WO2012155349A1 - 定位梁及具有该定位梁的机器人直线运动单元 - Google Patents
定位梁及具有该定位梁的机器人直线运动单元 Download PDFInfo
- Publication number
- WO2012155349A1 WO2012155349A1 PCT/CN2011/074278 CN2011074278W WO2012155349A1 WO 2012155349 A1 WO2012155349 A1 WO 2012155349A1 CN 2011074278 W CN2011074278 W CN 2011074278W WO 2012155349 A1 WO2012155349 A1 WO 2012155349A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- support beam
- positioning
- linear motion
- transmission mechanism
- support
- Prior art date
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/25—Gearing
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/49—Protective device
-
- 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
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
-
- 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
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18792—Reciprocating or oscillating to or from alternating rotary including worm
-
- 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
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18832—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.]
- Y10T74/18848—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.] with pulley
-
- 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
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
- Y10T74/20201—Control moves in two planes
Definitions
- Positioning beam and robot linear motion unit having the positioning beam The application is submitted to the State Intellectual Property Office of China on May 16, 2011, and the application number is 201110126387.1.
- the invention name is "positioning beam and linear motion of the robot with the positioning beam” Priority of the patent application of the unit.
- Field of the Invention The present invention relates to the field of robot linear motion systems, and more particularly to a positioning beam and a robot linear motion unit having the positioning beam.
- Cartesian robots are a kind of spatial geometry
- the three-dimensional space formed by the XYZ direction serves as an industrial automation robot device for the workspace.
- the device can be set up by different programs to achieve automatic control and form a multi-purpose operating machine.
- the Cartesian robot has four major functional modules: a linear motion unit, a drive unit, a control unit, and an end operating unit.
- a linear motion unit In order to reduce the cost of Cartesian robots, shorten the product development cycle, increase product reliability and improve product performance, many countries in Europe and America have modularized Cartesian robots, while linear motion units are the most typical and most modular.
- the core unit In order to reduce the cost of Cartesian robots, shorten the product development cycle, increase product reliability and improve product performance, many countries in Europe and America have modularized Cartesian robots, while linear motion units are the most typical and most modular.
- the core unit In order to reduce the cost of Cartesian robots, shorten the product development cycle, increase product reliability and improve product performance, many countries in Europe and America have modularized Cartesian robots,
- the so-called linear motion unit is to add the whole motion element to a whole movement, which includes a sports support part (light bar or linear guide), a positioning part part (various models of profiles), a transmission part (synchronous pulley and The timing belt or the screw) and the moving part of the slider (moving with the timing belt or the screw nut).
- a sports support part light bar or linear guide
- a positioning part part variable models of profiles
- a transmission part synchronous pulley and The timing belt or the screw
- the moving part of the slider moving with the timing belt or the screw nut.
- the assembly space for assembling the transmission unit is cut in the middle section of the ordinary aluminum profile, and the moving support part is directly laid in the assembly space, so that the mechanical structure of the original profile is destroyed, of course. It also reduces the mechanical and mechanical properties of the overall structure.
- the conventional positioning part and the moving support part often use a single aluminum profile to form a cantilever structure, or a versatile aluminum profile to form a frame structure. Through long-term practice, the two mechanical structures based on the aluminum profile are found. It is easy to have different degrees of flexural deformation and torsional deformation, and the impact resistance is relatively low when the robot moves at a higher speed. These are very deadly for linear motion systems of Cartesian robots that require high performance, high reliability and high precision.
- An object of the present invention is to provide a positioning beam and a linear motion unit of the robot having the positioning beam, so as to solve the problem that the positioning body profile of the existing linear motion unit is susceptible to flexural deformation and torsional deformation, resulting in impact resistance of the linear motion unit. Poor technical issues.
- a positioning beam comprising: a first supporting beam and a second supporting beam which are parallel to each other, and a beam, a beam connected between the first supporting beam and the second supporting beam
- a joint of a first support beam and a second support beam and a joint of the beam with the first support beam and the second support beam are provided with right angle connectors.
- a right angle connector is disposed on both sides of the joint of each of the beams with the first support beam and the second support beam.
- the ends of the first support beam and the second support beam are provided with an integral or separate sealing cover.
- the first support beam, the second support beam and the beam are all aluminum profiles.
- a robot linear motion unit comprising a motion track and a transmission mechanism disposed along an extending direction of the motion track, the motion track being disposed on a surface of the positioning beam.
