JP2019189082A - 作業機械およびその制御方法 - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000001133 acceleration Effects 0.000 description 35
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 5
- 230000008602 contraction Effects 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/354—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/36—Arrangement or mounting of transmissions in vehicles for driving tandem wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7663—Graders with the scraper blade mounted under a frame supported by wheels, or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/411—Bulldozers, Graders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
まず、本開示の思想を適用可能な作業機械の一例であるモータグレーダの構成について説明する。
図3は、一実施形態におけるモータグレーダにおける制御部50の機能を示す機能ブロック図である。図3に示されるように、制御部50は、後輪旋回半径算出部50aと、前輪旋回半径算出部50bと、目標前輪回転速度算出部50cと、右前輪回転速度指令部50dRと、左前輪回転速度指令部50dLと、記憶部50eとを有している。
次に、後輪の旋回半径と前輪の旋回半径とを算出する方法について図4および図5を用いて説明する。
次に、前輪増速比テーブルについて図6を用いて説明する。
図6に示す前輪増速比テーブルは、図3に示される後輪旋回半径算出部50aにより算出された後輪旋回半径と、アーティキュレートセンサ39により測定されたアーティキュレート角度と、前輪旋回半径算出部50bにより算出された前輪旋回半径とに基づいて作成される。具体的には、上記後輪旋回半径と、上記アーティキュレート角度と、上記前輪旋回半径を上記後輪旋回半径で除すことにより算出された前輪増速比とにより作成される。
次に、目標前輪回転速度を算出する方法について説明する。
次に、一実施形態におけるモータグレーダにおける走行輪11、12の制御方法について図7を用いて説明する。
本実施形態においては、図2に示されるように、後輪12R、12Lの回転速度が回転速度センサ36R、36Lで測定される。このため直進走行時に右後輪12Rおよび左後輪12Lのいずれかがスリップした場合でも、回転速度センサ36R、36Lによりスリップによる後輪12R、12Lの回転速度の変化を検知することができる。
Claims (6)
- 右後輪、左後輪、右前輪および左前輪と、
前記右後輪の回転速度を測定する第1センサと、
前記左後輪の回転速度を測定する第2センサと、
前記右前輪に駆動力を付与する第1駆動源と、
前記左前輪に駆動力を付与する第2駆動源と、
前記第1センサで測定した前記右後輪の回転速度と前記第2センサで測定した前記左後輪の回転速度とに基づいて前記第1駆動源および前記第2駆動源を制御することにより、前記右前輪および前記左前輪の各々の回転速度を独立して制御する制御部とを備えた、作業機械。 - 前記制御部は、前記第1センサで測定した前記右後輪の回転速度と前記第2センサで測定した前記左後輪の回転速度とに基づいて前記右後輪と前記左後輪とを含む後輪の旋回半径を算出する、請求項1に記載の作業機械。
- 前記右前輪および前記左前輪が設けられたフロントフレームと、
前記右後輪および前記左後輪が設けられ、かつ前記フロントフレームに連結されたリアフレームと、
前記フロントフレームと前記リアフレームとのアーティキュレート角度を検出するアーティキュレートセンサとをさらに備え、
前記制御部は、算出された前記後輪の旋回半径と前記アーティキュレートセンサにより検出された前記アーティキュレート角度とに基づいて前記右前輪の目標前輪回転速度と前記左前輪の目標前輪回転速度とを決定する、請求項2に記載の作業機械。 - 前記制御部は、前記右前輪の前記目標前輪回転速度となるように前記第1駆動源を制御し、かつ前記左前輪の前記目標前輪回転速度となるように前記第2駆動源を制御する、請求項3に記載の作業機械。
- 前記第1駆動源は第1モータを含み、かつ前記第2駆動源は第2モータを含む、請求項1に記載の作業機械。
- 右後輪、左後輪、右前輪および左前輪を有する作業機械の制御方法であって、
前記右後輪の回転速度を測定する工程と、
前記左後輪の回転速度を測定する工程と、
測定した前記右後輪の回転速度と前記左後輪の回転速度とに基づいて前記右前輪および前記左前輪の各々の回転速度を独立して制御する工程とを備えた、作業機械の制御方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018085208A JP7129814B2 (ja) | 2018-04-26 | 2018-04-26 | 作業機械およびその制御方法 |
CN201980016355.0A CN111788098B (zh) | 2018-04-26 | 2019-02-26 | 作业机械及其控制方法 |
PCT/JP2019/007333 WO2019207946A1 (ja) | 2018-04-26 | 2019-02-26 | 作業機械およびその制御方法 |
US16/971,504 US20200399858A1 (en) | 2018-04-26 | 2019-02-26 | Work machine and method of controlling the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2018085208A JP7129814B2 (ja) | 2018-04-26 | 2018-04-26 | 作業機械およびその制御方法 |
Publications (2)
Publication Number | Publication Date |
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JP2019189082A true JP2019189082A (ja) | 2019-10-31 |
JP7129814B2 JP7129814B2 (ja) | 2022-09-02 |
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JP2018085208A Active JP7129814B2 (ja) | 2018-04-26 | 2018-04-26 | 作業機械およびその制御方法 |
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US (1) | US20200399858A1 (ja) |
JP (1) | JP7129814B2 (ja) |
CN (1) | CN111788098B (ja) |
