JP2018511747A - 回転センサ装置を有するボールジョイント組立体 - Google Patents
回転センサ装置を有するボールジョイント組立体 Download PDFInfo
- Publication number
- JP2018511747A JP2018511747A JP2017548113A JP2017548113A JP2018511747A JP 2018511747 A JP2018511747 A JP 2018511747A JP 2017548113 A JP2017548113 A JP 2017548113A JP 2017548113 A JP2017548113 A JP 2017548113A JP 2018511747 A JP2018511747 A JP 2018511747A
- Authority
- JP
- Japan
- Prior art keywords
- joint group
- rotation
- central body
- pin
- axis
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 239000000725 suspension Substances 0.000 claims description 13
- 230000001419 dependent effect Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 description 3
- 229920000642 polymer Polymers 0.000 description 2
- 229910000906 Bronze Inorganic materials 0.000 description 1
- 239000003831 antifriction material Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/023—Determination of steering angle by measuring on the king pin
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/18—Steering knuckles; King pins
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C21/00—Combinations of sliding-contact bearings with ball or roller bearings, for exclusively rotary movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
- F16C41/007—Encoders, e.g. parts with a plurality of alternating magnetic poles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
- F16D3/20—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
- F16D3/202—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints
- F16D3/205—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints the pins extending radially outwardly from the coupling part
- F16D3/2052—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints the pins extending radially outwardly from the coupling part having two pins
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
- F16C11/0685—Manufacture of ball-joints and parts thereof, e.g. assembly of ball-joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
- F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
- F16C19/364—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/54—Systems consisting of a plurality of bearings with rolling friction
- F16C19/541—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing
- F16C19/542—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing with two rolling bearings with angular contact
- F16C19/543—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing with two rolling bearings with angular contact in O-arrangement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2233/00—Monitoring condition, e.g. temperature, load, vibration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2326/00—Articles relating to transporting
- F16C2326/20—Land vehicles
- F16C2326/24—Steering systems, e.g. steering rods or columns
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Pivots And Pivotal Connections (AREA)
- Vehicle Body Suspensions (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Claims (13)
- 回転軸(R−R)の周りの往復回転運動を可能にするように、第1のコンポーネントと第2のコンポーネントを動作可能に接続することに適したジョイント群(1)であって、
i)第1の端(11)と第2の球状端(12)との間の旋回軸(P−P)に亘って伸張するピン(10)と、
ii)前記ピン(10)の前記第2の球状端(12)に合わせられ、一体的に接続された中心体(21)と、前記回転軸(R−R)の周りの前記中心体(21)の自由な回転を可能にするのに適した回転手段(25)とを備える回転装置(20)と、
iii)前記回転軸(R−R)上に位置付けられ、前記回転軸(R−R)の周りの中心体(21)の回転の角度を検出するのに適している、検出要素(31)を備える回転センサ装置(30)と、
iv)前記第2のコンポーネントに固定可能であり、前記回転装置(20)と前記回転センサ装置(30)を収容するのに適した筐体(50)とを備え、
前記ピン(10)の前記第1の端(11)は、前記第1のコンポーネントと係合するように、前記筐体(50)から突出している、ジョイント群(1)。 - 前記中心体(21)は、収容壁(210’)によって区切られたボール収容部(210)を備え、前記第2の球状端(12)は、横ピン(121)によって前記中心体(21)に接続されており、前記横ピン(121)は、前記ピン(10)が横軸(Y−Y)の周りを自由に回転できるように前記収容壁(210’)を係合するために、回転軸(R−R)と垂直な横軸(Y−Y)に沿って伸長し、前記第2の球状端(12)の中心Cを通っている、請求項1に記載のジョイント群(1)。