- the transmission mechanism includes a single-track transmission mechanism, and the motion rail is a single rail disposed on the first support beam and the second support beam of the positioning beam.
- the transmission mechanism includes a dual-track transmission mechanism, and the movement rails are first rails and second rails respectively disposed on the first support beam and the second support beam of the positioning beam.
- the transmission mechanism is a screw drive mechanism.
- the transmission mechanism is a synchronous pulley transmission mechanism.
- the beam and the right angle connecting member are arranged between the first supporting beam and the second supporting beam, which can effectively improve the mechanical structural strength of the positioning beam, reduce the deflection deformation and torsional deformation of the positioning beam, and further improve the robot Impact resistance of linear motion units.
- the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG.
- FIG. 1 is a front perspective view of a positioning beam suitable for a single-track transmission mechanism according to a preferred embodiment of the present invention
- FIG. 2 is a perspective view showing a three-dimensional structure of a positioning beam suitable for a single-track transmission mechanism according to a preferred embodiment of the present invention
- Figure 3 is a front elevational view showing the two transmission mechanisms applied to the two positioning beams of the single-track transmission mechanism, driven by a drive motor, in accordance with a preferred embodiment of the present invention
- Figure 4 is a preferred embodiment of the present invention.
- FIG. 5 is a perspective view of a three-dimensional structure of a positioning beam suitable for a dual-track transmission mechanism according to a preferred embodiment of the present invention;
- FIG. 5 is a perspective view of a three-dimensional structure of a positioning beam suitable for a dual-track transmission mechanism according to a preferred embodiment of the present invention
- FIG. 5 is a schematic perspective view of a two-position transmission mechanism on two positioning beams of a single-track transmission mechanism
- FIG. 6 is a schematic perspective view showing a three-dimensional structure in which a screw drive mechanism is mounted on a positioning beam suitable for a dual-track transmission mechanism according to a preferred embodiment of the present invention
- Fig. 7 is a perspective view showing the structure of a synchronous pulley transmission mechanism mounted on a positioning beam suitable for a dual-track transmission mechanism according to a preferred embodiment of the present invention.
- a positioning beam comprising: a first support beam 11 and a second support beam 12 that are parallel to each other, a first support beam 11 and a second support beam A cross member 13 is connected between the two, the cross member 13 is perpendicular to the first support beam 11 and the second support beam 12, and the joint of the cross member 13 with the first support beam 11 and the second support beam 12 is provided with a right angle connecting member 15.
- both sides of the joint of each beam 13 with the first support beam 11 and the second support beam 12 A right angle connector 15 is provided, that is, a total of four right angle connectors 15 can be disposed on the upper and lower sides of the beam.
- the length of the positioning beam may be different, and the number of the beam 13 may be increased according to the length of the positioning beam.
- the ends of the first support beam 11 and the second support beam 12 are provided with an integral or separate sealing cover 16.
- the two support beams may be sealed by a sealing cover 16; when the thickness of the two support beams is relatively When the distance between the two is relatively long or even the frame structure can be formed, the two sealing covers 16 can be used to seal the ends of the first support beam 11 and the second support beam 12, respectively.
- the first support beam 11, the second support beam 12 and the beam 13 are all aluminum profiles. According to another aspect of the present invention, there is also provided a robot linear motion unit comprising a motion track and a transmission mechanism disposed along an extending direction of the motion track, wherein the motion track is disposed on a surface of the positioning beam.
- the moving track is placed on the surface of the positioning beam, no need to open the mounting groove on the positioning beam, the section profile of the positioning beam is not damaged, and the mechanical properties and mechanical properties of the positioning beam are well guaranteed.
- the transmission mechanism is a single-track transmission mechanism (see FIGS. 1 and 2).
- the first support beam 11 and the second support beam 12 are thinner, the distance between the two is shorter, and the length of the beam is also shorter.
- the distance between the right angle connectors 15 is also short, and the motion track is a single track 21 disposed on the first support beam 11 and the second support beam 12 of the positioning beam.
- a drive motor 90 it is also possible to use a drive motor 90 to simultaneously drive two single-track transmission mechanisms, each of which can be disposed on a single positioning beam.
- the transmission mechanism can also be a double-track transmission mechanism, which uses a double track and can be applied to a motion unit with a larger impact force.
- the thickness of the first support beam 11 and the second support beam 12 is relatively large, and the distance between the two is large.
