JP2020066118A - 工作機械 - Google Patents
工作機械 Download PDFInfo
- Publication number
- JP2020066118A JP2020066118A JP2018202180A JP2018202180A JP2020066118A JP 2020066118 A JP2020066118 A JP 2020066118A JP 2018202180 A JP2018202180 A JP 2018202180A JP 2018202180 A JP2018202180 A JP 2018202180A JP 2020066118 A JP2020066118 A JP 2020066118A
- Authority
- JP
- Japan
- Prior art keywords
- stocker
- machine tool
- robot
- end effector
- machine
- 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
- 239000012636 effector Substances 0.000 claims abstract description 79
- 238000003754 machining Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 68
- 230000002542 deteriorative effect Effects 0.000 abstract description 4
- 238000005520 cutting process Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000012809 cooling fluid Substances 0.000 description 1
- 239000010730 cutting oil Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1556—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of non-rotary tools
- B23Q3/15566—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of non-rotary tools the tool being inserted in a tool holder directly from a storage device, i.e. without using transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
- B23Q11/0825—Relatively slidable coverings, e.g. telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
- B23Q11/0891—Protective coverings for parts of machine tools; Splash guards arranged between the working area and the operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
- B23Q2003/15537—Linearly moving storage devices
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/11—Tool changing with safety means
- Y10T483/115—Guard
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1702—Rotating work machine tool [e.g., screw machine, lathe, etc.]
Abstract
Description
行なうためには、ロボットの可動範囲を広げなければならない。通常、ロボットの可動範囲は、安全柵等で囲まれる必要があるため、この場合、非常に大きな安全柵が必要となり、大スペース、高コストとなってしまう。
Claims (4)
- ロボットを有した工作機械であって、さらに、
前記ロボットに装着されるエンドエフェクタを保持するエフェクタ保持部を1以上有するストッカを備え、
前記ストッカは、前記工作機械の筐体内に収容可能である、
ことを特徴とする工作機械。 - 請求項1に記載の工作機械であって、
前記ストッカは、少なくとも一部が、前記工作機械の加工室内、および、前記工作機械の外部である機外の双方に進出可能である、ことを特徴とする工作機械。 - 請求項2に記載の工作機械であって、さらに、
前記ストッカを、前記加工室内および前記機外の一方にスライド可能に保持する第一スライド機構と、
前記第一スライド機構ごと前記ストッカを、前記加工室内および前記機外の双方にスライド可能に保持する第二スライド機構と、
を備える、ことを特徴とする工作機械。 - 請求項3に記載の工作機械であって、
前記第一スライド機構は、前記ストッカを機外にスライド可能に保持し、
前記第二スライド機構は、前記第一スライド機構および前記ストッカを機内にスライド可能に保持しており、
前記第一スライド機構を利用したスライドは、手動で行われ、
さらに、前記第一スライド機構によるスライドをロックまたはロック解除するロック機構を備える、
ことを特徴とする工作機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018202180A JP7122221B2 (ja) | 2018-10-26 | 2018-10-26 | 工作機械 |
DE102019127899.6A DE102019127899A1 (de) | 2018-10-26 | 2019-10-16 | Werkzeugmaschine |
US16/663,454 US11772216B2 (en) | 2018-10-26 | 2019-10-25 | Machine tool |
CN201911033479.8A CN111098177A (zh) | 2018-10-26 | 2019-10-28 | 机床 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018202180A JP7122221B2 (ja) | 2018-10-26 | 2018-10-26 | 工作機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020066118A true JP2020066118A (ja) | 2020-04-30 |
JP7122221B2 JP7122221B2 (ja) | 2022-08-19 |
Family
ID=70326377
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018202180A Active JP7122221B2 (ja) | 2018-10-26 | 2018-10-26 | 工作機械 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11772216B2 (ja) |