- 前記中心体(21)は、前記収容壁(210’)上に、前記回転軸(R−R)に対して半径方向に対向した、2つのピンスロット(215)を有し、前記ピンスロット(215)は、前記回転軸(R−R)と平行して伸長しており、その中に、前記横ピン(121)の端が運動自在に収容されている、請求項2に記載のジョイント群(1)。
- 前記中心体(21)は、前記中心(C)を前記回転軸(R−R)に沿って固定するように保つのに適している接合要素(212)を備える、請求項2又は3のうちのいずれか一項に記載のジョイント群(1)。
- 前記回転手段(25)は、前記中心体(21)に動作可能に接続されている内表面(251’)と前記筐体(50)に動作可能に接続されている外表面(251’’)を有する、1つ以上のベアリング(251)を備える、請求項1から4のうちのいずれか一項に記載のジョイント群(1)。
- 前記中心体(21)は、ボール収容部(210)を区切るように、前記回転軸(R−R)に沿って互いに係合するのに適した、第1の部分(21a)と第2の上部部分(21b)を備えている、請求項1から5のうちのいずれか一項に記載のジョイント群(1)。
- 前記回転センサ装置(30)は、前記回転センサ装置(30)を固定するためのフランジ(32)を備え、前記フランジ(32)は、前記回転軸(R−R)に沿って、前記中心体(21)と、好ましくは第2の部分(21b)と整合するように前記検出要素(31)が挿入される、検出開口(320)を有している、請求項1から6のうちのいずれか一項に記載のジョイント群(1)。
- 前記フランジ(32)は、前記回転軸(R−R)に沿って、前記検出要素(31)を収容するためのシート(321)を有し、前記シート(321)は、前記検出開口(320)と通じている、請求項7に記載のジョイント群(1)。
- 前記検出要素(31)は、ゼロポジションから開始し、±90°まで、好ましくは±60°までの、前記回転軸(R−R)の周りの回転の角度を検出するのに適している、請求項7又は8に記載のジョイント群(1)。
- 前記筐体(50)は、前記回転軸(R−R)に沿って、軸対称空洞(500)を有する、請求項1から9のうちのいずれか一項に記載のジョイント群(1)。
- 前記フランジ(32)と前記回転手段(25)は、前記筐体(50)上で、前記中心体(21)と前記ピン(10)とを支持するのに適している、請求項7から9のうちのいずれか一項に従属する請求項10記載のジョイント群(1)。
- 前記ピン(10)の前記第1の端(11)に一体的に接続され、前記第1のコンポーネントに固定されるのに適しているフランジ(55)を備える、請求項1から11のうちのいずれか一項に記載のジョイント群(1)。
- 単一サスペンション車輪操舵システム(100)であって、
車輪キャリア(150)と、サスペンションアーム(151)と、請求項1から12のうちのいずれか一項に記載のジョイント群(1)とを備え、前記車輪キャリア(150)を前記サスペンションアーム(151)に接続する、単一サスペンション車輪操舵システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITBG20150016 | 2015-03-13 | ||
ITBG2015A000016 | 2015-03-13 | ||
PCT/IB2016/050976 WO2016147068A1 (en) | 2015-03-13 | 2016-02-23 | Ball joint assembly with a rotation sensor device |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018511747A true JP2018511747A (ja) | 2018-04-26 |
JP6682551B2 JP6682551B2 (ja) | 2020-04-15 |
Family
ID=53267430
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017548113A Expired - Fee Related JP6682551B2 (ja) | 2015-03-13 | 2016-02-23 | 回転センサ装置を有するボールジョイント組立体 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3268625B1 (ja) |
JP (1) | JP6682551B2 (ja) |
CN (1) | CN107532640B (ja) |
WO (1) | WO2016147068A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108691885A (zh) * | 2018-07-06 | 2018-10-23 | 北斗地网(重庆)科技集团有限公司 | 一种万向调节式无线网络设备 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08507015A (ja) * | 1993-02-20 | 1996-07-30 | アイティーティー・オートモーティブ・ヨーロップ・ゲーエムベーハー | ウインドシールドワイパシステムの2つの作動ロッドを作動するための同軸状駆動軸受 |
JP2002115712A (ja) * | 2000-10-06 | 2002-04-19 | Hiihaisuto Seiko Kk | 球面軸受 |
JP2002333011A (ja) * | 2001-05-10 | 2002-11-22 | Nsk Ltd | 3自由度型軸受とパラレルリンク機構と移動装置 |
JP2007503553A (ja) * | 2003-08-22 | 2007-02-22 | ツェットエフ フリードリヒスハーフェン アクチエンゲゼルシャフト | 角度センサを備えたボールジョイント |
JP2007055409A (ja) * | 2005-08-24 | 2007-03-08 | Jtekt Corp | 転舵装置 |
JP2008546955A (ja) * | 2005-06-15 | 2008-12-25 | ツェットエフ フリードリヒスハーフェン アクチエンゲゼルシャフト | センサ装置を備えたボールジョイント及び摩耗測定のための方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT246511B (de) * | 1962-07-09 | 1966-04-25 | Allgemeiner Zentralver Zur Foe | Ver- und feststellbare Klemmkupplung zur Festlegung von Maschinenelementen an einer Welle |
ATE13271T1 (de) * | 1980-09-13 | 1985-06-15 | Gkn Transmissions Ltd | Abdichtung fuer radlager und kreuzgelenk. |
DE10110738C5 (de) * | 2001-03-01 | 2008-06-05 | ZF Lemförder GmbH | Kugelgelenk, Vorrichtung zum Steuern von Betriebsparametern eines Kraftfahrzeuges, Lenkgestänge, Spurstange sowie Verfahren zur Herstellung eines Kugelgelenks |
DE10134259A1 (de) * | 2001-07-18 | 2003-02-06 | Zf Lemfoerder Metallwaren Ag | Kugelgelenk mit integriertem Winkelsensor |
DE10243399B4 (de) * | 2002-09-18 | 2006-10-05 | ZF Lemförder Metallwaren AG | Dreh- und/oder Kippwinkelerfassungseinrichtung für ein Kugelgelenk |