WO (1) | WO2019207946A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS63222928A (ja) * | 1987-03-12 | 1988-09-16 | Kubota Ltd | 四輪駆動型作業車 |
JP2002079842A (ja) * | 2000-09-06 | 2002-03-19 | Komatsu Ltd | 全輪駆動車両の前輪回転数補正システム |
JP2002079841A (ja) * | 2000-09-06 | 2002-03-19 | Komatsu Ltd | 全輪駆動車両の前輪回転数補正システム |
WO2016185019A1 (de) * | 2015-05-20 | 2016-11-24 | Avl Commercial Driveline & Tractor Engineering Gmbh | Verfahren zur steuerung einer raddrehzahl wenigstens eines rades einer antreibbaren achse eines zweispurigen fahrzeugs mit zwei antreibbaren achsen und zweispuriges fahrzeug mit wenigstens zwei antreibbaren achsen |
Family Cites Families (12)
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JPS63222938A (ja) * | 1987-03-13 | 1988-09-16 | Toyota Motor Corp | 差動制御装置 |
US6857494B2 (en) * | 2000-09-06 | 2005-02-22 | Komatsu Ltd. | Steering-wheel revolution number correction system of all-wheel-drive vehicle |
US7325636B2 (en) * | 2004-08-30 | 2008-02-05 | Caterpillar Inc. | Front-wheel drive steering compensation method and system |
US7364003B2 (en) * | 2005-02-25 | 2008-04-29 | Caterpillar Inc. | Systems and methods for the mitigation of hop |
US8771140B2 (en) * | 2008-12-22 | 2014-07-08 | Caterpillar Inc. | Machine control system utilizing inertial yaw sensor |
JP5367853B2 (ja) * | 2012-01-23 | 2013-12-11 | 株式会社小松製作所 | モータグレーダ |
US9056624B2 (en) * | 2012-11-14 | 2015-06-16 | Deere & Company | Front wheel drive control |
US20140326471A1 (en) * | 2013-05-03 | 2014-11-06 | Caterpillar Inc. | Motor Grader Cross Slope Control With Articulation Compensation |
DE102013021608A1 (de) * | 2013-09-27 | 2015-04-02 | Liebherr-Components Biberach Gmbh | Selbstfahrende Arbeitsmaschine sowie Verfahren zum Abbremsen einer solchen Arbeitsmaschine |
US9227478B2 (en) * | 2013-12-18 | 2016-01-05 | Deere & Company | Vehicle with automatically leanable wheels |
US9956874B2 (en) * | 2014-03-03 | 2018-05-01 | Deere & Company | Traction control method and apparatus for a work vehicle with independent drives |
JP6988267B2 (ja) * | 2017-08-28 | 2022-01-05 | 株式会社ジェイテクト | 駆動力制御装置及び車両の制御方法 |
-
2018
- 2018-04-26 JP JP2018085208A patent/JP7129814B2/ja active Active
-
2019
- 2019-02-26 US US16/971,504 patent/US20200399858A1/en active Pending
- 2019-02-26 CN CN201980016355.0A patent/CN111788098B/zh active Active
- 2019-02-26 WO PCT/JP2019/007333 patent/WO2019207946A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63222928A (ja) * | 1987-03-12 | 1988-09-16 | Kubota Ltd | 四輪駆動型作業車 |
JP2002079842A (ja) * | 2000-09-06 | 2002-03-19 | Komatsu Ltd | 全輪駆動車両の前輪回転数補正システム |
JP2002079841A (ja) * | 2000-09-06 | 2002-03-19 | Komatsu Ltd | 全輪駆動車両の前輪回転数補正システム |
WO2016185019A1 (de) * | 2015-05-20 | 2016-11-24 | Avl Commercial Driveline & Tractor Engineering Gmbh | Verfahren zur steuerung einer raddrehzahl wenigstens eines rades einer antreibbaren achse eines zweispurigen fahrzeugs mit zwei antreibbaren achsen und zweispuriges fahrzeug mit wenigstens zwei antreibbaren achsen |
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Publication number | Publication date |
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WO2019207946A1 (ja) | 2019-10-31 |
US20200399858A1 (en) | 2020-12-24 |
CN111788098B (zh) | 2023-08-15 |
JP7129814B2 (ja) | 2022-09-02 |
CN111788098A (zh) | 2020-10-16 |
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