JPH0626992A - Reverse rotation preventing device for dynamometer - Google Patents

Reverse rotation preventing device for dynamometer

Info

Publication number
JPH0626992A
JPH0626992A JP4108259A JP10825992A JPH0626992A JP H0626992 A JPH0626992 A JP H0626992A JP 4108259 A JP4108259 A JP 4108259A JP 10825992 A JP10825992 A JP 10825992A JP H0626992 A JPH0626992 A JP H0626992A
Authority
JP
Japan
Prior art keywords
torque
current
control
electric motor
output
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
Application number
JP4108259A
Other languages
Japanese (ja)
Other versions
JP3052564B2 (en
Inventor
Yasutsugu Tamano
泰嗣 玉野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Original Assignee
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Meidensha Corp, Meidensha Electric Manufacturing Co Ltd filed Critical Meidensha Corp
Priority to JP4108259A priority Critical patent/JP3052564B2/en
Publication of JPH0626992A publication Critical patent/JPH0626992A/en
Application granted granted Critical
Publication of JP3052564B2 publication Critical patent/JP3052564B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

PURPOSE:To ensure control of travel resistance, eliminate shocking load generation, and prevent reverse rotation. CONSTITUTION:In a dynamometer having current control systems on a torque control system using the power absorbing torque of the dynamometer as a travel resistance command value and the minor loop of the torque control system, a current control amplifier 10 has a voltage feedback circuit 14 for zeroing the amplifier output to the voltage polarity for reversely rotating an electric motor. At zero speed of the electric motor, the output of a torque control amplifier 15 is zeroed by a limiter value control circuit 16 to eliminate a hunting phenomenon in the stopped state, and the output is gradually raised from zero to a general limit value to eliminate a torque shock.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、シヤシダイナモメータ
やエンジンダイナモメータの制御装置に係り、特に走行
抵抗制御における逆転防止装置に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a shiyashi dynamometer and an engine dynamometer, and more particularly to a reverse rotation preventing device in running resistance control.

【0002】[0002]

【従来の技術】シヤシダイナモメータは、自動車のエン
ジン及び動力伝達系の試験や模擬走行試験を行うのに、
直流機や誘導機になる回転機を動力吸収又は駆動手段と
してその入出力制御を行う。
2. Description of the Related Art A shiyashi dynamometer is used for testing an engine and power transmission system of an automobile and for a simulated driving test.
Input / output control is performed by using a rotating machine that becomes a DC machine or an induction machine as power absorption or drive means.

【0003】この制御は、試験目的に応じて回転機が速
度制御、トルク制御又は走行抵抗制御に切替えられる。
In this control, the rotating machine is switched to speed control, torque control or running resistance control according to the test purpose.

【0004】ここで、走行抵抗制御は、自動車の走行抵
抗と慣性抵抗及び登降坂抵抗の和として設定され、自動
車又はエンジンに路上走行と等価な負荷を与えるようダ
イナモメータトルクを速度の関数として制御する。
Here, the running resistance control is set as the sum of running resistance, inertial resistance, and uphill / downhill resistance of the automobile, and controls the dynamometer torque as a function of speed so as to apply a load equivalent to that on the road to the automobile or engine. To do.

【0005】図3はシヤシダイナモメータにおける走行
抵抗制御系の構成図を示す。自動車1はその駆動輪1A
がローラ2上に乗せられ、ローラ2には回転機としての
直流機3が結合され、自動車1側では制御装置4により
加減速パターンに従ったエンジン1Bの速度制御やスロ
ット開度制御がなされ、直流機3側では走行抵抗設定器
5からの走行抵抗指令に従ってトルク制御がなされる。
FIG. 3 shows a block diagram of a running resistance control system in a coconut dynamometer. Car 1 has its drive wheels 1A
Is mounted on the roller 2, the DC machine 3 as a rotating machine is coupled to the roller 2, and the vehicle 1 side controls the speed and slot opening of the engine 1B according to the acceleration / deceleration pattern by the control device 4. On the DC machine 3 side, torque control is performed in accordance with the running resistance command from the running resistance setting device 5.