JP (1) | JP7122221B2 (ja) |
CN (1) | CN111098177A (ja) |
DE (1) | DE102019127899A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022012705A (ja) * | 2020-07-02 | 2022-01-17 | Dmg森精機株式会社 | 工作機械 |
WO2023163164A1 (ja) * | 2022-02-28 | 2023-08-31 | Dgshape株式会社 | 切削加工機 |
WO2023163163A1 (ja) * | 2022-02-28 | 2023-08-31 | Dgshape株式会社 | 切削加工機 |
JP7469477B2 (ja) | 2020-08-07 | 2024-04-16 | ファナック株式会社 | 射出成形機 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USD932526S1 (en) * | 2019-01-11 | 2021-10-05 | Doosan Machine Tools Co., Ltd. | Machine center |
USD932525S1 (en) * | 2019-01-11 | 2021-10-05 | Doosan Machine Tools Co., Ltd. | Machine center |
USD918277S1 (en) * | 2019-06-07 | 2021-05-04 | Bühler AG | Die casting machine |
CN113021016B (zh) * | 2021-03-29 | 2022-02-18 | 杨铁数控机床(苏州)有限公司 | 一种数控机床 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5966547U (ja) * | 1982-10-27 | 1984-05-04 | 株式会社池貝 | 工具姿勢矯正装置 |
JPH058141A (ja) * | 1991-07-01 | 1993-01-19 | Yamazaki Mazak Corp | 数値制御旋盤における自動段取装置 |
JPH0679591A (ja) * | 1992-06-10 | 1994-03-22 | Yamazaki Mazak Corp | シミュレーション機能を備えた自動加工装置 |
JP2017154207A (ja) * | 2016-03-01 | 2017-09-07 | 株式会社スギノマシン | ハンドストッカおよびハンド |
JP2018144131A (ja) * | 2017-03-02 | 2018-09-20 | オークマ株式会社 | 工作機械 |
Family Cites Families (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4601094A (en) * | 1984-04-27 | 1986-07-22 | The Warner & Swasey Company | Turning machine with an automatic tool changer |
JPS6186144A (ja) * | 1984-10-03 | 1986-05-01 | Mazda Motor Corp | マシニングセンタ |
ES2029671T3 (es) * | 1986-04-18 | 1992-09-01 | Bruderer Ag | Prensa con un bastidor y una herramienta, consistente por lo menos, en dos partes. |
US5114193A (en) * | 1990-12-14 | 1992-05-19 | Nass Thomas O | Safety latch mechanism |
US20060122691A1 (en) | 1998-12-03 | 2006-06-08 | Jacob Richter | Hybrid stent |
WO2003031110A1 (en) * | 2001-09-28 | 2003-04-17 | Mitsubishi Denki Kabushiki Kaisha | Three-dimensional laser beam machine |
ITVI20020231A1 (it) * | 2002-10-25 | 2004-04-26 | Sistech Srl | Unita' operatrice per lavorazioni meccaniche ad asportazione di truciolo. |
DE10255037A1 (de) * | 2002-11-26 | 2004-06-09 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks |
DE102004038310A1 (de) * | 2004-08-05 | 2006-02-23 | Kuka Schweissanlagen Gmbh | Lasereinrichtung und Betriebsverfahren |
FR2907357B1 (fr) * | 2006-10-20 | 2008-12-12 | Comau France Sa | Dispositif de stockage, de chargement et de dechargement d'outils notamment d'outils speciaux. |
KR100779805B1 (ko) * | 2006-12-14 | 2007-11-27 | 두산인프라코어 주식회사 | 공구 매거진 구동과 연계된 atc 도어의 개폐장치 |
JP2009006455A (ja) * | 2007-06-29 | 2009-01-15 | Komatsu Ntc Ltd | 工作機械 |
DE102009023297A1 (de) * | 2009-05-29 | 2010-12-02 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Betrieb einer zusätzlichen Werkzeugachse eines von einem Manipulator geführten Werkzeugs |
CN103097077B (zh) * | 2010-09-10 | 2015-05-20 | 株式会社牧野铣床制作所 | 刀具替换装置、刀具库及机床 |
US8511765B1 (en) * | 2012-08-07 | 2013-08-20 | E-Make Co., Ltd. | Two way travel drawer slide |
JP6351475B2 (ja) * | 2014-10-07 | 2018-07-04 | シチズン時計株式会社 | ワーク供給装置及び工作機械 |
JP5956040B1 (ja) * | 2015-09-07 | 2016-07-20 | Dmg森精機株式会社 | 工作機械 |
CN205201147U (zh) | 2015-09-29 | 2016-05-04 | 广东凯德伦集团有限公司 | 一种cnc刀具自动供应设备 |
