WO2013080337A1 - 制御システム、制御装置、接続線および駆動装置 - Google Patents
制御システム、制御装置、接続線および駆動装置 Download PDFInfo
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- WO2013080337A1 WO2013080337A1 PCT/JP2011/077685 JP2011077685W WO2013080337A1 WO 2013080337 A1 WO2013080337 A1 WO 2013080337A1 JP 2011077685 W JP2011077685 W JP 2011077685W WO 2013080337 A1 WO2013080337 A1 WO 2013080337A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
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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
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40218—Check conditions before allowing unlocking of joint brake
Definitions
- the present invention relates to a control system for controlling the operation of a drive device.
- Patent Document 1 discloses a technique for connecting a teaching operation panel to a control device and controlling a driving device from the teaching operation panel for operator protection.
- the control device can check the connection state of the teaching operation panel, control the power supply from the control device to the teaching operation panel, and can attach and detach the teaching operation panel without stopping the operation of the driving device.
- the control device can determine that control is possible even if the connection line connecting the device itself and the drive device is not connected.
- the control device exposes a high-voltage terminal portion that supplies power to the drive device at the connection portion with the connection line. For this reason, there is a problem that a person may come into contact with a high voltage terminal portion.
- the connecting portion depending on the connector shape and position of the connecting portion on the control device side, there are cases where a person is likely to come into contact.
- the present invention has been made in view of the above, and it is possible to prevent the connection portion from being in a high voltage state when the connection portion is exposed because the connection line to the drive device is not connected in the control device.
- the purpose is to obtain a simple control system.
- the present invention provides a control system that includes a control device that controls the operation of a drive device, and a connection line that connects the control device and the drive device.
- the control device includes a ready-on signal that outputs a ready-on signal that permits the operation of the driving device, and the ready-on signal based on the ready-on signal that is input from the ready-on device and the connection state of the connection line.
- a control means for supplying power to the drive device and controlling the operation of the drive device based on a ready-on signal input from the safety device, and the connection line Comprises an attachment / detachment determination line for returning a signal inputted from the safety device and outputting the signal to the safety device.
- the control system according to the present invention has an effect that it is possible to prevent the connection portion from being in a high voltage state when the connection portion is exposed because the connection line to the drive device is not connected in the control device.
- FIG. 1 is a diagram illustrating a configuration example of a control system according to the first embodiment.
- FIG. 2 is a flowchart illustrating a process of shifting to the ready-on state in the control device.
- FIG. 3 is a diagram illustrating a configuration example of the safety device according to the first embodiment.
- FIG. 4 is a diagram illustrating a configuration example of a control system according to the second embodiment.
- FIG. 5 is a diagram illustrating a configuration example of a control system according to the third embodiment.
- FIG. 6 is a diagram illustrating a configuration example of the safety device according to the third embodiment.
- FIG. 7 is a diagram illustrating a configuration example of a control system according to the fourth embodiment.
- FIG. 1 is a diagram illustrating a configuration example of a control system according to the present embodiment.
- the control system includes a control device 1, a connection line 2, and a drive device 3.
- the control device 1 controls the operation of the drive device 3 via the connection line 2.
- the control device 1 has a circuit configuration equivalent to that of a conventional ready-on circuit, and includes a ready-on unit 11 that outputs a ready-on signal that permits the operation of the driving device 3, a ready-on signal from the ready-on unit 11, and a connection state of the connection line 2. And a safety device 12 that controls the ready-on signal output to the control unit 3 and a circuit configuration equivalent to a main circuit that performs the conventional control, and based on the ready-on signal input from the safety device 12, the driving device And a control unit 13 for supplying power to 3 to control the operation.
- the readyion part 11 and the control part 13 can use the same structure as before.
- connection line 2 is a cable that connects the control device 1 and the drive device 3 and includes a power supply line from the control device 1 to the drive device 3.
- the connection line 2 includes an attachment / detachment determination line 21 used for confirming the connection state of the connection line 2 in the safety device 12 of the control device 1.
- the attachment / detachment determination line 21 outputs a signal input from the safety device 12 of the control device 1 to the safety device 12 of the loopback control device 1.
- the drive device 3 is a device to be controlled in this system.
- FIG. 2 is a flowchart illustrating a process of shifting to the ready-on state in the control device 1.
- a ready-on signal is output to the safety device 12.
- the safety device 12 waits until the ready-on signal is input from the ready-on unit 11 (step S1: No), and when the ready-on signal is input (step S1: Yes), next, whether or not the connection line 2 is connected is determined. Confirm (step S2).
- FIG. 3 is a diagram illustrating a configuration example of the safety device according to the present embodiment.
- the safety device 12 includes a power supply unit 121, a resistance unit 122, a logic inversion unit 123, an output determination unit 124, and a GND unit 125.
- the power supply unit 121 applies a predetermined voltage to the connection determination signal input to the output determination unit 124.
- the voltage when the connection determination signal input to the output determination unit 124 via the logic inversion unit 123 is Hi is approximately the same as the voltage of the ready-on signal input to the output determination unit 124.
- the resistance unit 122 is a pull-up resistor disposed between the power supply unit 121 and the logic inversion unit 123.
- the logic inversion unit 123 logically inverts the connection determination signal from the connection line 2 side and outputs the result to the output determination unit 124.
- the output determination unit 124 performs a logical product operation on the inputs from the ready-on unit 11 and the logic inversion unit 123.
- the GND unit 125 is a ground that is a reference voltage in the safety device 12.
- the output determination unit 124 detects Hi when the ready-on signal from the ready-on unit 11 is input. Further, in the state where the connection line 2 shown in FIG. 3 is connected, the output determination unit 124 is low because the input end of the logic inversion unit 123 is connected to the GND unit 125 via the attachment / detachment determination line 21 of the connection line 2. Therefore, the connection determination signal inverted from Low to Hi in the logic inversion unit 123 is input. On the other hand, since the input terminal of the logic inversion unit 123 is Hi when the connection line 2 is not connected, the output determination unit 124 outputs the connection determination signal logically inverted from Hi to Low in the logic inversion unit 123. input. As described above, in the safety device 12, the output determination unit 124 can confirm whether or not the connection line 2 is connected based on the signal from the logic inversion unit 123 (step S2).
- the safety device 12 when the output determination unit 124 detects Low from the logic inversion unit 123, the safety device 12 waits on the assumption that the connection line 2 is not connected (Step S ⁇ b> 2: No), and the output determination unit 124 has the logic inversion unit 123.
- the connection line 2 is assumed to be connected (step S2: Yes), and a ready-on signal is output from the output determination unit 124 to the control unit 13 to be in a ready-on state (step S3).
- the control unit 13 enters a ready-on state based on a ready-on signal from the safety device 12, and supplies power to the driving device 3 via the connection line 2 to control the operation.
- the method by which the control unit 13 controls the operation of the driving device 3 is not particularly limited, and a conventional method can be used.
- the control device 1 controls the operation of the drive device 3 through the connection line 2 only when the connection line 2 is connected. That is, since the control device 1 does not control the operation of the driving device 3 when the connection line 2 is not connected, even if the connection line 2 is not connected and the connection portion is exposed, A current for controlling the driving device 3 does not flow and does not become a high voltage. Therefore, it can prevent that a person contacts the connection part of a high voltage state.
- the safety device 12 when the output determination unit 124 detects Low from the logic inversion unit 123, that is, when the connection line 2 is not connected (No at Step S ⁇ b> 2), the safety device 12 determines that the error state without waiting and performs processing. It is also possible to end.
- the specific circuit configuration of the safety device 12 has been described with reference to FIG. 3, but this is an example and the present invention is not limited to this. Any other logic circuit configuration or configuration other than the logic circuit may be used as long as the signal can be output under conditions equivalent to the input of the ready-on signal and the connection state of the connection line 2.
- control device 1 is obtained by adding the safety device 12 to the conventional control devices (the ready-on unit 11 and the control unit 13), the control device 1 can be configured easily.
- the safety device 12 confirms the ready-on signal and the connection state of the connection line 2, inputs the ready-on signal, and the connection line 2 is connected.
- a ready-on signal is output to the control unit 13, and the control unit 13 supplies power to the driving device 3 based on the input ready-on signal to control the operation.
- the control unit 13 when the connection line 2 is not connected, the control unit 13 is not in a ready-on state and does not supply power to the driving device 3, so that the connection portion with the connection line 2 is in a high voltage state. Can prevent exposure.
- Embodiment 2 FIG.
- the drive device includes an attachment / detachment determination line. A different part from Embodiment 1 is demonstrated.
- FIG. 4 is a diagram illustrating a configuration example of the control system of the present embodiment.
- the control system includes a control device 1, a connection line 2a, and a drive device 3a.
- the configuration of the control device 1 is the same as that of the first embodiment (see FIG. 3).
- connection line 2a is a cable that connects the control device 1 and the drive device 3a and includes a power supply line from the control device 1 to the drive device 3a.
- the driving device 3a is a device to be controlled in this system.
- the drive device 3 a includes an attachment / detachment determination line 31 used for confirming the connection state of the connection line 2 a in the safety device 12 of the control device 1.
- the attachment / detachment determination line 31 outputs a signal input from the safety device 12 of the control device 1 via the connection line 2a to the safety device 12 side of the loopback control device 1.
- the output determination unit 124 is connected to the GND unit 125 via the connection line 2a and the attachment / detachment determination line 31 of the driving device 3a when the connection line 2a shown in FIG. 4 is connected. Since the logic inversion unit 123 inverts from Low to Hi, the connection determination signal is input. On the other hand, since the input terminal of the logic inversion unit 123 is Hi when the connection line 2a is not connected, the output determination unit 124 outputs a connection determination signal logically inverted from Hi to Low by the logic inversion unit 123. input. Other operations are the same as those in the first embodiment.
- connection line 2 a is a general cable
- the drive device 3 a includes the attachment / detachment determination line 31. Therefore, in the control device 1, not only when the connection line 2a is not connected, but also when the connection line 2a is disconnected, it is determined that the connection line 2a is not connected, and the ready-on state is not established.
- the drive device 3a includes the attachment / detachment determination line 31.
- the control device 1 is not in a ready-on state even when the connection line 2a is disconnected, and power is not supplied to the drive device 3a. Exposure in the state of voltage can be prevented.
- Embodiment 3 In the present embodiment, a case where the ground of the safety device and the FG (Frame Ground) of the connection line are the same will be described. A different part from Embodiment 1 is demonstrated.
- FIG. 5 is a diagram illustrating a configuration example of the control system according to the present embodiment.
- the control system includes a control device 1a, a connection line 2b, and a drive device 3.
- the control device 1a controls the operation of the drive device 3 through the connection line 2b.
- the control device 1a includes a ready-on unit 11, a safety device 12a that controls a ready-on signal output to the control unit 3 based on the ready-on signal from the ready-on unit 11 and the connection state of the connection line 2b, and the control unit 13.
- the control device 1a is connected to the FG via its own housing or the like, and the ground in the safety device 12a and the FG are the same.
- connection line 2 b is a cable that connects the control device 1 a and the drive device 3 and includes a power supply line from the control device 1 a to the drive device 3.
- the connection line 2b includes an attachment / detachment determination line 22 used for confirming the connection state of the connection line 2b in the safety device 12a of the control device 1a. Further, it is assumed that the entire cable of the connection line 2 b is covered with the shield 23 and is connected to the FG via the shield 23.
- One of the attachment / detachment determination lines 22 is connected to the safety device 12 a of the control device 1 a, and the other is connected to the FG via the shield 23.
- FIG. 6 is a diagram illustrating a configuration example of the safety device according to the present embodiment.
- the safety device 12a includes a power supply unit 121, a resistance unit 122, a logic inversion unit 123, and an output determination unit 124.
- the GND unit 125 is deleted from the safety device 12 (see FIG. 3).
- the output determination unit 124 connects the input terminal of the logic inversion unit 123 to the FG via the attachment / detachment determination line 22 of the connection line 2b and goes Low. Therefore, a connection determination signal that is inverted from Low to Hi in the logic inversion unit 123 is input.
- the output determining unit 124 outputs the connection determining signal logically inverted from Hi to Low by the logic inverting unit 123. input.
- Other operations are the same as those in the first embodiment.
- the ground of the safety device 12a of the control device 1a and the FG of the connection line 2b are the same, one of the attachment / detachment determination lines 22 is connected to the safety device 12a of the control device 1a.
- the other is not connected to the safety device 12a of the control device 1a but connected to the FG. Even in this case, the same effect as in the first embodiment can be obtained.
- Embodiment 4 FIG. In the present embodiment, a case where the ground of the safety device and the FG of the driving device are the same will be described. A different part from Embodiment 2 and 3 is demonstrated.
- FIG. 7 is a diagram illustrating a configuration example of the control system of the present embodiment.
- the control system includes a control device 1a, a connection line 2c, and a drive device 3b.
- connection line 2c is a cable that connects the control device 1a and the drive device 3b and includes a power supply line from the control device 1a to the drive device 3b.
- the driving device 3b is a device to be controlled in this system.
- the drive device 3b includes an attachment / detachment determination line 32 used for confirming the connection state of the connection line 2c in the safety device 12a of the control device 1a. Further, it is assumed that the driving device 3b is connected to the FG via its own housing or the like.
- One of the attachment / detachment determination lines 32 is connected to the safety device 12a of the control device 1a via the connection line 2c, and the other is connected to the FG via the housing of the drive device 3b.
- the output determination unit 124 connects the input terminal of the logic inversion unit 123 to the FG via the connection line 2c and the attachment / detachment determination line 32 of the driving device 3b in a state where the connection line 2c shown in FIG. 7 is connected. Therefore, the connection determination signal inverted from Low to Hi in the logic inversion unit 123 is input. On the other hand, since the input terminal of the logic inverting unit 123 is Hi when the connection line 2c is not connected, the output determining unit 124 outputs the connection determining signal logically inverted from Hi to Low by the logic inverting unit 123. input. Other operations are the same as those in the second embodiment.
- one of the attachment / detachment determination lines 32 is connected to the safety of the control device 1a via the connection line 2c.
- the other is connected to the FG without being returned to the safety device 12a of the control device 1a. Even in this case, the same effect as in the second embodiment can be obtained.
Abstract
Description
図1は、本実施の形態の制御システムの構成例を示す図である。制御システムは、制御装置1と、接続線2と、駆動装置3と、を備える。
本実施の形態では、駆動装置が着脱判別線を備える。実施の形態1と異なる部分について説明する。
本実施の形態では、安全装置のグラウンドと接続線のFG(Frame Ground)が同一の場合について説明する。実施の形態1と異なる部分について説明する。
本実施の形態では、安全装置のグラウンドと駆動装置のFGが同一の場合について説明する。実施の形態2、3と異なる部分について説明する。
2、2a、2b、2c 接続線
3、3a、3b 駆動装置
11 レディオン部
12、12a 安全装置
13 制御部
21、22、31、32 着脱判別線
23 シールド
121 電源部
122 抵抗部
123 論理反転部
124 出力判定部
125 GND部
Claims (13)
- 駆動装置の動作を制御する制御装置と、前記制御装置と前記駆動装置とを接続する接続線と、を備えた制御システムであって、
前記制御装置は、
前記駆動装置の動作を許可するレディオン信号を出力するレディオン手段と、
前記レディオン手段から入力した前記レディオン信号と前記接続線との接続状態とに基づいて、当該レディオン信号の出力を制御する安全装置と、
前記安全装置から入力したレディオン信号に基づいて、前記駆動装置に対して電源を供給し、当該駆動装置の動作を制御する制御手段と、
を備え、
前記接続線は、
前記安全装置から入力した信号を折り返し当該安全装置へ出力する着脱判別線、
を備えることを特徴とする制御システム。 - 駆動装置の動作を制御する制御装置と、接続線を介して前記制御装置と接続する前記駆動装置と、を備えた制御システムであって、
前記制御装置は、
前記駆動装置の動作を許可するレディオン信号を出力するレディオン手段と、
前記レディオン手段から入力した前記レディオン信号と前記接続線との接続状態とに基づいて、当該レディオン信号の出力を制御する安全装置と、
前記安全装置から入力したレディオン信号に基づいて、前記駆動装置に対して電源を供給し、当該駆動装置の動作を制御する制御手段と、
を備え、
前記駆動装置は、
前記接続線を介して前記安全装置から入力した信号を折り返し当該安全装置へ出力する着脱判別線、
を備えることを特徴とする制御システム。 - 前記安全装置は、
前記着脱判別線と接続する一方の端子へ電源を供給する電源手段と、
前記一方の端子にかかる信号電圧の論理を反転する論理判定手段と、
前記レディオン手段からのレディオン信号と前記論理判定手段からの信号とを入力し、論理積演算した結果をレディオン信号として前記制御手段へ出力する出力判定手段と、
前記着脱判別線と接続する他方の端子と接続する基準電圧であるグラウンド部と、
を備え、
前記着脱判別線は、前記制御装置と前記接続線が接続している場合、または前記制御装置と前記駆動装置が前記接続線を介して接続している場合、前記一方の端子と前記他方の端子とを接続する、
ことを特徴とする請求項1または2に記載の制御システム。 - 駆動装置の動作を制御する制御装置と、前記制御装置と前記駆動装置とを接続する接続線と、を備えた制御システムであって、前記制御装置内のグラウンドと前記接続線のフレームグラウンドが同一の場合に、
前記制御装置は、
前記駆動装置の動作を許可するレディオン信号を出力するレディオン手段と、
前記レディオン手段から入力した前記レディオン信号と前記接続線との接続状態とに基づいて、当該レディオン信号の出力を制御する安全装置と、
前記安全装置から入力したレディオン信号に基づいて、前記駆動装置に対して電源を供給し、当該駆動装置の動作を制御する制御手段と、
を備え、
前記接続線は、
前記安全装置から入力した信号をフレームグラウンドに接続する着脱判別線、
を備えることを特徴とする制御システム。 - 駆動装置の動作を制御する制御装置と、接続線を介して前記制御装置と接続する前記駆動装置と、を備えた制御システムであって、前記制御装置のグラウンドと前記駆動装置のフレームグラウンドが同一の場合に、
前記制御装置は、
前記駆動装置の動作を許可するレディオン信号を出力するレディオン手段と、
前記レディオン手段から入力した前記レディオン信号と前記接続線との接続状態とに基づいて、当該レディオン信号の出力を制御する安全装置と、
前記安全装置から入力したレディオン信号に基づいて、前記駆動装置に対して電源を供給し、当該駆動装置の動作を制御する制御手段と、
を備え、
前記駆動装置は、
前記接続線を介して前記安全装置から入力した信号をフレームグラウンドに接続する着脱判別線、
を備えることを特徴とする制御システム。 - 前記安全装置は、
前記着脱判別線と接続する端子へ電源を供給する電源手段と、
前記端子にかかる信号電圧の論理を反転する論理判定手段と、
前記レディオン手段からのレディオン信号と前記論理判定手段からの信号とを入力し、論理積演算した結果をレディオン信号として前記制御手段へ出力する出力判定手段と、
を備え、
前記着脱判別線は、前記制御装置と前記接続線が接続している場合、または前記制御装置と前記駆動装置が前記接続線を介して接続している場合、前記端子とフレームグラウンドとを接続する、
ことを特徴とする請求項4または5に記載の制御システム。 - 接続線を介して制御対象の駆動装置と接続する制御装置であって、
前記駆動装置の動作を許可するレディオン信号を出力するレディオン手段と、
前記レディオン手段から入力した前記レディオン信号と前記接続線との接続状態とに基づいて、当該レディオン信号の出力を制御する安全装置と、
前記安全装置から入力したレディオン信号に基づいて、前記駆動装置に対して電源を供給し、当該駆動装置の動作を制御する制御手段と、
を備えることを特徴とする制御装置。 - 前記接続線または前記駆動装置のうち少なくとも1つが、前記安全装置から入力した信号を折り返し当該安全装置へ出力する着脱判別線を備える場合に、
前記安全装置は、
前記着脱判別線と接続する一方の端子へ電源を供給する電源手段と、
前記一方の端子にかかる信号電圧の論理を反転する論理判定手段と、
前記レディオン手段からのレディオン信号と前記論理判定手段からの信号とを入力し、論理積演算した結果をレディオン信号として前記制御手段へ出力する出力判定手段と、
前記着脱判別線と接続する他方の端子と接続する基準電圧であるグラウンド部と、
を備えることを特徴とする請求項7に記載の制御装置。 - 前記接続線または前記駆動装置のうち少なくとも1つが、前記制御装置内のグラウンドと自身のフレームグラウンドが同一であって、前記安全装置から入力した信号をフレームグラウンドに接続する着脱判別線を備える場合に、
前記安全装置は、
前記着脱判別線と接続する端子へ電源を供給する電源手段と、
前記端子にかかる信号電圧の論理を反転する論理判定手段と、
前記レディオン手段からのレディオン信号と前記論理判定手段からの信号とを入力し、論理積演算した結果をレディオン信号として前記制御手段へ出力する出力判定手段と、
を備えることを特徴とする請求項7に記載の制御装置。 - 駆動装置の動作を制御する制御装置と前記駆動装置とを接続する接続線であって、
前記制御装置から入力した信号を折り返し当該制御装置へ出力する着脱判別線、
を備えることを特徴とする接続線。 - 駆動装置の動作を制御する制御装置と前記駆動装置とを接続する接続線であって、前記制御装置内のグラウンドと自身のフレームグラウンドが同一の場合に、
前記制御装置から入力した信号をフレームグラウンドに接続する着脱判別線、
を備えることを特徴とする接続線。 - 駆動装置の動作を制御する制御装置と接続線を介して接続する前記駆動装置であって、
前記制御装置から入力した信号を折り返し当該制御装置へ出力する着脱判別線、
を備えることを特徴とする駆動装置。 - 駆動装置の動作を制御する制御装置と接続線を介して接続する前記駆動装置であって、前記制御装置内のグラウンドと自身のフレームグラウンドが同一の場合に、
前記制御装置から入力した信号をフレームグラウンドに接続する着脱判別線、
を備えることを特徴とする駆動装置。
Priority Applications (6)
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JP2012509414A JP5068394B1 (ja) | 2011-11-30 | 2011-11-30 | 制御システム、制御装置、接続線および駆動装置 |
CN201180075180.4A CN103959182B (zh) | 2011-11-30 | 2011-11-30 | 控制系统、控制装置、连接线及驱动装置 |
PCT/JP2011/077685 WO2013080337A1 (ja) | 2011-11-30 | 2011-11-30 | 制御システム、制御装置、接続線および駆動装置 |
US14/358,290 US20140297000A1 (en) | 2011-11-30 | 2011-11-30 | Control system, control device, connecting line, and drive device |
DE112011105896.9T DE112011105896T5 (de) | 2011-11-30 | 2011-11-30 | Steuersystem, Steuervorrichtung, Verbindungsleitung und Antriebsvorrichtung |
TW101108419A TWI457732B (zh) | 2011-11-30 | 2012-03-13 | 控制系統、控制裝置、連接線及驅動裝置 |
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PCT/JP2011/077685 WO2013080337A1 (ja) | 2011-11-30 | 2011-11-30 | 制御システム、制御装置、接続線および駆動装置 |
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WO2013080337A1 true WO2013080337A1 (ja) | 2013-06-06 |
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US (1) | US20140297000A1 (ja) |
JP (1) | JP5068394B1 (ja) |
CN (1) | CN103959182B (ja) |
DE (1) | DE112011105896T5 (ja) |
TW (1) | TWI457732B (ja) |
WO (1) | WO2013080337A1 (ja) |
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DE112016007002T5 (de) * | 2016-06-22 | 2019-03-07 | Mitsubishi Electric Corporation | Funkkommunikationsvorrichtung, Funkstationsvorrichtung, Instrumentensteuerverfahren und Instrumentensteuerprogramm |
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-
2011
- 2011-11-30 US US14/358,290 patent/US20140297000A1/en not_active Abandoned
- 2011-11-30 JP JP2012509414A patent/JP5068394B1/ja not_active Expired - Fee Related
- 2011-11-30 CN CN201180075180.4A patent/CN103959182B/zh not_active Expired - Fee Related
- 2011-11-30 DE DE112011105896.9T patent/DE112011105896T5/de not_active Withdrawn
- 2011-11-30 WO PCT/JP2011/077685 patent/WO2013080337A1/ja active Application Filing
-
2012
- 2012-03-13 TW TW101108419A patent/TWI457732B/zh not_active IP Right Cessation
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Also Published As
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TW201321909A (zh) | 2013-06-01 |
TWI457732B (zh) | 2014-10-21 |
CN103959182B (zh) | 2017-03-15 |
JPWO2013080337A1 (ja) | 2015-04-27 |
JP5068394B1 (ja) | 2012-11-07 |
CN103959182A (zh) | 2014-07-30 |
US20140297000A1 (en) | 2014-10-02 |
DE112011105896T5 (de) | 2014-09-11 |
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