JP5715047B2 - ハイブリッド型作業機械 - Google Patents
ハイブリッド型作業機械 Download PDFInfo
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- JP5715047B2 JP5715047B2 JP2011507264A JP2011507264A JP5715047B2 JP 5715047 B2 JP5715047 B2 JP 5715047B2 JP 2011507264 A JP2011507264 A JP 2011507264A JP 2011507264 A JP2011507264 A JP 2011507264A JP 5715047 B2 JP5715047 B2 JP 5715047B2
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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- 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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1884—Avoiding stall or overspeed of the engine
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
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- 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
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- 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
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- 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
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
-
- 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
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/25—Track vehicles
-
- 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
-
- 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
- B60Y2200/412—Excavators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/43—Engines
- B60Y2400/435—Supercharger or turbochargers
-
- 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
- Y02T10/62—Hybrid vehicles
Description
図1は、本発明に係るハイブリッド型作業機械の一例として、ハイブリッド型建設機械1の外観を示す斜視図である。図1に示すように、ハイブリッド型建設機械1はいわゆるリフティングマグネット車両であり、無限軌道を含む走行機構2と、走行機構2の上部に旋回機構3を介して回動自在に搭載された旋回体4とを備えている。旋回体4には、ブーム5と、ブーム5の先端にリンク接続されたアーム6と、アーム6の先端にリンク接続されたリフティングマグネット7とが取り付けられている。リフティングマグネット7は、鋼材などの吊荷Gを磁力により吸着して捕獲するための設備である。ブーム5、アーム6、及びリフティングマグネット7は、それぞれブームシリンダ8、アームシリンダ9、及びバケットシリンダ10によって油圧駆動される。また、旋回体4には、リフティングマグネット7の位置や励磁動作および釈放動作を操作する操作者を収容するための運転室4aや、油圧を発生するためのエンジン(内燃機関発動機)11といった動力源が設けられている。エンジン11は、例えばディーゼルエンジンで構成される。
ここで、ハイブリッド型作業機械のもう一つの課題について述べる。図11(a)は、エンジン11の出力(グラフG31)と、電動発電機(アシストモータ)の出力(グラフG32)と、メインポンプ14からの油圧出力(グラフG33)と、エンジン11の回転数(グラフG34)それぞれの時間変化を示すグラフである。図11(a)において、左側の縦軸は出力(kW)、右側の縦軸は回転数(rpm)をそれぞれ示しており、横軸は時間(秒)を示している。また、図11(b)は、ブースト圧(過給圧)の時間変化を示すグラフである。図11(b)において、縦軸はブースト圧(kPa)を示しており、横軸は時間(秒)を示している。
図16は、ハイブリッド型建設機械の電気系統や油圧系統といった内部構成の変形例を示すブロック図である。なお、図16では、機械的に動力を伝達する系統を二重線で、油圧系統を太い実線で、操縦系統を破線で、電気系統を細い実線でそれぞれ示している。図16に示されるように、本変形例のハイブリッド型建設機械は、油圧モータ2a及び2b、ブームシリンダ8、アームシリンダ9、バケットシリンダ10を備えており、更に、旋回用油圧モータ99を備えている。旋回用油圧モータ99は、旋回用電動機21に代わって設けられ、図1に示した旋回体4を旋回させる旋回機構3の動力源となる。
Claims (8)
- 内燃機関発動機と、
前記内燃機関発動機へ圧縮空気を供給する過給機と、
前記内燃機関発動機に連結され、前記内燃機関発動機の駆動力により発電を行うとともに、自身の駆動力により前記内燃機関発動機の駆動力を補助する電動発電機と、
前記電動発電機の電気的端子に接続されたインバータ回路と、
前記内燃機関発動機の回転数および前記過給機の過給圧と前記内燃機関発動機の出力上限値との相関を示す第1の情報を記憶する記憶部を含んで構成され、前記インバータ回路を駆動する制御部と
を備え、
前記制御部は、前記記憶部に記憶された前記第1の情報、前記内燃機関発動機の回転数及び前記過給機の推定又は取得した過給圧に基づいて前記内燃機関発動機の出力上限値を算出し、必要出力が前記内燃機関発動機の出力上限値を超える場合には、前記電動発電機が前記内燃機関発動機の出力上限値に基づいて演算される出力で前記内燃機関発動機の駆動力を補助するように、前記インバータ回路を制御することを特徴とする、ハイブリッド型作業機械。 - 前記制御部は、必要出力が前記内燃機関発動機の出力上限値を下回る場合には、前記内燃機関発動機の駆動力により前記電動発電機において発電を行うように、前記インバータ回路を制御する
ことを特徴とする、請求項1に記載のハイブリッド型作業機械。 - 前記制御部は、前記内燃機関発動機のトルクの大きさに基づいて前記過給機の過給圧を推定する
ことを特徴とする、請求項1または2に記載のハイブリッド型作業機械。 - 前記過給機の過給圧を検出して、該過給圧に関する情報を前記制御部に提供する過給圧センサを更に備える
ことを特徴とする、請求項1または2に記載のハイブリッド型作業機械。 - 前記記憶部は、前記内燃機関発動機の回転数に応じた最大出力値に関する第2の情報を更に記憶しており、
前記制御部は、前記第2の情報に基づく最大出力値が前記第1の情報に基づく出力上限値より小さい場合には、該最大出力値を出力上限値として前記インバータ回路を制御する
ことを特徴とする、請求項1〜4のいずれか一項に記載のハイブリッド型作業機械。 - 前記制御部の前記記憶部は、
前記内燃機関発動機への燃料供給量および前記内燃機関発動機の回転数に応じた前記過給機の最大過給圧を示す第3の情報と、
前記出力上限値に対応する前記内燃機関発動機への燃料供給量の制限値と前記過給機の過給圧との相関を示す第4の情報と
を更に記憶しており、
前記第3の情報から求められる前記最大過給圧と前記第4の情報から求められる前記過給機の過給圧との差が所定の閾値を下回っている場合に、前記電動発電機が前記内燃機関発動機の駆動力を補助するように前記インバータ回路を制御することにより、前記内燃機関発動機の回転数を上昇させる