- the positioning beam at this time is similar to a frame structure, and the movement rails are respectively disposed on the first support beam 11 and the first The first track 22 and the second track on the second support beam 12 (not shown in the drawing, which are symmetrically disposed with the first track 22).
- the dual track transmission has two slides that slide on the first track 22 and the second track, respectively.
- each track including the single track 21, the first track 22 and the second track, comprises two parallel monorails, that is to say, when the transmission mechanism is a double-track transmission mechanism, a total of the positioning beams are installed.
- the transmission mechanism is a screw drive mechanism or a synchronous pulley drive mechanism.
- the surface of the positioning beam on which the moving track is mounted is provided with a dust cover 30 covering the moving track.
- the moving track is arranged on the axially extending side of the positioning beam.
- the positioning beam (positioning body profile) of the robot linear motion unit is provided.
- the structure of the transmission mechanism (motion support unit) is as follows: The first support beam 11 and the second support beam 12 are provided with seal covers 16 at both ends thereof, and the beam 13 is fixed to the two support beams by standard right angle fixing members 15. In order to ensure the structural strength of the system, improve the system reliability and improve the system accuracy, the number of beams 13 between the support beams can be based on the length of the support beam.
- the moving rail can be fixed to each side of the first supporting beam 11 and the second supporting beam 12 by bolts, and the dust cover 30 can be respectively fixed to the two supporting beams by bolts.
- the structure of the lead screw drive mechanism is as follows:
- the first shaft 7 seat 41 and the second bearing seat 42 are respectively fixed to both ends of each support beam by bolts, and the servo motor G is fixed by deceleration by bolts.
- the reducer 50 is fixed to the first shaft 7 seat 41 by bolts, and one end of the lead screw 61 is fixed to the first bearing housing 41 through the first bearing 43, and directly coupled to the servo motor G through the coupling 51.
- the shaft is connected to the other end, and the other end is fixed to the second shaft 7 seat 42 through the second shaft 7 42 .
- the slider 63 is fixed to the moving rail through the lead screw 61 , and the screw nut 65 is fixed to the slider 63 through the lead screw 61 . Under the driving of the servo motor G, the slider 63 can reciprocate linearly along the moving track. The guiding function of the movement is realized.
- the structure of the timing belt transmission mechanism is as follows: The timing belt clamp 71 is fixed to the first support beam 11 and the second support beam 12 by four bolts, and the timing belt pressure plate 72 is fixed to the timing belt chuck 71 by four bolts.
- Timing belt 73 Upper end of the timing belt 73 is fixed to a support beam by a timing belt pressing plate 72 and a timing belt chuck 71.
- the timing belt 73 passes through the pulley housing 75, and the pulley housing 75 is slid by bolts and timing belts.
- the blocks 76 are fixed together, and the case cover 77 is fixed to the pulley case 75 by four bolts.
- the timing belt slider 76 is fixed on the moving rail, and can be linearly moved together with the pulley housing 75 under the driving of the servo motor 40, thereby realizing the guiding function of the movement.
- the Cartesian robot linear motion system of the invention has the advantages of high overall mechanical strength, strong structural reliability, strong impact resistance and torsion resistance, easy maintenance, easy operation, and the like, and its innovation.
- the combined structure of two parallel first support beams 11, second support beams 12 and beams 13 in the linear motion system of the Cartesian coordinate robot are all made of aluminum profiles, the transmission unit (synchronous The pulley drive mechanism or the screw drive mechanism is fixed on the surface of the positioning beam; another innovation is that the beam 13 in the linear motion system of the Cartesian coordinate robot can be easily and conveniently fixed to the first support beam 11 by the standard right angle connector 15
- the second support beam 12 and the second support beam 12 when the beam 13 is provided at both ends of the first support beam 11 and the second support beam 12, in order to strengthen the structural strength of the system, improve system reliability and improve system accuracy, two The number of beams 13 between the support beams can be determined according to the length of the support beams.
- the linear motion system of the angular coordinate robot is light in weight, the section of the transmission positioning beam is not damaged, and the mechanical properties and mechanical properties are well guaranteed.
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/878,969 US9032827B2 (en) | 2011-05-16 | 2011-05-18 | Locating beam and robot linear motion unit having the same |
EP11865485.4A EP2662189B1 (en) | 2011-05-16 | 2011-05-18 | Robot linear motion unit having a locating beam |
JP2014510634A JP5801952B2 (ja) | 2011-05-16 | 2011-05-18 | 位置付けビーム及び該位置付けビームを備えるロボット直線運動ユニット |
KR1020137033434A KR101895960B1 (ko) | 2011-05-16 | 2011-05-18 | 위치 지정 들보 및 그 위치 지정 들보를 구비한 로봇 직선 운동 유닛 |
CA2836516A CA2836516C (en) | 2011-05-16 | 2011-05-18 | Locating beam and robot linear motion unit having the same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110126387.1 | 2011-05-16 | ||
CN201110126387.1A CN102166750B (zh) | 2011-05-16 | 2011-05-16 | 定位梁及具有该定位梁的机器人直线运动单元 |
Publications (1)
Publication Number | Publication Date |
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WO2012155349A1 true WO2012155349A1 (zh) | 2012-11-22 |
Family
ID=44488171
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2011/074278 WO2012155349A1 (zh) | 2011-05-16 | 2011-05-18 | 定位梁及具有该定位梁的机器人直线运动单元 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9032827B2 (zh) |
EP (1) | EP2662189B1 (zh) |
JP (1) | JP5801952B2 (zh) |
KR (1) | KR101895960B1 (zh) |
CN (1) | CN102166750B (zh) |
CA (1) | CA2836516C (zh) |
WO (1) | WO2012155349A1 (zh) |
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CN107186693A (zh) * | 2017-06-05 | 2017-09-22 | 上海发那科机器人有限公司 | 一种小型机器人的行走轴 |
CN117773979B (zh) * | 2024-02-27 | 2024-04-26 | 合肥小步智能科技有限公司 | 一种双重限位巡检机器人 |
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WO2013071477A1 (zh) * | 2011-11-14 | 2013-05-23 | 机械科学研究总院先进制造技术研究中心 | 模块化的直线运动单元 |
CN102490173A (zh) * | 2011-11-14 | 2012-06-13 | 机械科学研究总院先进制造技术研究中心 | 模块化的直线运动单元 |
CN104633406B (zh) * | 2015-01-30 | 2017-06-27 | 北京建筑大学 | 一种几何约束自适应双推杆起降机构 |
JP6677970B2 (ja) * | 2015-02-20 | 2020-04-08 | 川崎重工業株式会社 | 産業用ロボット |
US10392203B2 (en) | 2015-12-31 | 2019-08-27 | ROI Industries Group, Inc. | Compact dual palletizer including a skeleton and a subassembly |
US9511957B1 (en) | 2015-12-31 | 2016-12-06 | ROI Industries Group, Inc. | Compact palletizer including a skeleton and a subassembly |
US10287112B2 (en) | 2015-12-31 | 2019-05-14 | ROI Industries Group, Inc. | Compact palletizer including a skeleton, subassembly, and stretch wrap system |
US10676292B2 (en) | 2015-12-31 | 2020-06-09 | ROI Industries Group, Inc. | Compact palletizer including a skeleton, subassembly, and stretch wrap system |
CN106441056A (zh) * | 2016-04-18 | 2017-02-22 | 杭州愚工智能设备有限公司 | 一种尺寸测量装置 |
CN109806005A (zh) * | 2019-03-22 | 2019-05-28 | 重庆金山医疗机器人有限公司 | 一种便于定位的手术机器人机械臂横梁 |
KR102279452B1 (ko) * | 2020-01-03 | 2021-07-20 | 주식회사 엘지씨엔에스 | 갠트리 시스템 |
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- 2011-05-18 EP EP11865485.4A patent/EP2662189B1/en active Active
- 2011-05-18 WO PCT/CN2011/074278 patent/WO2012155349A1/zh active Application Filing
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Also Published As
Publication number | Publication date |
---|---|
CN102166750A (zh) | 2011-08-31 |
EP2662189B1 (en) | 2020-08-19 |
US9032827B2 (en) | 2015-05-19 |
JP5801952B2 (ja) | 2015-10-28 |
KR20140053023A (ko) | 2014-05-07 |
JP2014516812A (ja) | 2014-07-17 |
EP2662189A4 (en) | 2015-01-07 |
CA2836516A1 (en) | 2012-11-22 |
CN102166750B (zh) | 2014-01-29 |
US20140053668A1 (en) | 2014-02-27 |
CA2836516C (en) | 2016-02-09 |
KR101895960B1 (ko) | 2018-09-06 |
EP2662189A1 (en) | 2013-11-13 |
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