【0006】このトルク制御は、ロードセル6とストレ
インアンプ7等による直流機3のトルク検出信号と走行
抵抗指令との突合せによるトルク制御アンプ8によるフ
ィードバック制御でなされる。このトルク制御系のマイ
ナループには、電流制御系が設けられ、直流機3の電流
制御がなされる。
This torque control is performed by feedback control by the torque control amplifier 8 by matching the torque detection signal of the DC machine 3 by the load cell 6 and the strain amplifier 7 and the running resistance command. A current control system is provided in the minor loop of the torque control system to control the current of the DC machine 3.

【0007】即ち、トルク制御アンプ8の出力はリミッ
タ回路9による電流制限された電流指令として取出さ
れ、この電流指令と直流機3の電流検出信号との突合せ
により電流制御アンプ10に位相制御信号を得、この位
相制御信号から位相制御アンプ11がサイリスタ整流器
12の点弧位相を制御して直流機3の電流を制御する。
ここで、走行抵抗制御に登降坂抵抗を含ませる場合、登
坂抵抗分は直流機3の負荷吸収制御になって走行方向と
は逆方向になるトルクを発生させる。一方、自動車1側
は登坂路上で停止状態を模擬するときは変速機をニュー
トラル状態とし、また機械ブレーキ操作制御は設けられ
ないため平坦路の停止と同じ放置状態になる。
That is, the output of the torque control amplifier 8 is taken out as a current-limited current command by the limiter circuit 9, and a phase control signal is sent to the current control amplifier 10 by matching this current command with the current detection signal of the DC machine 3. Then, the phase control amplifier 11 controls the firing phase of the thyristor rectifier 12 from this phase control signal to control the current of the DC machine 3.
Here, in the case where the traveling resistance control includes the uphill / downhill resistance, the uphill resistance component is subjected to load absorption control of the DC machine 3 to generate a torque in a direction opposite to the traveling direction. On the other hand, on the side of the automobile 1, when simulating a stopped state on an uphill road, the transmission is put in a neutral state, and since no mechanical brake operation control is provided, the same state as when stopped on a flat road is set.

【0008】このため、登坂路上での停止状態模擬では
車速が零にあっても登坂抵抗分で直流機が逆転し、この
逆転が登坂抵抗分の設定量によっては危険速度まで達す
る場合がある。
Therefore, in the simulation of a stopped state on an uphill road, even if the vehicle speed is zero, the DC machine reverses due to the uphill resistance, and this reversal may reach a critical speed depending on the set amount of the uphill resistance.

【0009】上述の問題を解消するため、従来は図3に
示す構成でスイッチ回路13と電圧フィードバック回路
14を設け、逆転防止を得ている。
In order to solve the above problem, conventionally, a switch circuit 13 and a voltage feedback circuit 14 are provided in the configuration shown in FIG. 3 to prevent reverse rotation.

【0010】スイッチ回路13は、走行抵抗設定器5の
出力段に設けられ、設定器5が吸収トルクの走行抵抗を
発生する負極性の電圧には速度零でリレー接点13aを
開放し、零トルクの指令とする。これにより、停止状態
の模擬には登坂抵抗分が含まれるも、速度零にあってト
ルク制御アンプ8のトルク指令が零になり、逆転現象は
防止される。
The switch circuit 13 is provided at the output stage of the running resistance setting device 5, and the setting device 5 opens the relay contact 13a at a speed of zero to a negative voltage which causes a running resistance of the absorption torque, and a zero torque. Of the order. As a result, although the stopped state simulation includes climb resistance, the torque command of the torque control amplifier 8 becomes zero at zero speed, and the reverse rotation phenomenon is prevented.

【0011】このスイッチ回路13のみでは走行状態か
ら停止のための減速時には速度零でないため登坂抵抗分
の吸収トルクと慣性分により直流機3の逆転現象が発生
する。そこで、電流制御系に電圧フィードバック回路1
4を設けている。
With this switch circuit 13 alone, since the speed is not zero at the time of deceleration for stopping from the running state, the reverse rotation phenomenon of the DC machine 3 occurs due to the absorption torque and the inertial component of the climbing resistance. Therefore, the voltage feedback circuit 1 is added to the current control system.
4 is provided.

【0012】この電圧フィードバック回路14は、直流
機3が逆転するときの電圧のみをダイオード14aで検
出し、この電圧を電流制御アンプ10へのフィードバッ
ク信号とすることで電流制御アンプ10の出力を零にす
る。
The voltage feedback circuit 14 detects only the voltage when the DC machine 3 reversely rotates by the diode 14a, and uses this voltage as a feedback signal to the current control amplifier 10, thereby making the output of the current control amplifier 10 zero. To

【0013】なお、電圧フィードバック回路14のみに
よる逆転防止では停止状態での登坂抵抗分がトルク指令
として表われるとトルク制御アンプ8は電流制御アンプ
10に逆電圧指令として入力されるため、この逆電圧指
令に対して電圧フィードバック回路14はその抑制動作
に遅れを伴ってハンチング現象を招く。
When the reverse resistance is prevented only by the voltage feedback circuit 14, the torque control amplifier 8 is input to the current control amplifier 10 as a reverse voltage command when the climbing resistance in the stopped state appears as a torque command. In response to the command, the voltage feedback circuit 14 causes a hunting phenomenon with a delay in its suppressing operation.

【0014】[0014]

【発明が解決しようとする課題】従来の逆転防止装置
は、スイッチ回路13と電圧フィードバック回路14に
よって逆転防止の目的は達せられるが、通常運転時に以
下の問題がある。
In the conventional reverse rotation prevention device, the purpose of the reverse rotation prevention can be achieved by the switch circuit 13 and the voltage feedback circuit 14, but there are the following problems during normal operation.

【0015】(1)停止状態より発進制御に移行させる
とき、リレー接点13aの動作遅れとリレーが動作点に
達するまでのオフセットに関連した二つの要素がからん
だ遅れ指令値となり、必要量の走行抵抗負荷を与えるこ
とができない。
(1) When shifting from the stopped state to the start control, two elements related to the operation delay of the relay contact 13a and the offset until the relay reaches the operating point become a delay command value which is entangled, and a necessary amount of It is not possible to give a running resistance load.

【0016】(2)スイッチ回路13はオン・オフ切換
えになるため、登坂設定量によっては衝撃的な走行抵抗
負荷発生になり、自動車側にトルクショックを与えると
共に模擬性能を低下させる。
(2) Since the switch circuit 13 is switched on and off, a shocking traveling resistance load is generated depending on the set amount of climbing, which gives a torque shock to the automobile side and reduces the simulation performance.

【0017】本発明の目的は、走行抵抗制御を確実にす
ると共に衝撃的な負荷発生を無くして逆転防止を得る装
置を提供することにある。
It is an object of the present invention to provide a device that ensures running resistance control and eliminates shocking load generation to prevent reverse rotation.

【0018】[0018]

【課題を解決するための手段】本発明は、前記課題の解
決を図るため、試験対象となる自動車の走行抵抗指令値
を動力吸収トルクとしてトルク制御系により電動機のト
ルク制御をし、該トルク制御系のマイナループに電流制
御系を設けて該電動機の電流制御をするダイナモメータ
において、前記電動機が逆転方向になる電圧極性になる
ときに前記電流制御系の出力を零に制御する電圧フィー
ドバック回路と、前記トルク制御系のトルク制御アンプ
の出力制限のうち前記電動機の電流が動力吸収側の制限
を調節し、この調節は該電動機の回転速度が零から低速
度領域で徐々に通常制限値まで上昇させるリミッタ値制
御回路とを備えたことを特徴とする。
In order to solve the above-mentioned problems, the present invention performs torque control of an electric motor by a torque control system using a running resistance command value of an automobile to be tested as power absorption torque, and the torque control is performed. In a dynamometer that controls the current of the electric motor by providing a current control system in the minor loop of the system, a voltage feedback circuit that controls the output of the current control system to zero when the electric motor has a voltage polarity in the reverse direction, Of the output limits of the torque control amplifier of the torque control system, the current of the electric motor adjusts the limit on the power absorption side, and this adjustment gradually increases the rotation speed of the electric motor from zero to the normal limit value in the low speed region. And a limiter value control circuit.

【0019】[0019]

【作用】従来のスイッチ回路に代えてトルク制御アンプ
の出力制限によって停止状態での電流指令を零にし、こ
の出力制限を速度零近辺で零から徐々に通常の制限値ま
で滑かに上昇させると共に停止から発進への移行に遅れ
及びオフセット発生を無くす。
The current command in the stopped state is set to zero by limiting the output of the torque control amplifier in place of the conventional switch circuit, and the output limit is smoothly increased from zero to a normal limit value in the vicinity of zero speed. Eliminate the delay in the transition from stop to start and the occurrence of offset.

【0020】[0020]

【実施例】図1は本発明の一実施例を示す要部構成図で
ある。トルク制御アンプ15は従来のリミッタ回路9を
含むリミッタ付きトルク制御アンプに構成される。この
リミッタ性能は、駆動電流制限用比較電圧を発生する可
変抵抗器15aと駆動電流のみを演算増幅器15bの全
負帰還電圧として取出すダイオード15cによって駆動
電流を一定値に制限する。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic view of the essential parts of an embodiment of the present invention. The torque control amplifier 15 is configured as a torque control amplifier with a limiter including the conventional limiter circuit 9. In this limiter performance, the drive current is limited to a constant value by the variable resistor 15a that generates the drive current limiting comparison voltage and the diode 15c that takes out only the drive current as the total negative feedback voltage of the operational amplifier 15b.

【0021】また、吸収電流の制限は、吸収電流制限用
比較電圧を発生する可変抵抗器15dとダイオード15
eによってなされ、この可変抵抗器15dの比較電圧が
リミッタ値制御回路16によって調節される。
Further, the absorption current is limited by the variable resistor 15d and the diode 15 which generate a comparison voltage for limiting the absorption current.
and the comparison voltage of the variable resistor 15d is adjusted by the limiter value control circuit 16.

【0022】リミッタ値制御回路16は、直流機3の回
転速度によって吸収電流制限値を調節する。即ち、直流
機3の回転速度をパルスピックアップ16aと周波数−
電圧変換器16bによって検出し、電圧調節用アンプ1
6cによってダイオード15eのえん層電圧補償も兼ね
て可変抵抗器16dの印加電圧を調節する。
The limiter value control circuit 16 adjusts the absorption current limit value according to the rotation speed of the DC machine 3. That is, the rotation speed of the DC machine 3 is the same as that of the pulse pickup 16a.
Voltage adjustment amplifier 1 detected by the voltage converter 16b
The voltage applied to the variable resistor 16d is adjusted by 6c, which also serves as compensation for the voltage of the diode 15e.

【0023】えん層電圧補償は、可変抵抗器16dで設
定され、該電圧が周波数−電圧変換器16bの出力への
電圧加算によってなされる。
The armature voltage compensation is set by the variable resistor 16d, and the voltage is added by adding the voltage to the output of the frequency-voltage converter 16b.

【0024】本実施例において、直流機3に駆動電流を
供給する場合、トルク制御アンプ15はその出力に負極
性の出力を得て電流制御アンプ10に電流指令を発生
し、この駆動電流レベルが可変抵抗器15aで設定する
比較電圧になったときに出力制限がなされる。
In the present embodiment, when the drive current is supplied to the DC machine 3, the torque control amplifier 15 obtains a negative output at its output to generate a current command to the current control amplifier 10, and the drive current level changes. The output is limited when the comparison voltage set by the variable resistor 15a is reached.

【0025】次に、直流機3に吸収電流を供給する場
合、トルク制御アンプ15の出力は正極性の出力を得、
この出力制限がリミッタ値制御回路16によってなされ
る。この吸収電流制限は、図2に示すように直流機3の
回転数が零からN1までの低速度領域B1では一定の傾斜
で上昇するランプ電圧になり、速度N1を越える範囲で
はアンプ16cの飽和による一定値VL1にされる。
Next, when an absorption current is supplied to the DC machine 3, the output of the torque control amplifier 15 obtains a positive output,
This output limitation is performed by the limiter value control circuit 16. As shown in FIG. 2, this absorption current limitation is a ramp voltage that rises with a constant slope in the low speed region B 1 where the rotation speed of the DC machine 3 is from 0 to N 1 , and the amplifier voltage is increased in the range exceeding the speed N 1. It is set to a constant value VL 1 due to saturation of 16c.

【0026】従って、吸収電流制御は、零速度では従来
のスイッチ回路13が持つトルク指令零と同じになり、
逆転動作を防止する。これに加えて、停止状態から発進
に移行するとき、速度の上昇に伴ってリミッタ値VL
一定傾斜で通常の吸収電流制限値VL1まで上昇させる。
この制限動作には従来のスイッチ回路13が持つタイミ
ング遅れ及びオフセットによる走行抵抗負荷の追従遅れ
や誤差発生は生じない。
Therefore, the absorption current control becomes the same as the torque command zero which the conventional switch circuit 13 has at zero speed,
Prevents reverse rotation. In addition to this, when shifting from the stopped state to the start, the limiter value V L is increased to a normal absorption current limit value V L1 with a constant inclination as the speed increases.
This limiting operation does not cause a delay in tracking the running resistance load or an error due to the timing delay and offset of the conventional switch circuit 13.

【0027】また、リミッタ電圧VLは線形性を有して
変化し、走行抵抗負荷制御にトルクショックを発生する
ことが無くなる。
Further, the limiter voltage V L changes linearly, and torque shock is not generated in the running resistance load control.

【0028】なお、実施例において、トルク制御アンプ
とその出力制限回路を分離構成とするもの、また速度検
出をダイナモメータが持つ速度検出回路を利用した構成
など適宜設計変更される。
It should be noted that in the embodiment, the design may be changed as appropriate, such as a configuration in which the torque control amplifier and the output limiting circuit thereof are separated, and a configuration in which the speed detection circuit of the dynamometer is used for speed detection.

【0029】また、トルク制御系のトルク検出を電動機
の電流等から演算によって求める構成などに適用して同
等の効果を得ることができる。
Further, the same effect can be obtained by applying the torque detection of the torque control system to the configuration obtained by calculation from the electric current of the electric motor or the like.

【0030】また、リミッタ値零から通常制限値までの
上昇は一定傾斜に限らず、二次曲線で上昇する構成とす
るなど、零レベルから徐々に通常制限値まで調節するも
のであれば良い。
Further, the rise from the limiter value of zero to the normal limit value is not limited to a constant slope, but may be such that the limiter value rises with a quadratic curve, as long as it gradually adjusts from the zero level to the normal limit value.

【0031】[0031]

【発明の効果】以上のとおり、本発明によれば、トルク
制御アンプの出力のうち電流吸収側の制限値を電動機の
零速度で零にし、また零速度近辺では零から徐々に通常
制限値まで上昇させる構成としたため、走行抵抗指令に
登坂指令が含まれる場合にも零速度や減速時での逆転防
止ができるのに加えて、発進時のトルク制御の追従遅れ
や誤差発生を無くし、またトルクショックレスとするこ
とができる。
As described above, according to the present invention, the limit value on the current absorption side of the output of the torque control amplifier is set to zero at the zero speed of the motor, and from zero to the normal limit value gradually near zero speed. Since the system is configured to raise the speed, it is possible to prevent reverse rotation at zero speed and deceleration even when the running resistance command includes an uphill command, and to eliminate tracking delay and error in torque control at start, and to reduce torque. Can be shockless.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明の一実施例を示す要部構成図。FIG. 1 is a configuration diagram of a main part showing an embodiment of the present invention.

【図2】実施例における吸収電流制限特性図。FIG. 2 is an absorption current limiting characteristic diagram in the example.

【図3】従来の構成図。FIG. 3 is a conventional configuration diagram.

【符号の説明】[Explanation of symbols]

3…直流機 5…走行抵抗設定器 8,15…トルク制御アンプ 10…電流制御アンプ 14…電圧フィードバック回路 16…リミッタ値制御回路 3 ... DC machine 5 ... Running resistance setting device 8, 15 ... Torque control amplifier 10 ... Current control amplifier 14 ... Voltage feedback circuit 16 ... Limiter value control circuit

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 試験対象となる自動車の走行抵抗指令値
を動力吸収トルクとしてトルク制御系により電動機のト
ルク制御をし、該トルク制御系のマイナループに電流制
御系を設けて該電動機の電流制御をするダイナモメータ
において、 前記電動機が逆転方向になる電圧極性になるときに前記
電流制御系の出力を零に制御する電圧フィードバック回
路と、 前記トルク制御系のトルク制御アンプの出力制限のうち
前記電動機の電流が動力吸収側の制限を調節し、この調
節は該電動機の回転速度が零から低速度領域で徐々に通
常制限値まで上昇させるリミッタ値制御回路と、を備え
たことを特徴とするダイナモメータの逆転防止装置。
1. A torque control system controls a torque of an electric motor by using a running resistance command value of an automobile to be tested as a power absorption torque, and a current control system is provided in a minor loop of the torque control system to control a current of the electric motor. In the dynamometer, the voltage feedback circuit that controls the output of the current control system to zero when the electric motor has a voltage polarity in the reverse rotation direction, and the output of the torque control amplifier of the torque control system is limited to the electric motor. A dynamometer, characterized in that the current adjusts a limit on the power absorption side, and this adjustment comprises a limiter value control circuit for gradually increasing the rotation speed of the electric motor from zero to a normal limit value in a low speed region. Reverse rotation prevention device.
JP4108259A 1992-04-28 1992-04-28 Dynamometer reverse rotation prevention device Expired - Lifetime JP3052564B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4108259A JP3052564B2 (en) 1992-04-28 1992-04-28 Dynamometer reverse rotation prevention device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4108259A JP3052564B2 (en) 1992-04-28 1992-04-28 Dynamometer reverse rotation prevention device

Publications (2)

Publication Number Publication Date
JPH0626992A true JPH0626992A (en) 1994-02-04
JP3052564B2 JP3052564B2 (en) 2000-06-12

Family

ID=14480125

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4108259A Expired - Lifetime JP3052564B2 (en) 1992-04-28 1992-04-28 Dynamometer reverse rotation prevention device

Country Status (1)

Country Link
JP (1) JP3052564B2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007093222A (en) * 2005-09-27 2007-04-12 Meidensha Corp Chassis dynamometer
JP2007093223A (en) * 2005-09-27 2007-04-12 Meidensha Corp Chassis dynamometer
JP2008154339A (en) * 2006-12-15 2008-07-03 Shinko Electric Co Ltd Travel resistance control device
US8747179B2 (en) 2012-01-31 2014-06-10 Tomy Company, Ltd. Robot toy
US9242183B2 (en) 2014-01-24 2016-01-26 Tomy Company, Ltd. Toy

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007093222A (en) * 2005-09-27 2007-04-12 Meidensha Corp Chassis dynamometer
JP2007093223A (en) * 2005-09-27 2007-04-12 Meidensha Corp Chassis dynamometer
JP4644085B2 (en) * 2005-09-27 2011-03-02 株式会社明電舎 Chassis dynamometer
JP4699848B2 (en) * 2005-09-27 2011-06-15 株式会社明電舎 Chassis dynamometer
JP2008154339A (en) * 2006-12-15 2008-07-03 Shinko Electric Co Ltd Travel resistance control device
US8747179B2 (en) 2012-01-31 2014-06-10 Tomy Company, Ltd. Robot toy
US9242183B2 (en) 2014-01-24 2016-01-26 Tomy Company, Ltd. Toy

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