DE102005034150B4 (de) * | 2005-07-19 | 2008-04-17 | Zf Friedrichshafen Ag | Kugelgelenk für ein Kraftfahrzeug |
DE102007035242B4 (de) * | 2007-07-25 | 2009-04-30 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Vorrichtung zur Erfassung der relativen Drehbewegungen des Fußes einer Testpuppe gegenüber dem Unterschenkel |
US8146954B2 (en) * | 2010-01-11 | 2012-04-03 | Hui-Chun Su | Quick plugging set of pneumatic tools |
DE102012013568A1 (de) * | 2012-07-06 | 2014-05-08 | Carl Stahl Gmbh | Verbindungseinrichtung |
CN103527620B (zh) * | 2013-10-23 | 2015-09-16 | 合肥工业大学 | 可实现回转角度测量的球铰链及测量方法 |
-
2016
- 2016-02-23 JP JP2017548113A patent/JP6682551B2/ja not_active Expired - Fee Related
- 2016-02-23 WO PCT/IB2016/050976 patent/WO2016147068A1/en active Application Filing
- 2016-02-23 EP EP16715879.9A patent/EP3268625B1/en active Active
- 2016-02-23 CN CN201680015243.XA patent/CN107532640B/zh not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08507015A (ja) * | 1993-02-20 | 1996-07-30 | アイティーティー・オートモーティブ・ヨーロップ・ゲーエムベーハー | ウインドシールドワイパシステムの2つの作動ロッドを作動するための同軸状駆動軸受 |
JP2002115712A (ja) * | 2000-10-06 | 2002-04-19 | Hiihaisuto Seiko Kk | 球面軸受 |
JP2002333011A (ja) * | 2001-05-10 | 2002-11-22 | Nsk Ltd | 3自由度型軸受とパラレルリンク機構と移動装置 |
JP2007503553A (ja) * | 2003-08-22 | 2007-02-22 | ツェットエフ フリードリヒスハーフェン アクチエンゲゼルシャフト | 角度センサを備えたボールジョイント |
JP2008546955A (ja) * | 2005-06-15 | 2008-12-25 | ツェットエフ フリードリヒスハーフェン アクチエンゲゼルシャフト | センサ装置を備えたボールジョイント及び摩耗測定のための方法 |
JP2007055409A (ja) * | 2005-08-24 | 2007-03-08 | Jtekt Corp | 転舵装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3268625A1 (en) | 2018-01-17 |
CN107532640A (zh) | 2018-01-02 |
CN107532640B (zh) | 2019-09-06 |
WO2016147068A1 (en) | 2016-09-22 |
JP6682551B2 (ja) | 2020-04-15 |
EP3268625B1 (en) | 2019-05-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20100263471A1 (en) | Robot having delta kinematics | |
US8366064B2 (en) | Universal mounting apparatus | |
US20150114163A1 (en) | Robotic manipulator with spherical joints | |
EP3816477B1 (en) | Link actuating device | |
CN105899830B (zh) | 联轴器 | |
CN101829996A (zh) | 机械接口及使用该接口的机械手 | |
US11357583B2 (en) | Laparoscope-holding robot system for laparoscopic surgery | |
US11760406B2 (en) | Steer-by-wire type steering apparatus | |
JP2019527000A (ja) | アンテナポジショニングメカニズム | |
JP2018511747A (ja) | 回転センサ装置を有するボールジョイント組立体 | |
JP2018509336A (ja) | 回転センサデバイスを備える単一懸架車輪操舵システム | |
JP6938693B2 (ja) | ジョイント | |
US8506413B2 (en) | Rotary connector | |
JPH01169123A (ja) | 継手装置 | |
KR102480328B1 (ko) | 어셈블리를 연결하는 상보적 체결 요소를 갖는 로봇 | |
US8550431B2 (en) | Shaft connection between two shafts | |
CN106041997A (zh) | 一种可全方位转动的伸缩型机械手臂 | |
CN108150778A (zh) | 一种三自由度复合铰链 | |
US9803732B2 (en) | Hard stop assembly for a joint adapted for more than a single revolution | |
GB2578157A (en) | Hitch connection mechanism for automatic guided vehicles | |
US11131338B2 (en) | Connection device | |
CN214626109U (zh) | 电缆中心自定位装置 | |
WO2021215363A1 (ja) | ボールジョイント及びダストカバー | |
US11118945B2 (en) | Apparatus for mounting and aligning an angular position sensor to a rotating shaft | |
CN113070826B (zh) | 适配器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20181015 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20190906 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190924 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20191213 |
|
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: 20200225 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200325 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6682551 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
LAPS | Cancellation because of no payment of annual fees |