ことを特徴とする、請求項1に記載のハイブリッド型作業機械。 - 前記所定の閾値が前記燃料供給量に応じて変化する
ことを特徴とする、請求項6に記載のハイブリッド型作業機械。 - 前記制御部は、
前記第3の情報から求められる前記最大過給圧と前記第4の情報から求められる前記過給機の過給圧との差を算出し、この差と前記所定の閾値との大小を判定する過給圧判定部と、
前記過給圧判定部において前記差が前記所定の閾値を下回っていると判定された場合に、前記差が前記所定の閾値を上回っていると判定された場合より高い前記内燃機関発動機の目標回転数を設定する目標回転数設定部と
を有し、
前記内燃機関発動機の回転数が前記目標回転数に近づくように前記インバータ回路を制御する
ことを特徴とする、請求項6または7に記載のハイブリッド型作業機械。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011507264A JP5715047B2 (ja) | 2009-04-01 | 2010-03-31 | ハイブリッド型作業機械 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009089123 | 2009-04-01 | ||
JP2009089123 | 2009-04-01 | ||
PCT/JP2010/055885 WO2010114030A1 (ja) | 2009-04-01 | 2010-03-31 | ハイブリッド型作業機械 |
JP2011507264A JP5715047B2 (ja) | 2009-04-01 | 2010-03-31 | ハイブリッド型作業機械 |
Publications (2)
Publication Number | Publication Date |
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JPWO2010114030A1 JPWO2010114030A1 (ja) | 2012-10-11 |
JP5715047B2 true JP5715047B2 (ja) | 2015-05-07 |
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JP2011507264A Expired - Fee Related JP5715047B2 (ja) | 2009-04-01 | 2010-03-31 | ハイブリッド型作業機械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8676452B2 (ja) |
EP (1) | EP2416492A4 (ja) |
JP (1) | JP5715047B2 (ja) |
KR (1) | KR101312964B1 (ja) |
CN (2) | CN102362422B (ja) |
WO (1) | WO2010114030A1 (ja) |
Families Citing this family (23)
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MY154760A (en) * | 2009-06-16 | 2015-07-15 | Sumitomo Heavy Ind Engineering And Services Co Ltd | Hybrid electric power device for crane and control method of hybrid electric power device for crane |
WO2011031267A2 (en) * | 2009-09-11 | 2011-03-17 | Tm Ge Automation Systems, Llc | Fuel efficient crane system |
US8922228B2 (en) * | 2009-09-15 | 2014-12-30 | Sumitomo Heavy Industries, Ltd. | Control method and a control apparatus in a hybrid type construction apparatus |
CH703923A1 (de) * | 2010-10-13 | 2012-04-13 | Liebherr Machines Bulle Sa | Mobile Arbeitsmaschine. |
JP5562893B2 (ja) * | 2011-03-31 | 2014-07-30 | 住友建機株式会社 | ショベル |
WO2012148201A2 (ko) * | 2011-04-26 | 2012-11-01 | 하나로테크 주식회사 | 내연기관 구동식 유압기계 및 이를 위한 공기과급기 |
CN106884444B (zh) * | 2011-06-09 | 2019-08-13 | 住友建机株式会社 | 挖土机 |
JP6162367B2 (ja) * | 2012-03-13 | 2017-07-12 | 株式会社タダノ | 油圧駆動作業機 |
CH706518A1 (de) * | 2012-05-15 | 2013-11-15 | Liebherr Machines Bulle Sa | Steuerung für das Antriebssystem einer Arbeitsmaschine. |
JP2014083908A (ja) * | 2012-10-22 | 2014-05-12 | Kobe Steel Ltd | 建設機械 |
JP6081222B2 (ja) * | 2013-02-26 | 2017-02-15 | 住友建機株式会社 | ショベル及びショベルの制御方法 |
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- 2010-03-31 CN CN201080013277.8A patent/CN102362422B/zh not_active Expired - Fee Related
- 2010-03-31 EP EP10758801.4A patent/EP2416492A4/en not_active Withdrawn
- 2010-03-31 CN CN201410227814.9A patent/CN103991378B/zh not_active Expired - Fee Related
- 2010-03-31 KR KR1020117022976A patent/KR101312964B1/ko active IP Right Grant
- 2010-03-31 JP JP2011507264A patent/JP5715047B2/ja not_active Expired - Fee Related
- 2010-03-31 WO PCT/JP2010/055885 patent/WO2010114030A1/ja active Application Filing
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Also Published As
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KR20110133579A (ko) | 2011-12-13 |
KR101312964B1 (ko) | 2013-10-01 |
JPWO2010114030A1 (ja) | 2012-10-11 |
CN103991378B (zh) | 2017-04-12 |
WO2010114030A1 (ja) | 2010-10-07 |
CN102362422A (zh) | 2012-02-22 |
EP2416492A4 (en) | 2017-05-10 |
CN102362422B (zh) | 2014-06-25 |
EP2416492A1 (en) | 2012-02-08 |
US20120035815A1 (en) | 2012-02-09 |
CN103991378A (zh) | 2014-08-20 |
US8676452B2 (en) | 2014-03-18 |
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