CN105196104A (zh) | 2015-10-16 | 2015-12-30 | 广州数控设备有限公司 | 数控机床用上下料工业机器人及其柔性自动化加工单元 |
CN105364622A (zh) | 2015-12-24 | 2016-03-02 | 山东威达重工股份有限公司 | 自备机械手的数控机床及进行工件装卸的方法 |
JP6735149B2 (ja) | 2016-05-11 | 2020-08-05 | オークマ株式会社 | 工作機械 |
DE102016209285B3 (de) * | 2016-05-30 | 2017-08-17 | Trumpf Maschinen Ag | Bearbeitungsmaschine mit einem Düsenwechsler |
DE102018122165A1 (de) * | 2018-09-11 | 2020-03-12 | Datron Ag | Wechselspeicher |
CN211163065U (zh) * | 2019-11-25 | 2020-08-04 | 大连光洋科技集团有限公司 | 一种推拉结构的刀库自动门 |
TWI719886B (zh) * | 2020-04-13 | 2021-02-21 | 達詳自動化股份有限公司 | 智能刀具車及其換刀方法 |
CN113070711A (zh) * | 2021-03-31 | 2021-07-06 | 全准数控设备(苏州)有限公司 | 一种快换抽屉刀库 |
-
2018
- 2018-10-26 JP JP2018202180A patent/JP7122221B2/ja active Active
-
2019
- 2019-10-16 DE DE102019127899.6A patent/DE102019127899A1/de active Pending
- 2019-10-25 US US16/663,454 patent/US11772216B2/en active Active
- 2019-10-28 CN CN201911033479.8A patent/CN111098177A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5966547U (ja) * | 1982-10-27 | 1984-05-04 | 株式会社池貝 | 工具姿勢矯正装置 |
JPH058141A (ja) * | 1991-07-01 | 1993-01-19 | Yamazaki Mazak Corp | 数値制御旋盤における自動段取装置 |
JPH0679591A (ja) * | 1992-06-10 | 1994-03-22 | Yamazaki Mazak Corp | シミュレーション機能を備えた自動加工装置 |
JP2017154207A (ja) * | 2016-03-01 | 2017-09-07 | 株式会社スギノマシン | ハンドストッカおよびハンド |
JP2018144131A (ja) * | 2017-03-02 | 2018-09-20 | オークマ株式会社 | 工作機械 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022012705A (ja) * | 2020-07-02 | 2022-01-17 | Dmg森精機株式会社 | 工作機械 |
JP7469477B2 (ja) | 2020-08-07 | 2024-04-16 | ファナック株式会社 | 射出成形機 |
WO2023163164A1 (ja) * | 2022-02-28 | 2023-08-31 | Dgshape株式会社 | 切削加工機 |
WO2023163163A1 (ja) * | 2022-02-28 | 2023-08-31 | Dgshape株式会社 | 切削加工機 |
Also Published As
Publication number | Publication date |
---|---|
US11772216B2 (en) | 2023-10-03 |
DE102019127899A1 (de) | 2020-04-30 |
CN111098177A (zh) | 2020-05-05 |
US20200130123A1 (en) | 2020-04-30 |
JP7122221B2 (ja) | 2022-08-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP2020066118A (ja) | 工作機械 | |
JP5562480B2 (ja) | マシニングセンタ | |
JP5689504B2 (ja) | サーボ自動開閉扉を備えた加工システム | |
JP6656386B2 (ja) | 工作機械 | |
US10780540B2 (en) | Workpiece clamp apparatus | |
CN110202411B (zh) | 机床系统以及储料器 | |
JP2008260120A (ja) | 取扱マニピュレータ装置 | |
CN108526970B (zh) | 机床 | |
JP4979540B2 (ja) | 複合加工旋盤 | |
JP2007050507A (ja) | 伸縮カバーを備える工作機械 | |
JP7364478B2 (ja) | 工作機械 | |
KR102324412B1 (ko) | 터렛 공구대 및 이를 갖는 공작 기계 | |
JP2015217492A5 (ja) | ||
JP6618544B2 (ja) | 多機能ワーク置き台モジュール | |
JP2008097193A (ja) | 工作機械の制御装置 | |
JP5905327B2 (ja) | 工作機械 | |
JP2007238242A (ja) | チャンバの扉開閉機構及びそれを備える真空装置 | |
JP6795923B2 (ja) | 工作機械 | |
JP2021074819A (ja) | インサート自動組付システム | |
JP6656262B2 (ja) | 機械加工システム | |
WO2017068643A1 (ja) | 機械加工システム | |
WO2022259455A1 (ja) | 複合加工機 | |
JP5156800B2 (ja) | ローダ装置 | |
JP3099197B2 (ja) | 工作機械におけるワーク受け渡し装置 | |
JP2012091257A (ja) | 工作機械システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210728 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220428 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220510 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220707 |
|
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: 20220802 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220808 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7122221 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |