WO2003049909A1 - Procede de maintient d'un substrat par succion, et appareil associe de maintien et de prehension par succion l'utilisant - Google Patents
Procede de maintient d'un substrat par succion, et appareil associe de maintien et de prehension par succion l'utilisant Download PDFInfo
- Publication number
- WO2003049909A1 WO2003049909A1 PCT/JP2002/012957 JP0212957W WO03049909A1 WO 2003049909 A1 WO2003049909 A1 WO 2003049909A1 JP 0212957 W JP0212957 W JP 0212957W WO 03049909 A1 WO03049909 A1 WO 03049909A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- suction
- fixing member
- substrate
- holding
- suckingly
- Prior art date
Links
Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
Definitions
- the present invention relates to a suction holding method for sucking and holding a substrate such as a bonded mother liquid crystal panel substrate and a suction holding transfer device using the method.
- a brittle material substrate such as a bonded mother liquid crystal panel substrate
- cutting is continuously performed using a plurality of devices such as a scribing device and a break device.
- the panel substrate is held by a transporter and transported between these devices.
- a panel substrate on which a scribe line has been formed by a scribe device is then transported to a break device and pressed down along the scribe line to be cut.
- FIG. 1 shows a process of cutting a bonded mother-liquid crystal panel substrate.
- a scribing line Sa is formed by pressing and rolling a glass cutter wheel 2 on one glass substrate A of a bonded mother and a liquid crystal panel substrate 1 in a first scribing device.
- the bonded mother liquid crystal panel substrate 1 is conveyed to a second scribing device, and a scribe line Sb is formed by pressing and rolling a glass cutter wheel 2 on the other glass substrate B. You.
- the bonded mother liquid crystal panel substrate 1 is transported to the second breaking device with its front and back reversed, and is placed on the glass substrate A on the mat M along the scribe line Sb.
- the lower glass substrate B The bonded mother and the liquid crystal panel substrate 1 are cut into two pieces along the scrape line Sb.
- Fig. 2 and Fig. 3 show a conventional cantilever support structure transporter.
- the entire bonded mother-LCD panel substrate is left as it is by the transporter shown in Figs. 2 and 3. Suction I was held fixed and transported.
- the moving table 20 is rotated by a motor 23 so that a pinion gear 19 rotates, and moves along a rail 17 by a combination of a pinion gear 19 and a rack 18.
- the horizontal support plate 48 is moved up and down by the cylinder 27 attached to the extension piece 25 extending to the side from the movable base 20, and the spring 5 is provided below the horizontal support plate 48.
- the suction fixing means 49 and 50 are supported by the ponolet 51 and the nut 52 via 3. Thereby, the inclination of the suction fixing means with respect to the table surface and the distance of the suction fixing means from the table are adjusted.
- the suction fixing means 49, 50 are supported by the extension piece 25 of the cantilever support structure, so that the extension piece 25 is slightly bent downward, Suction Fixing means 49, 50 may be inclined.
- Suction Fixing means 49, 50 since the vacuum pressure between the lower surface of the suction fixing means 50 and the surface of the bonded mother-liquid crystal panel substrate decreases, a part of the bonded mother-liquid crystal panel substrate 1 is partially fixed to the suction fixing means 50. Is not sucked in, or the surface of the bonded mother liquid crystal panel substrate 1 is pressed too much, resulting in a chipped section of each bonded glass substrate.
- the quality of the liquid crystal panel cell substrate which is a single product substrate, may be poor.
- the suction fixing means is adjusted by adjusting the port 51 and the nut 52 located at four places on the lower surface of the horizontal support plate 48 so that the bonding mother mounted on the table can be used. It is horizontal (parallel) to one liquid crystal panel substrate 1 (table).
- the adjustment is time-consuming, and each time the type of the bonded mother liquid crystal panel substrate 1 is changed or the thickness of the bonded mother liquid crystal panel substrate 1 is changed, the above adjustment is performed again. Was needed. Disclosure of the invention
- An object of the present invention is to provide a suction holding method capable of easily adjusting the inclination of the suction fixing member with respect to the table surface and the distance of the suction fixing member from the table, and a suction holding transporter using the method.
- a suction holding / transporting machine is a suction holding / transporting machine including a suction fixing member for holding a substrate placed on a table by suction, wherein: a supporting member supporting the suction fixing member; A plurality of distance adjusting means attached to a member for individually adjusting the distance between the surface of the table and the suction fixing member.
- the distance adjusting means is, for example, a bar that comes into contact with the table as a stopper, a motor that moves up and down the bar, and is fixed to the suction fixing member, and supports the bar and the motor.
- the suction holding transporter preferably further includes a detection unit that detects that the suction fixing member is parallel to the table.
- the suction holding transporter preferably further includes a moving device for supporting and moving the support member.
- the holding method according to the present invention is a suction holding method for holding a substrate placed on a table by a suction fixing member, wherein the suction fixing member sucks and holds the substrate.
- the inclination of the suction fixing member and the distance from the surface of the table are adjusted by changing the distance between the suction fixing member and a plurality of positions of the suction fixing member.
- the suction fixing member can be held parallel to the tape surface, the substrate can be reliably held without causing a chip or the like in a section of the substrate such as a cut brittle material. Further, even when the thickness of the substrate changes, the substrate can be reliably held only by changing the position of the lower end of each of the plurality of tilt adjusting bars.
- FIG. 1 is a diagram showing a procedure of a process of scribing and breaking a bonded mother-liquid crystal panel substrate.
- FIG. 2 is a side view of a conventional suction holding transfer machine.
- FIG. 3 is a plan view of the suction holding transporter of FIG.
- FIG. 4 is a side view of the suction holding transporter according to one embodiment of the present invention.
- FIG. 5 is a side view of the suction holding member of FIG.
- FIG. 6 is a plan view of the suction holding member of FIG.
- FIG. 7 is a diagram showing details of the suction board. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 4 shows a configuration of a suction holding transporter according to one embodiment of the present invention.
- This suction holding transfer machine is different from the conventional transfer machine shown in FIG. 2 in the configuration of the suction fixing section for suction fixing the brittle material substrate, and is made of a brittle material (for example, glass) on the table 84.
- the panel substrate 1 (for example, a bonded mother liquid crystal panel) is held and transported.
- the moving table 20 is set on the side of the table 84 on which the bonded mother and the liquid crystal panel substrate 1 are placed.
- the pinion gear 19 is rotated by the motor 23, the movable table 20 moves along the rail 17 by a combination of the pinion gear 19 and the rack 18.
- An extension piece 61 extending laterally in the direction of movement is provided from the moving table 20 and a cylinder 64 is mounted thereon.
- a horizontal support plate 62 is located below the extension piece 61, and a suction fixing member 69 for sucking the bonded mother liquid crystal panel substrate 1 is located below the horizontal support plate 62.
- the cylinder 64 supports the horizontal support plate 62, and moves the horizontal support plate 62 up and down.
- the two shafts 6 3 force S are fixed to the horizontal support plate 62 supported by the cylinder 64 on both sides of the cylinder 64 with respect to the longitudinal direction of the extension piece 61.
- the four shafts 67 fixed to the suction fixing members 69 pass through the horizontal support plate 62 and adjust the nuts 66 (Fig. 5) via the springs 71 (Fig. 5). Thereby, the horizontal balance of the suction fixing member 69 is adjusted.
- an inclination adjusting plate 82 is attached to the suction fixing member 69, and the distance of the suction fixing member 69 to the surface of the table 84 on which the panel substrate 1 is placed is individually set. To Can be adjusted. Thereby, the inclination of the suction fixing member is adjusted.
- FIG. 5 is a side view showing the suction fixing member 69 and its periphery
- FIG. 6 is a plan view thereof.
- the extension piece 61 (support member) is supported at the left end in FIG. 5 by a moving device (not shown) that moves the extension piece 61 (support member) in the vertical direction with respect to the paper surface.
- a horizontal support plate 62 is located below the extension piece 61, and two shafts 63 extending upward from the horizontal support plate 62 are linearly pushed to the extension piece 61 via a linear push 70. It penetrates freely.
- the horizontal support plate 62 can be moved up and down by driving a cylinder 64 using two shafts 63 arranged on both sides of the cylinder 64 as guides.
- the rod 64 a of the cylinder 64 provided on the extension piece 61 side is fixed to the horizontal support plate 62 via a floating joint 65. Further, a suction fixing member 69 located below the horizontal support plate 62 is provided, and a spring 71 is fitted on the shaft 67 located above the linear bush 68. The suction fixing member 69 is supported by the support member (extended piece 1) by the nut 66 and the spring 71, and the horizontal balance of the suction fixing member 69 itself is adjusted by the nut 66. I have.
- shafts 67 fixed to the suction fixing member 69 are mounted upward, and the shafts 67 pass through rear air bushes 68 provided on the horizontal support plate 62.
- the shafts 67 are provided at four corners of the horizontal support plate 62 as shown in FIG.
- the horizontal support plate 62 and the suction fixing member 69 can be tilted within a range of ⁇ 5 °.
- the inside of the suction fixing member 69 is hollow, and a plurality of suction disks 80 are attached to the lower surface thereof.
- FIG. 7 shows a view of these suction plates 80 viewed from below.
- the suction plate 80 is a disk-shaped member made of a photosensitive resin material.
- the suction plate 80 has an airtight portion 80a of a flat surface on the periphery and another suction portion 80b, and a suction portion 80b. There are many fine M parts formed in the. And, in the center of the suction disk 80, fixed by suction A suction port 80 c penetrating the hollow portion of the member 69 is provided.
- the details of the suction disk 80 are described in JP-A-11-19838.
- a tilt adjuster 82 is attached as one example of a plurality of distance adjusting means for adjusting the distance from the surface of the table 84 to the suction fixing member 69. I have. By driving the motor 82 2a (shown in FIG. 4) for the upper and lower bars of the tilt adjuster 82, the tilt adjusting bar 82b moves up and down, and the lower end thereof abuts on the table 84 as a stopper. It is like that.
- the suction fixing member 69 is lowered, and the suction plate 80 is positioned at a distance of 1 mm to 2 mm from the table surface. . Then, a level is placed on the upper surface of the suction fixing member 69, and the lower ends of the tilt adjusting bars 82b of the four tilt adjusters 82 are adjusted so that the suction fixing member 69 is horizontal. Adjust.
- the respective positions of the lower ends of the four tilt adjusting bars 82b at that time are scaled, and detection means such as a linear pulse scan line coder are used. And stored in the memory as the first position data A. After extending, for example, five thighs and four inclination adjusting bars, the cylinder 64 is driven to raise the suction fixing member 69.
- the panel substrate 1 is placed on the table 84, and the cylinder 64 is driven again to lower the suction fixing member 69. If the thickness of the panel substrate 1 placed on the table 84 is 1 mm, the positions of the lower ends of the four inclination adjusting bars 82b are raised equally, and the suction plate 80 lifts the panel substrate 1.
- the suction fixing member 69 is positioned at the optimum height for suction fixing. At this time, the respective positions of the lower ends of the inclination adjusting pars 82b are stored as second position data B in the playback memory.
- An example of a method of storing the position data is as follows.
- the thickness of the panel substrate 1 is changed to, for example, a variety of two sleeps, based on the second position data B in which the respective positions of the lower ends of the four tilt adjustment bars 8 2b are stored, 4
- the position of the lower end of each of the two tilt adjusting bars 8 2 b may be lowered by 1 mm.
- the adjustment amounts of the four tilt adjustment bars 8 2 b can be determined based on the stored position data A and B. Can easily respond to changes in the product type.
- a jar mouth 86 or a laser jay mouth can be used in addition to the above-mentioned level. If a gyro 86 or a laser gyro is used, the inclination and height of the suction fixing member 69 can be adjusted automatically.
- the distance adjustment means is provided with four inclination adjustment bars, but the number of inclination adjustment bars is not limited to this number.
- the object of the present invention can be achieved by providing a tilt adjusting member having a predetermined length along two sides of the suction fixing member. That is, a plurality of distance adjusting means may be used.
- the position at which the distance from the table to the suction fixing member is adjusted by the distance adjusting means is not limited to the four corners of the suction fixing member. If the distance from the table to the suction fixing member can be adjusted at two or more places, the inclination of the suction fixing member and the distance from the table surface can be adjusted.
- the suction holding transfer device for suction-fixing the brittle material substrate and transferring the same to the next device is described.
- the suction holding transporter of the present invention also includes a receiving device ′ that simply receives the brittle material substrate and holds it at that position.
- the present invention has been described with reference to the above embodiment, the present invention is not limited to the embodiment.
- the suction holding method and the suction holding transporter for holding a brittle material such as a bonded mother substrate have been described, but the substrate held by the suction fixing member is not limited to a brittle material substrate.
- the present invention can be applied to, for example, a print substrate, a plastic substrate, a metal substrate, and a nonmetal substrate.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Liquid Crystal (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Specific Conveyance Elements (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003550950A JP3834038B2 (ja) | 2001-12-11 | 2002-12-11 | 基板の吸引保持方法およびその方法を用いる吸引保持搬送機 |
AU2002354464A AU2002354464A1 (en) | 2001-12-11 | 2002-12-11 | Method of suckingly holding substrate, and suckingly and holdingly carrying machine using the method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001377333 | 2001-12-11 | ||
JP2001-377333 | 2001-12-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003049909A1 true WO2003049909A1 (fr) | 2003-06-19 |
Family
ID=19185332
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2002/012957 WO2003049909A1 (fr) | 2001-12-11 | 2002-12-11 | Procede de maintient d'un substrat par succion, et appareil associe de maintien et de prehension par succion l'utilisant |
Country Status (6)
Country | Link |
---|---|
JP (1) | JP3834038B2 (ja) |
KR (1) | KR20050044315A (ja) |
CN (1) | CN100335242C (ja) |
AU (1) | AU2002354464A1 (ja) |
TW (1) | TW200301211A (ja) |
WO (1) | WO2003049909A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005049287A1 (ja) | 2003-11-21 | 2005-06-02 | Mitsuboshi Diamond Industrial Co., Ltd. | 真空吸着ヘッド、その真空吸着ヘッドを用いた真空吸着装置及びテーブル |
CN103753589A (zh) * | 2013-12-25 | 2014-04-30 | 江苏中科机器人科技有限公司 | 一种机器人的吸盘抓手 |
JP2018003149A (ja) * | 2016-07-01 | 2018-01-11 | 廣州明毅電子機械有限公司 | 電気メッキ設備自動アンローダ |
KR20190093151A (ko) | 2018-01-31 | 2019-08-08 | 미쓰보시 다이야몬도 고교 가부시키가이샤 | 기판반송장치 및 기판흡착장치 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW201134778A (en) * | 2010-04-08 | 2011-10-16 | Tae Sung Eng Co Ltd | Apparatus for transferring of glass panel |
JP2014135332A (ja) * | 2013-01-09 | 2014-07-24 | Mitsuboshi Diamond Industrial Co Ltd | 吸着反転装置 |
CN104465449B (zh) * | 2013-09-18 | 2017-08-29 | 上海微电子装备(集团)股份有限公司 | 一种旋转交换手自适应保护装置及其保护方法 |
KR20160042508A (ko) * | 2014-10-10 | 2016-04-20 | 한국미쯔보시다이아몬드공업(주) | 진공 흡착 헤드 및 그를 사용하는 진공 흡착 장치 |
CN106541414A (zh) * | 2016-10-17 | 2017-03-29 | 苏州科维新型包装有限公司 | 一种夹手 |
CN106429432B (zh) * | 2016-10-31 | 2019-02-22 | 高贯铭 | 一种木板材上料机及方法 |
CN107150350B (zh) * | 2017-05-25 | 2019-07-12 | 东莞质研工业设计服务有限公司 | 设有阻隔墙的吸盘安装板 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08264995A (ja) * | 1995-03-28 | 1996-10-11 | Toshiba Fa Syst Eng Kk | 吸着ヘッド |
JPH10249771A (ja) * | 1997-03-05 | 1998-09-22 | Kanto Auto Works Ltd | プレス機用ワーク搬送装置 |
JP2001341088A (ja) * | 2000-06-01 | 2001-12-11 | Honda Motor Co Ltd | ワーク取出し方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4335980C2 (de) * | 1993-10-21 | 1998-09-10 | Wacker Siltronic Halbleitermat | Verfahren zum Positionieren einer Werkstückhalterung |
CN1141813A (zh) * | 1995-07-28 | 1997-02-05 | 徐正泰 | 保持水平的乒乓球台 |
JPH10107495A (ja) * | 1996-09-26 | 1998-04-24 | Matsushita Electric Ind Co Ltd | 部品装着装置 |
JP4048592B2 (ja) * | 1998-04-03 | 2008-02-20 | ソニー株式会社 | 露光装置 |
-
2002
- 2002-12-09 TW TW091135527A patent/TW200301211A/zh unknown
- 2002-12-11 WO PCT/JP2002/012957 patent/WO2003049909A1/ja active Application Filing
- 2002-12-11 JP JP2003550950A patent/JP3834038B2/ja not_active Expired - Fee Related
- 2002-12-11 CN CNB028246810A patent/CN100335242C/zh not_active Expired - Fee Related
- 2002-12-11 AU AU2002354464A patent/AU2002354464A1/en not_active Abandoned
- 2002-12-11 KR KR1020047004184A patent/KR20050044315A/ko active IP Right Grant
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08264995A (ja) * | 1995-03-28 | 1996-10-11 | Toshiba Fa Syst Eng Kk | 吸着ヘッド |
JPH10249771A (ja) * | 1997-03-05 | 1998-09-22 | Kanto Auto Works Ltd | プレス機用ワーク搬送装置 |
JP2001341088A (ja) * | 2000-06-01 | 2001-12-11 | Honda Motor Co Ltd | ワーク取出し方法 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005049287A1 (ja) | 2003-11-21 | 2005-06-02 | Mitsuboshi Diamond Industrial Co., Ltd. | 真空吸着ヘッド、その真空吸着ヘッドを用いた真空吸着装置及びテーブル |
JPWO2005049287A1 (ja) * | 2003-11-21 | 2008-03-06 | 三星ダイヤモンド工業株式会社 | 真空吸着ヘッド、その真空吸着ヘッドを用いた真空吸着装置及びテーブル |
JP4724562B2 (ja) * | 2003-11-21 | 2011-07-13 | 三星ダイヤモンド工業株式会社 | 真空吸着ヘッド、その真空吸着ヘッドを用いた真空吸着装置及びテーブル |
CN103753589A (zh) * | 2013-12-25 | 2014-04-30 | 江苏中科机器人科技有限公司 | 一种机器人的吸盘抓手 |
JP2018003149A (ja) * | 2016-07-01 | 2018-01-11 | 廣州明毅電子機械有限公司 | 電気メッキ設備自動アンローダ |
KR20190093151A (ko) | 2018-01-31 | 2019-08-08 | 미쓰보시 다이야몬도 고교 가부시키가이샤 | 기판반송장치 및 기판흡착장치 |
Also Published As
Publication number | Publication date |
---|---|
JP3834038B2 (ja) | 2006-10-18 |
CN1602239A (zh) | 2005-03-30 |
TW200301211A (en) | 2003-07-01 |
CN100335242C (zh) | 2007-09-05 |
AU2002354464A1 (en) | 2003-06-23 |
JPWO2003049909A1 (ja) | 2005-04-21 |
KR20050044315A (ko) | 2005-05-12 |
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