dispositif pour extraire automatiquement et de maniere sequentielle des objets stockes en rangees dans des rayonnages |
US6267550B1 (en) * | 2000-08-28 | 2001-07-31 | Paper Machinery Corporation | Container nesting and counting apparatus |
JP3829633B2 (ja) * | 2001-02-22 | 2006-10-04 | 株式会社ダイフク | 荷保管設備 |
JP4078936B2 (ja) | 2002-10-11 | 2008-04-23 | 村田機械株式会社 | コンベヤ式搬送装置 |
US20060285947A1 (en) * | 2003-06-30 | 2006-12-21 | Twg Transportgerate Gmbh | Method and device for manipulating load containers |
US6883258B2 (en) * | 2003-08-06 | 2005-04-26 | Finish Tech., Ltd. | Spreader apparatus and method for articles of laundry |
AT503427B1 (de) * | 2006-08-03 | 2007-10-15 | Katt Logistik Gmbh | Verfahren zum ein- und auslagern von ladegut |
US8465243B2 (en) * | 2009-07-16 | 2013-06-18 | Wes van Ooyen | Method and apparatus for picking a package from a dispensing system |
JP5244984B2 (ja) | 2010-01-26 | 2013-07-24 | 本田技研工業株式会社 | ビーチクリーナ |
US8764367B2 (en) * | 2011-06-01 | 2014-07-01 | Stanley G. McCabe | Separator for articles of laundry |
JP6387417B2 (ja) | 2014-09-02 | 2018-09-05 | 株式会社sizebook | 携帯情報端末 |
-
2015
- 2015-09-08 EP EP15766348.5A patent/EP3191381B1/en active Active
- 2015-09-08 WO PCT/US2015/048809 patent/WO2016040235A1/en active Application Filing
- 2015-09-08 AU AU2015315432A patent/AU2015315432B2/en not_active Ceased
- 2015-09-08 MX MX2017003250A patent/MX2017003250A/es unknown
- 2015-09-08 BR BR112017003831A patent/BR112017003831A2/pt active Search and Examination
- 2015-09-08 KR KR1020177004662A patent/KR101928679B1/ko active IP Right Grant
- 2015-09-08 CN CN201580048117.XA patent/CN107000934B/zh not_active Expired - Fee Related
- 2015-09-08 RU RU2017105863A patent/RU2680879C2/ru active
- 2015-09-08 JP JP2017511342A patent/JP7027164B2/ja active Active
- 2015-09-08 CA CA2958658A patent/CA2958658C/en not_active Expired - Fee Related
- 2015-09-09 US US14/848,601 patent/US10000336B2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113245140A (zh) * | 2021-06-02 | 2021-08-13 | 山东晶创新材料科技有限公司 | 一种无纺布正反面喷胶翻转结构 |
Also Published As
Publication number | Publication date |
---|---|
MX2017003250A (es) | 2017-11-30 |
KR101928679B1 (ko) | 2018-12-12 |
KR20170033394A (ko) | 2017-03-24 |
RU2017105863A3 (ja) | 2018-10-11 |
WO2016040235A1 (en) | 2016-03-17 |
EP3191381B1 (en) | 2022-01-05 |
CA2958658C (en) | 2020-03-10 |
RU2680879C2 (ru) | 2019-02-28 |
AU2015315432A1 (en) | 2017-03-09 |
RU2017105863A (ru) | 2018-10-11 |
CN107000934B (zh) | 2020-02-07 |
CA2958658A1 (en) | 2016-03-17 |
AU2015315432B2 (en) | 2019-08-15 |
JP7027164B2 (ja) | 2022-03-01 |
US10000336B2 (en) | 2018-06-19 |
EP3191381A1 (en) | 2017-07-19 |
CN107000934A (zh) | 2017-08-01 |
US20160075511A1 (en) | 2016-03-17 |
BR112017003831A2 (pt) | 2017-12-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7027164B2 (ja) | 自動化されたラック搬出装置 | |
US9316438B2 (en) | Method and assembly for handling containers in a freeze dryer | |
WO2014029202A1 (zh) | 悬挂式自动存取系统 | |
RU2592880C2 (ru) | Система для запаивания лотков с пищевыми продуктами | |
CN108367870A (zh) | 用于移动托板的设备 | |
KR20200043791A (ko) | 서랍식 픽업 장치 및 이를 이용한 물품 입고 및 출고방법 | |
JP2009278935A (ja) | 食品処理システム | |
JP2024511548A (ja) | 物品輸送方法および設備 | |
EP3007981A1 (en) | Improved apparatus for filling containers with horticultural products | |
CN113443315B (zh) | 一种自动拣货平台及其拣货流转方法 | |
EP0956766B1 (en) | Method and apparatus for unloading crates from a container onto a transfer conveyor | |
US8622686B2 (en) | Stabilized device for moving a plurality of containers | |
JP2000247411A (ja) | 荷役設備の物品搬送方法およびその装置 | |
JP5420286B2 (ja) | 搬送装置 | |
CN208485241U (zh) | 一种循环供料器 | |
CN217512023U (zh) | 一种研磨物料自动化运料设备 | |
CN211593836U (zh) | 一种存取系统及存取仓 | |
CN215325439U (zh) | 一种货物运输用的装卸装置 | |
CN212314600U (zh) | 一种取货系统及货仓 | |
JP2007137550A (ja) | パレタイザ | |
JP5627537B2 (ja) | 部品供給装置、部品供給方法、および部品検査装置 | |
CN112811050A (zh) | 一种存取系统及存取仓 | |
JP2022102037A (ja) | 昇降装置及び自動設備 | |
JPS63171705A (ja) | 多数部材の出し入れ用格納装置及び方法 | |
TW202216346A (zh) | 工件供應倉儲裝置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180813 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20190527 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190613 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20190913 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20191202 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200423 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20200722 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200727 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20200918 |
|
C60 | Trial request (containing other claim documents, opposition documents) |
Free format text: JAPANESE INTERMEDIATE CODE: C60 Effective date: 20210115 |
|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A712 Effective date: 20210120 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20210120 |
|
C22 | Notice of designation (change) of administrative judge |
Free format text: JAPANESE INTERMEDIATE CODE: C22 Effective date: 20210531 |
|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A711 Effective date: 20210928 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20210928 |
|
C23 | Notice of termination of proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C23 Effective date: 20211221 |
|
C03 | Trial/appeal decision taken |
Free format text: JAPANESE INTERMEDIATE CODE: C03 Effective date: 20220120 |
|
C30A | Notification sent |
Free format text: JAPANESE INTERMEDIATE CODE: C3012 Effective date: 20220120 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220216 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7027164 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |