WO2013146581A1 - Imprimante tactile - Google Patents

Imprimante tactile Download PDF

Info

Publication number
WO2013146581A1
WO2013146581A1 PCT/JP2013/058267 JP2013058267W WO2013146581A1 WO 2013146581 A1 WO2013146581 A1 WO 2013146581A1 JP 2013058267 W JP2013058267 W JP 2013058267W WO 2013146581 A1 WO2013146581 A1 WO 2013146581A1
Authority
WO
WIPO (PCT)
Prior art keywords
braille
tactile
plot
dispenser
workpiece
Prior art date
Application number
PCT/JP2013/058267
Other languages
English (en)
Japanese (ja)
Inventor
小野　純夫
Original Assignee
兵神装備株式会社
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 兵神装備株式会社 filed Critical 兵神装備株式会社
Publication of WO2013146581A1 publication Critical patent/WO2013146581A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B21/00—Teaching, or communicating with, the blind, deaf or mute
    • G09B21/02—Devices for Braille writing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/32—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for printing in Braille or with keyboards specially adapted for use by blind or disabled persons

Definitions

  • the present invention relates to a tactile printer capable of forming a three-dimensional sign for an arbitrary work, which enables tactile perception (tactile sense) including Braille and dotted diagrams.
  • an ink image formed on plain paper from an inkjet head is sprayed with thermally expandable powder to form a powder image by a heating mechanism.
  • a Braille printer that forms a convex portion corresponding to Braille by heating.
  • JP 2008-30278 A Japanese Patent Laid-Open No. 51-5125 JP 2011-131458 A JP 2001-353907 A JP 49-14221 A
  • the braille printer of the prior art has a very complicated and large device configuration. For this reason, the Braille printer of the prior art is not suitable for installation in schools or ordinary homes, and has a problem that it can only be installed in very limited facilities. Therefore, the braille printer of the prior art is only used in a very limited number of people or facilities, and cannot be easily used by the family of visually impaired people.
  • the braille printers of Patent Documents 4 and 5 can use plain paper as a work for forming a plot that forms Braille, at least a step of forming an ink image once on plain paper, a thermal expansibility It is necessary to go through each step of the step of spraying powder and the step of heating and fixing the powder by a heating device. For this reason, the braille printers of Patent Documents 4 and 5 require complicated and time-consuming work to form braille, and the braille printer cannot be formed smoothly and easily. Furthermore, since the ink ejection device, the powder ejection device, the heating device, and the like are required in order to perform the above-described steps, the Braille printers of Patent Documents 4 and 5 have a complicated and large device configuration. It becomes a thing.
  • blind people In addition to visually impaired people, there are so-called “blind people” who have residual vision in addition to so-called “blind people” who do not have vision. At present, “low-sighted people” account for about 70% of the visually impaired. In addition, it is said that the literacy rate of Braille among visually impaired people is said to be about 10%, and many of those who became visually impaired later will be described if the outline of the characters is known even if they cannot identify Braille. There is a fact that you can understand the meaning content. Moreover, if information other than characters written in graphics or symbols is also described in three dimensions on a work, there is a situation that a visually handicapped person can determine the meaning content relatively easily.
  • the above-described prior art Braille printer is intended for the formation of Braille characters, and cannot create a point diagram (graphical braille translation) in which a contour line or the like forming a map or a graphic is drawn by plotting.
  • a point diagram graphical braille translation
  • a contour line or the like forming a map or a graphic is drawn by plotting.
  • the desire to form a three-dimensional sign that enables perception by tactile sensation on an arbitrary work is not limited to Braille or the like used by visually impaired persons, and exists in various fields.
  • various types of signs that can perceive the type of an object by tactile sense as a three-dimensional sign to prevent unintended results due to human error or failure Many things attached to bottles or containers are provided.
  • Such signs for preventing human error are often formed integrally when a container or the like is manufactured, and there is a problem that it is impossible to form a sign that meets the user's intention and desire.
  • the present invention provides a tactile printer that has a simple apparatus configuration and operation, and can form a three-dimensional sign for an arbitrary workpiece that enables tactile perception (tactile sense) including braille and dot diagrams. The purpose was to provide.
  • the tactile printer of the present invention provided to solve the above-described problem is for forming a three-dimensional sign that can be identified by tactile sense.
  • the tactile printer of the present invention is a dispenser capable of ejecting and applying a curable liquid to a workpiece, and relatively moving the dispenser and the workpiece based on pattern data relating to an input pattern of the three-dimensional marking.
  • a three-dimensional marking can be formed on the workpiece by the curable liquid applied by the dispenser, and the dispenser is a male screw type rotor that rotates eccentrically under power.
  • a uniaxial eccentric screw pump mechanism having a stator having an inner peripheral surface formed in a female screw shape is provided.
  • the tactile printer of the present invention prepares pattern data relating to a three-dimensional sign to be produced, whereby the dispenser and the workpiece are relatively moved by the moving mechanism, and an arbitrary three-dimensional sign is displayed by the curable liquid applied by the dispenser. It can be formed on any workpiece. In addition, the tactile printer can form an existing article as a work and a three-dimensional sign can be formed later. Therefore, according to the present invention, it is possible to provide a tactile printer capable of marking a three-dimensional sign without selecting a workpiece.
  • the curing liquid discharged from the dispenser may be any material as long as it is cured on the workpiece. Therefore, the tactile printer of the present invention can select desired ones as a workpiece and a curable liquid, and can mark a three-dimensional sign.
  • the tactile printer of the present invention only needs to have a dispenser and a moving mechanism, and the apparatus configuration is extremely simple. Further, the dispenser used in the tactile printer of the present invention is also provided with a uniaxial eccentric screw pump mechanism, so the apparatus configuration is extremely simple, and maintenance such as cleaning can be easily performed. Therefore, according to the present invention, a tactile printer having a simple and compact configuration can be provided.
  • the tactile printer of the present invention employs a uniaxial eccentric screw pump as a dispenser, it is possible to arbitrarily and accurately adjust the discharge amount of the hardening liquid to the workpiece. Therefore, according to the tactile printer of the present invention, a three-dimensional sign that is highly accurate and can be easily identified by tactile sense can be formed on the workpiece.
  • the tactile printer of the present invention can form a three-dimensional sign only by performing a simple operation of discharging the curable liquid by the dispenser while relatively moving the dispenser and the workpiece by the moving mechanism. Therefore, according to the present invention, it is possible to provide a tactile printer having a simple operation.
  • the above-described tactile printer of the present invention can be formed on a workpiece with characters, figures, or symbols as three-dimensional marks.
  • the tactile printer of the present invention can form characters, figures, symbols, or a combination thereof three-dimensionally as a three-dimensional sign.
  • a character generally used by a person who can see as a three-dimensional sign.
  • a three-dimensional sign effective for a visually handicapped person on an arbitrary work so that a character can be recognized if the outline can be discriminated by, for example, becoming a visually handicapped person later.
  • a three-dimensional sign indicating a human face or an image such as a painting can be formed by the tactile printer of the present invention.
  • the visually handicapped person can recognize the shape of the face of the person, the painting, and the like in the photograph that could not be recognized by the visually handicapped person by touch.
  • three-dimensional markings such as a three-dimensional map, a dot map in which contour lines or the like forming a map or a figure are drawn by plotting, etc. can be obtained by using the tactile printer of the present invention. It can be formed easily and accurately without depending on the work. This makes it possible to contribute to the provision of books and textbooks for the visually impaired that use not only braille but also many expressions using dotted diagrams.
  • the moving mechanism is capable of adjusting the angle of the dispenser with respect to the workpiece.
  • the moving mechanism includes a manipulator having a degree of freedom of three or more axes, and the dispenser is attached to the manipulator.
  • a three-dimensional sign such as Braille and / or point diagrams.
  • a three-dimensional sign can be formed smoothly and accurately even for a three-dimensional workpiece or the like.
  • a plot that forms Braille and / or a dotted diagram may be formed at a position corresponding to a description area of character information and / or graphic information described on the workpiece. desirable.
  • the tactile printer of the present invention can form braille and / or braille diagrams as three-dimensional markings that can be identified by tactile sense, and can input character information and / or graphic information expressed by braille and / or braille diagrams.
  • a plot pattern conversion means for converting character information and / or graphic information input by the input device into a formation pattern of plots forming Braille and / or dotted diagrams. Is possible.
  • the tactile printer of the present invention the character information and / or graphic information input by the input device is discharged by the dispenser in accordance with the Braille and / or dotted diagram formation pattern converted by the plot pattern conversion means.
  • Plots can be formed on any workpiece in Braille and / or dotted diagrams.
  • this tactile printer can use an existing article as a work and can form a braille and / or dotted plot as a retrofit. Therefore, according to the present invention, it is possible to provide a tactile printer capable of writing braille and / or a dotted diagram without selecting a workpiece.
  • the curing liquid used in the dispenser of the present invention may be any material as long as it cures on the workpiece.
  • the tactile printer of the present invention can select a work to be formed as a plot forming Braille and / or a dotted diagram and a desired curing liquid, and write the Braille and / or dotted diagram.
  • the tactile printer of the present invention only needs to include an input device, plot pattern conversion means, a dispenser, and a moving mechanism, and the apparatus configuration is extremely simple.
  • the dispenser used in the tactile printer of the present invention is also provided with a uniaxial eccentric screw pump mechanism, so the apparatus configuration is extremely simple, and maintenance such as cleaning can be easily performed. Therefore, according to the present invention, a tactile printer having a simple and compact configuration can be provided.
  • the tactile printer of the present invention employs a uniaxial eccentric screw pump as a dispenser, it is possible to arbitrarily and accurately adjust the discharge amount of the hardening liquid to the workpiece. Therefore, according to the tactile printer of the present invention, it is possible to freely change the size of the braille and / or dotted diagram formed on the workpiece.
  • the tactile printer of the present invention performs a simple operation of ejecting the curable liquid by the dispenser while relatively moving the dispenser and the workpiece by the moving mechanism, and a plot corresponding to the braille and / or the dot diagram on the workpiece. Can be formed. Therefore, according to the present invention, it is possible to provide a tactile printer having a simple operation.
  • a tactile printer that has a simple apparatus configuration and operation, and that can select a wide range of workpieces and curable liquids that are to be formed as plots in Braille and dotted diagrams.
  • the tactile printer 10 forms a plot P on a workpiece with braille and dotted diagrams as three-dimensional markings that can be identified by tactile sense.
  • the tactile printer 10 is roughly divided into an input device 20, an output device 30, a moving mechanism 70, and a control device 80.
  • the input device 20 is provided for inputting character information or graphic information expressed by Braille or a diagram.
  • a keyboard 22, an image input device 24 such as a camera or a scanner, and an audio input device 26 such as a microphone are provided as the input device 20.
  • a touch panel display unit 86 provided as a part of the control device 80 described in detail later also functions as the input device 20.
  • the keyboard 22 and the touch panel type display unit 86 are direct input type input devices provided for directly inputting words expressed in Braille as character information.
  • the image input device 24 and the voice input device 26 are input devices for inputting words (character information) expressed in Braille or images (graphic information) expressed in dotted diagrams in the form of image information or voice information. .
  • Image information or voice information input by the image input device 24 or the voice input device 26 can be replaced with character information by an internal process of the control device 80 described in detail later. Therefore, the image input device 24 and the voice input device 26 function as an indirect input type input device capable of indirectly inputting character information corresponding to words expressed in Braille.
  • the image input means 24 functions as a direct input type input device capable of directly inputting graphic information.
  • the output device 30 is provided for outputting character information input directly or indirectly by the input device 20. As shown in FIG. 3, the output device 30 is roughly divided into a plot output unit 32, a print output unit 34, and a work installation unit 36. The output device 30 can form a plot P that forms Braille or a dotted diagram and can perform printing on the workpiece W installed in the workpiece installation unit 36.
  • the plot output unit 32 includes a dispenser 40 and a curable liquid storage unit 41.
  • the curable liquid storage unit 41 stores a curable liquid that is used to form a three-dimensional plot P that is dotted on the workpiece W.
  • the curable liquid an appropriate one can be selected from the viewpoint of adhesion to the workpiece W, for example, a high-viscosity quick-drying resin, a quick-drying adhesive, or the like can be suitably selected.
  • a pump 43 for supplying the curable liquid to the dispenser 40 is installed in the piping system connecting the dispenser 40 and the curable liquid reservoir 41 as necessary.
  • the dispenser 40 pumps the curable liquid stored in the curable liquid storage unit 41 and discharges the curable liquid toward the work W installed in the work installation unit 36.
  • the dispenser 40 incorporates a uniaxial eccentric screw pump mechanism 45.
  • the dispenser 40 includes a uniaxial eccentric screw pump mechanism 45 having a male screw type rotor 42 that rotates eccentrically upon receiving power, and a stator 44 having an inner peripheral surface formed in a female screw type.
  • the dispenser 40 is configured such that a rotor 42, a stator 44, a power transmission mechanism 48, and the like are accommodated in a casing 46.
  • the casing 46 is a metal-made cylindrical member, and the first opening 50 is provided on one end side in the longitudinal direction.
  • a second opening 52 is provided in the outer peripheral portion of the casing 46. The second opening 52 communicates with the internal space of the casing 46 at an intermediate portion 54 positioned at the intermediate portion in the longitudinal direction of the casing 46.
  • the first opening 50 and the second opening 52 are portions that function as a suction port and a discharge port of the uniaxial eccentric screw pump mechanism 45, respectively.
  • the dispenser 40 can function the first opening 50 as a discharge port and the second opening 52 as a suction port by rotating the rotor 42 in the forward direction. Further, by rotating the rotor 42 in the reverse direction, the first opening 50 can function as a suction port and the second opening 52 can function as a discharge port.
  • the dispenser 40 is used in a state where the first opening 50 functions as a discharge port (discharge unit) and the second opening 52 functions as a suction port.
  • the stator 44 is a member having a substantially cylindrical outer shape formed of an elastic body such as rubber or a resin.
  • the inner peripheral surface 56 of the stator 44 has a single-stage or multi-stage female thread shape with n strips.
  • the stator 44 has a multistage female screw shape with two threads.
  • the through hole 58 of the stator 44 is formed so that its cross-sectional shape (opening shape) is substantially oval when viewed in cross section at any position in the longitudinal direction of the stator 44.
  • the rotor 42 is a metal shaft, and has a single-stage or multi-stage male screw shape with n-1 strips.
  • the rotor 42 has a male screw shape that is eccentric with a single thread.
  • the rotor 42 is formed so that its cross-sectional shape is substantially a perfect circle when viewed in cross section at any position in the longitudinal direction.
  • the rotor 42 is inserted into the through hole 58 formed in the stator 44 described above, and can be freely eccentrically rotated inside the through hole 58.
  • a fluid conveyance path 62 (cavity) is formed between the two and 60.
  • the fluid conveyance path 62 extends in a spiral shape in the longitudinal direction of the stator 44 and the rotor 42.
  • the fluid conveyance path 62 advances in the longitudinal direction of the stator 44 while rotating in the stator 44. Therefore, when the rotor 42 is rotated, fluid is sucked into the fluid conveyance path 62 from one end side of the stator 44, and is transferred toward the other end side of the stator 44 in a state of being confined in the fluid conveyance path 62. It is possible to discharge at the other end side of the stator 44.
  • the uniaxial eccentric screw pump mechanism 45 of this embodiment is used by rotating the rotor 42 in the forward direction, and can pump the fluid sucked from the second opening 52 and discharge it from the first opening 50. It is said that.
  • the power transmission mechanism 48 is for transmitting power from the drive machine 64 to the rotor 42 described above.
  • the power transmission mechanism 48 includes a power transmission unit 66 and an eccentric rotation unit 68.
  • the power transmission unit 66 is provided on one end side of the casing 46 in the longitudinal direction.
  • the eccentric rotating part 68 is provided in the intermediate part 54.
  • the eccentric rotation part 68 is a part which connects the power transmission part 66 and the rotor 42 so that power transmission is possible.
  • the eccentric rotating part 68 includes a connecting shaft constituted by a conventionally known coupling rod, screw rod, or the like. Therefore, the eccentric rotating unit 68 can transmit the rotational power generated by operating the driving machine 64 to the rotor 42 to rotate the rotor 42 eccentrically.
  • the print output unit 34 is configured by a conventionally known printer.
  • the printer that forms the print output unit 34 may be any type of printing such as an ink jet type, a laser type, or a thermal transfer type, and can print on a material assumed as the workpiece W. Is adopted.
  • the moving mechanism 70 is provided to move the dispenser 40 relative to the work setting unit 36.
  • the moving mechanism 70 is configured by a robot arm 72 (manipulator) having a degree of freedom of three or more axes.
  • a dispenser 40 is attached to the tip of the robot arm 72 that forms the moving mechanism 70. Therefore, by driving the robot arm 72, the dispenser 40 can be swung around the workpiece W installed in the workpiece installation unit 36, and the curable liquid can be discharged at an arbitrary position and angle.
  • the control device 80 is constructed by installing software on a computer.
  • the control device 80 includes an input / output unit 82 and a control unit 84.
  • the control device 80 includes a touch panel type display unit 86.
  • the input / output unit 82 functions as an interface for inputting / outputting data to / from the input device 20 including the keyboard 22 and the output device 30 including the dispenser 40 described above.
  • the control unit 84 controls operation of the tactile printer 10, and includes a conversion engine 85 (plot pattern conversion unit), a print control unit 94, a plot formation area recognition unit 95, a robot trajectory conversion unit 96, and plot output control. A portion 98 is provided. Further, the control unit 84 includes an audio database 100, an image database 102, and a braille database 104.
  • the speech database 100 is used for speech recognition processing and is a database of the relationship between speech information and character information.
  • the image database 102 is used for character recognition processing, and is a database of relationships between images corresponding to characters and character information.
  • the Braille database 104 is a database of relations between character information and Braille formation patterns.
  • the conversion engine 85 has a function as plot pattern conversion means for replacing the input by the input device 20 with the formation pattern of the plot P that forms Braille or a dotted diagram.
  • the conversion engine 85 includes an audio processing unit 88, an image processing unit 90, and a plot information recognition unit 92.
  • the speech processing unit 88 performs speech recognition processing, and can analyze speech data input via the speech input device 26 while collating the speech database 100 and convert it into character data. Note that any method of executing the speech recognition processing by the speech processing unit 88 may be used.
  • the image processing unit 90 performs character recognition processing using a technique such as optical character recognition (OCR).
  • OCR optical character recognition
  • the image processing unit 90 can convert characters described in the document into character data by analyzing the image of the document input via the image input device 24.
  • the plot information recognition unit 92 can accept and recognize character information directly input from the keyboard 22. In addition, the plot information recognition unit 92 can accept character information obtained by the voice recognition processing in the voice processing unit 88 and the character recognition processing in the image processing unit 90. The plot information recognition unit 92 can execute a Braille conversion process of converting the input character information into a Braille formation pattern by collating with the Braille database 104.
  • the print control unit 94 controls the printing operation by the print output unit 34.
  • the print control unit 94 can output the character information recognized by the plot information recognition unit 92 to the print output unit 34 via the input / output unit 82 and print it on the work W to be printed.
  • the plot formation area recognition unit 95 recognizes an area (plot formation area) in which a plot P forming Braille or a dotted diagram is formed from the appearance image of the workpiece W acquired by the image input device 24.
  • the plot formation area recognition unit 95 recognizes the external shape, size, position, etc. of the plot formation area.
  • the plot formation region recognition unit 95 three-dimensionalizes the external shape of the workpiece W so as to be able to form a plot P that forms braille or a dotted diagram using the three-dimensional structure as the workpiece W. It is supposed to be recognizable.
  • the robot trajectory conversion unit 96 forms a plot P for the workpiece W based on the braille and dotted pattern formation patterns obtained by the character recognition unit and the external shape of the workpiece W acquired by the surface shape recognition unit 95.
  • the robot arm 72 has a function of determining a trajectory pattern.
  • Data indicating the trajectory pattern obtained by the robot trajectory conversion unit 96 (hereinafter also referred to as “trajectory data”) is output to a plot output control unit 98 described in detail later.
  • the plot output control unit 98 performs overall control of the operations of the dispenser 40 and the robot arm 72 when forming a plot P that forms braille or a dotted diagram on the workpiece W.
  • the plot output control unit 98 is provided with a robot control unit 106 and a dispenser control unit 108. Based on the trajectory data acquired from the robot trajectory conversion unit 96, the robot control unit 106 moves the robot arm 72 and the dispenser 40 attached thereto with an optimal trajectory to form a plot P that forms Braille or a dotted diagram. .
  • the dispenser control unit 108 controls the discharge of the curable liquid by the dispenser 40.
  • the dispenser control unit 108 discharges the curable liquid from the dispenser 40 when the dispenser 40 reaches the position where the plot P that forms Braille or dotted diagram is to be formed. Thereby, a hardening liquid can be apply
  • step 1 recognition processing is executed in step 1. Specifically, when a character is input using the keyboard 22 constituting the input device 20 or the touch panel constituting the display unit 86, the character information is recognized by the plot information recognition unit 92.
  • the voice processing unit 88 or the image processing unit 90 performs a conversion process for replacing with character information, and the execution result is a plot information recognition unit 92. Is recognized as character information.
  • the plot information recognition unit 92 recognizes the contour line to be expressed by the plot.
  • the plot information recognition unit 92 refers to the Braille database 104 in Step 2 and converts the character information into a Braille or Braille pattern (plot pattern). Execute the conversion process.
  • the control flow proceeds to Step 3, and the plot formation region recognition unit 95 executes the plot formation region recognition process.
  • the position, size, and appearance shape of the plot forming area are recognized.
  • the position of the plot formation region are recognized three-dimensionally.
  • a braille plot P corresponding to the character C is formed so as to overlap the character C printed on the sheet-like workpiece W as shown in FIG.
  • the position, size, and appearance shape are recognized two-dimensionally.
  • step 4 the robot trajectory conversion unit 96 determines what kind of robot arm 72 is to be used based on the information about the braille and braille pattern obtained in step 2 and the plot formation area obtained in step 3. Analyze whether it is optimal to move along the trajectory. Thereby, trajectory data for instructing the operation of the robot arm 72 when the plot P is formed for the workpiece W is formed.
  • step 5 When the robot trajectory conversion process is executed in step 4, the control flow moves to step 5, and it is confirmed whether or not printing on the workpiece W is necessary.
  • the control flow is advanced to step 8, and printing is performed before a plot P that forms braille or a braille diagram, which will be described in detail later, is formed.
  • step 5 if it is determined in step 5 that printing is not necessary, the control flow proceeds to step 6.
  • step 6 a plot P is formed on the workpiece W so as to describe braille or a braille diagram corresponding to the character information or graphic information acquired in step 1. That is, in step 6, the robot control unit 106 of the plot output control unit 98 operates the robot arm 72 based on the trajectory data defined in step 4. As a result, the dispenser 40 and the robot arm 72 sequentially move to positions where the plot P is formed. Further, when the dispenser 40 and the robot arm 72 reach the position where the plot P is to be formed, the curable liquid is discharged onto the workpiece W three-dimensionally and in a dotted manner under the control of the dispenser control unit 108.
  • step 7 When the plot P is formed in step 6, it is confirmed in step 7 whether or not all the plots P forming the braille or the dotted diagram have been formed. If there is a plot P that has not yet been formed in step 7, the control flow is returned to step 6, and the plot P is subsequently formed. On the other hand, if it is confirmed in step 7 that all the plots P have been formed, the word or figure to be written is in the state of being written on the workpiece W by braille or a braille diagram, and thus a series of control flow is completed. To do.
  • the tactile printer 10 is a daily structure such as a bottle, can, or stationery, a ticket machine, a vending machine, a telephone, or a remote controller as shown in FIG.
  • a three-dimensional structure such as a workpiece W can be used as a workpiece W, and a plot P can be formed on the surface of the workpiece W to describe braille or a dotted diagram.
  • the plot P can be formed at a position (upward in the illustrated state) corresponding to the character C described on the label L described by characters on the workpiece W.
  • the tactile printer 10 is not limited to a case where the workpiece W is newly manufactured, and even when the workpiece W is an existing structure, a plot P is formed and words are written in braille, or by a dotted diagram. A figure etc. can be written. Therefore, it is possible for a parent with a blind child to print braille or a diagram showing a name or a figure directly on a belonging having a surface such as a pencil case.
  • the tactile printer 10 not only directly writes braille or a braille diagram on the workpiece W but also indirectly forms a plot P on what is attached to another article such as a seal or tape. And dot diagrams can be formed.
  • This makes it possible to prepare a sticker or the like in which necessary information such as a name is written in Braille or a diagram, and use the sticker on an article as necessary.
  • a general-purpose seal or the like can be used as the workpiece W. Therefore, it becomes possible to form braille or a dotted diagram on the touch or design seal desired by the user.
  • the tactile printer 10 can form a letter, a document, or the like as a work W, and form a braille corresponding to the character C by a plot P at a position corresponding to the character C printed on the work W. . More specifically, the plot P can be formed so as to overlap the character C, or the plot P can be formed at a position adjacent to the character C vertically and horizontally.
  • the plot P is formed so as to overlap with the letter C
  • a resin that is transparent at least in a cured state as a curable liquid both a visible person and a blind person can share the same document. Can be shared and the contents can be grasped.
  • a colored transparent resin as the curable liquid it is possible to make a person who is blind see the fact that Braille is written, and to guide a person who cannot see it to view.
  • the document used as the work W is not limited to a printed document such as a book, a magazine, or a document described by a word processor, but may be a handwritten document.
  • the image acquired by the image input device 24 is formed in braille based on character information recognized by the image processing unit 80 using a technique such as optical character recognition (OCR). Therefore, the document can be converted into Braille easily and smoothly.
  • OCR optical character recognition
  • the document can be converted to Braille based on the processing result within a range where optical character recognition processing is possible.
  • character information acquired by inputting a document with the keyboard 22 or reading out the document with the voice input device 26 is displayed in Braille. It is also possible to
  • the tactile printer 10 can use arbitrary things as the workpiece
  • the workpiece W and the curable liquid can be selected in this way, it becomes possible to erase the braille or the dotted diagram described by the tactile printer 10 by washing the plastic sheet with hot water.
  • the workpiece W can be used like a message board formed of a blackboard or whiteboard. Further, considering that a person who is blind cannot put it in the mouth by mistake, it is possible to select a material that does not cause a problem even if it is put in the mouth as the work W and the hardening liquid.
  • the tactile printer 10 may be one that cures by mixing a plurality of materials, such as a two-component curable resin, in addition to the one that cures alone as a curable liquid.
  • a dispenser 40 corresponding to the number of materials to be mixed is provided, and a mixer is connected to the discharge port of these dispensers 40, and the mixed materials are mixed in the mixer.
  • the curable liquid may be applied to the workpiece W.
  • the curable liquid discharged from the dispenser 40 may be an ultraviolet curable resin that is cured by irradiating ultraviolet rays.
  • an ultraviolet curable resin is used as the curable liquid, it is possible to provide an irradiation device for irradiating ultraviolet rays at a position adjacent to the dispenser 40. Further, it is desirable to separately provide a moving mechanism 160 for moving the irradiation device 150 by a robot arm or the like as shown in FIG. 11 in order to advance the plotting by the dispenser 40 until the ultraviolet curable resin is cured. Thereby, the creation speed of braille or a dotted diagram can be further improved.
  • an ultraviolet light emitted from the irradiation device 150 is uniformly irradiated to the ultraviolet curable resin by installing a non-reflective film in the vicinity of the ultraviolet irradiation surface. It is desirable.
  • the tactile printer 10 of the present embodiment has the input device 20, the control device 80 (conversion engine 85), the dispenser 40, and the moving mechanism 70 as main components, and the device configuration is extremely simple. is there. Further, the dispenser 40 used in the tactile printer 10 includes a uniaxial eccentric screw pump mechanism, and the apparatus configuration is extremely simple. Therefore, the tactile printer 10 has a simple and compact apparatus configuration and can easily perform maintenance such as cleaning.
  • the uniaxial eccentric screw pump employed as the dispenser 40 in the tactile printer 10 described above can arbitrarily and accurately adjust the discharge amount of the curable liquid to the workpiece W by adjusting the rotation amount of the rotor 42. Therefore, according to the tactile printer 10, the size of the braille or the dotted diagram formed on the workpiece W can be freely changed.
  • each plot P in Braille It is desirable to form each plot P in Braille. That is, as shown in FIG. 7A, generally used braille forms a convex portion in a predetermined plot region ⁇ selected from a total of six plot regions ⁇ of 3 vertical points ⁇ 2 horizontal points. It is expressed by.
  • a rectangular area including a six-point plot area ⁇ is assumed to be a braille area X for one character, as shown in FIG.
  • the spacing between the plot areas ⁇ and ⁇ formed between them is the space a
  • the spacing between the adjacent plot areas ⁇ and ⁇ in the Braille area X is the distance between the dots b
  • line spacing c the diameter of each plot region ⁇ is desirably about 2/3 of the point b. Therefore, when the plot P that forms the Braille is formed by the tactile printer 10, it is desirable to control the operation so that the size of the plot P formed in the plot region ⁇ is about 2/3 of the point b. .
  • the relationship between the square a and the line c has a great influence on the braille identification efficiency, and the ratio ⁇ (a / b) obtained by dividing the square a by the dot b is 1.5-1.
  • the ratio ⁇ (a / b) obtained by dividing the square a by the dot b is 1.5-1.
  • a person skilled in braille identification can exhibit a certain degree of identification efficiency even if the ratio ⁇ is a value close to 1.5.
  • the ratio ⁇ is 1.8. Higher identification efficiency is obtained when the value is closer to. Therefore, when forming the plot P that forms Braille, it is desirable to control the operation of the tactile printer 10 so that the ratio ⁇ is 1.5 to 1.8. It is also desirable that the ratio ⁇ can be arbitrarily changed according to the difference in the braille identification ability.
  • the central portion Pc has a gently curved shape as shown in FIG.
  • the height tp at the center of the plot P is most preferably in the range of 0.3 [mm] to 0.5 [mm]. If the height tp is higher than 0.5 [mm], the stimulus given to the reader of the braille or braille diagram is large, and if it is less than 0.3 [mm], it is assumed that the plot P is difficult to recognize. It is.
  • the diameter tr of the plot P is preferably about 1.4 [mm] to 1.5 [mm].
  • the diameter t of the central region excluding the central portion of the plot P that is, the sharply rising portion extending from the workpiece surface to the peripheral portion of the plot P, is about 0.6 [mm] to 1.0 [mm].
  • the outer edge portion of the plot P is formed so as to have a radius of about 0.2 [mm].
  • the curing liquid forming each plot P is the surface after curing like a foamed ink material. It is desirable to have moderate unevenness and low frictional resistance. By adjusting the size of the plot P in this way, it becomes possible to form a Braille or a braille diagram that can be comfortably read by a visually impaired person.
  • braille since braille only supports expression in kana notation in principle, it is desirable to write braille by a method called “split writing” in which a blank area (space) is provided for each appropriate segment. Therefore, it is desirable to provide the control unit 84 with a control means, a conversion engine, and the like for controlling the operation so as to provide a blank area at an appropriate position in order to be able to write Braille by an expression method called splitting. . By adopting such a configuration, it becomes possible to form Braille that can be read more easily by a visually impaired person.
  • the tactile printer 10 can cause the dispenser 40 to discharge the curable liquid while moving the dispenser 40 relative to the workpiece W by driving the robot arm 72 that forms the moving mechanism 70. As described above, the operation of the tactile printer 10 is extremely simple and can be easily controlled.
  • the moving mechanism 70 illustrated in this embodiment moves only the dispenser 40 with respect to the workpiece
  • this invention is not limited to this,
  • a workpiece-side drive mechanism that can change the posture and position of the workpiece installation unit 36 may be provided, and thereby the workpiece W and the dispenser 40 may be relatively moved.
  • the work side drive mechanism is provided, the posture or position of the dispenser 40 can be changed by the robot arm 72 or the like, or the posture or position may be changed only on the work W side without the robot arm 72 or the like. .
  • the angle of the dispenser 40 with respect to the workpiece W can be adjusted by a robot arm 72 provided as a moving mechanism 70. Therefore, even if the surface of the workpiece W is curved or the like, it is possible to form a plot P for the workpiece W and draw a braille or a dotted diagram.
  • the mechanism (angle adjustment mechanism) for adjusting the angle of the dispenser 40 with respect to the workpiece W is not limited to the robot arm 72 described above, and may be formed by other devices.
  • the angle adjustment mechanism may be provided on either the dispenser 40 side or the workpiece installation unit 36 side, or may be provided on both sides.
  • the robot arm 72 is not limited to having three degrees of freedom as described above, and may be, for example, one having six degrees of freedom.
  • the tactile printer 10 of this embodiment is provided with a keyboard 22, an image input device 24, and a voice input device 26 as the input device 20, but the present invention is not limited to this, and among these, It may be a thing which is not provided with a part of. Further, in the case where either one or both of the image input device 24 and the sound input device 26 are not provided, the configuration (the sound processing unit 88 and the image processing unit 90) provided corresponding to these in the control device 80 is omitted. Is possible. Further, the input device 20 may be provided with another device in addition to or instead of the keyboard 22 or the like.
  • the tactile printer 10 of the present embodiment exemplifies a configuration including the print output unit 34 as the output device 30, but the present invention is not limited to this and does not include the print output unit 34. May be.
  • the print control unit 94 in the control device 80 can be omitted.
  • the tactile printer 10 is used mainly for printing Braille on the workpiece W as a three-dimensional sign that can be visually recognized by a visually impaired person.
  • the present invention is not limited, and it is also possible to use characters, figures, symbols, or combinations thereof as a three-dimensional mark on the workpiece W.
  • the curable liquid forming the three-dimensional sign is colored. By doing so, a so-called “weakly sighted person” having residual vision can easily determine the presence of a three-dimensional sign.
  • the tactile printer 10 it is also possible to form the three-dimensional image by the tactile printer 10 as a three-dimensional image such as a so-called relief in which a three-dimensional shape such as a human face is embossed.
  • a three-dimensional map or the like that is three-dimensionalized by the tactile printer 10 can also be formed as a three-dimensional sign. As a result, the visually impaired can easily grasp not only the planar shape but also the three-dimensional shape.
  • FIG. 8 As an example of a dot diagram that can be created by the tactile printer 10, the one shown in FIG. 8 or FIG. 10 can be exemplified. Specifically, as shown in FIG. 8, a map in which contour lines are expressed by plots, an explanatory diagram in which abacus beads and the like are expressed using plots as shown in FIG. 10 (a), and as shown in FIG. 10 (b). It is possible to represent simple graphs, picture books, and the like by using a tactile printer 10 as a dot diagram. Further, according to the tactile printer 10, as shown in the map of FIG. 8, it is possible to distinguish the two by making the diameter different between the plot that forms the outer contour (coast line) and the plot that forms the prefectural border. be able to.
  • the tactile printer 10 can form a three-dimensional sign by applying a curable liquid not only in braille or in a diagram but also in a linear or planar shape. Specifically, instead of a plot having an outer contour (coastal line) in the map created as the point map shown in FIG. 8, a configuration in which the curable liquid is applied in a series of lines as shown in FIG. It is also possible. Also in this case, according to the tactile printer 10, the prefectural border can be displayed by plotting or the like so that it can be identified. Moreover, according to the geodetic printer 10, what is called a three-dimensional map can also be created by apply
  • the tactile printer 10 is not limited to the use for creating Braille or a diagram for visually impaired persons, but can be used in various fields. Specifically, as a so-called three-dimensional sign for preventing human error, it is possible to use a sign that can perceive the kind of an object by tactile sensation to be attached to various bottles or containers. More specifically, for example, the tactile printer 10 can be used for the purpose of forming a three-dimensional mark for discriminating a bottle containing shampoo, rinse, treatment or the like.
  • the tactile printer 10 described above is not limited to a so-called stationary type, but may be a so-called portable type that can be transported to a construction site and used.
  • the tactile printer 10 is a portable type
  • the configuration of the moving mechanism 70 or the like constituting the tactile printer 10 is changed to an appropriate one or other convenience is improved in order to improve the convenience of use at the construction site. It is preferable to add a configuration.
  • the tactile printer 10 can be attached to the wall surface.
  • the convenience of the tactile printer 10 can be further improved by additionally providing an attachment device or changing the moving mechanism 70 to one that can move substantially parallel to the wall surface. .
  • the moving mechanism 70 constituting the tactile printer 10 is replaced with a moving mechanism 70 that moves the dispenser 40 three-dimensionally, such as the robot arm 72 described above.
  • a moving mechanism 70 that moves the dispenser 40 three-dimensionally, such as the robot arm 72 described above.
  • the table 172 such as a linear motion guide device (XY linear guide) capable of moving the dispenser 40 two-dimensionally along a certain wall surface or the like, or the dispenser 40 in a direction approaching or separating from the wall surface or the like.
  • a dispenser 40 is mounted on the table 172.
  • a support member 174 is provided for supporting the table 172 in a state parallel to the wall surface or the like that is a construction target.
  • the suction unit 178 includes a conventionally known suction cup and a pressure reducing device capable of bringing the space formed between the suction cup and another member such as a wall surface to be attached to the suction cup into a reduced pressure state or a vacuum state. Can be configured.
  • the suction portion 178 of the support member 174 is attracted to the wall surface of an existing building or apartment house, and the moving mechanism such as the table 172 is operated. While discharging the curable liquid from the dispenser 40, braille or the like can be formed.
  • the tactile printer 10 can be a so-called portable type, and the application of the tactile printer 10 can be expanded and the convenience can be improved.
  • the tactile printer of the present invention can be suitably used not only for business use but also for home use.
  • the tactile printer of the present invention provides a blind person such as a book to Braille or a diagram, and provides it to a blind person, as well as a letter or e-mail.
  • Documents used for interactive exchange can be provided easily and quickly in Braille or a diagram.
  • the work is a three-dimensional structure, it can be used for writing Braille or a diagram on an article as if writing a character using a writing instrument such as a pen.
  • Appropriate selection of a workpiece and a curable liquid as objects to be shown in braille or a diagram can be applied to various usage methods such as a usage method such as a message board.
  • a usage method such as a message board.

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Printers Characterized By Their Purpose (AREA)

Abstract

[Problème] L'objectif de la présente invention est de produire une imprimante tactile qui a une configuration et un fonctionnement simples et qui permet la sélection d'une large gamme de liquides durcissables et des pièces à usiner sur lequel un tracé de ces lettres en Braille ou un graphique tactile doit être formé. [Solution] Cette imprimante tactile (10) est pourvue d'un dispositif d'entrée (20), d'un distributeur (40) qui fonctionne comme un mécanisme de déplacement (70) et un dispositif de commande (80) pour effectuer la commande de fonctionnement. Le dispositif de commande (80) est pourvu d'un dispositif de conversion (85) qui convertit des informations de caractère ou des informations graphiques qui ont été entrées par le dispositif d'entrée (20) dans un motif de formation pour un tracé (P) de lettrage en Braille ou un graphique tactile. L'imprimante tactile transfère des mots (10) entrés par l'entremise du dispositif d'entrée (20) au traitement de conversion dans le moteur de conversion (85) et amène le distributeur (40) et le bras de robot (72) pour fonctionner sur la base des résultats de conversion de celui-ci, permettant aux lettres de Braille ou un graphique tactile à être représentés sur la pièce à usiner (W).
PCT/JP2013/058267 2012-03-26 2013-03-22 Imprimante tactile WO2013146581A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012-069573 2012-03-26
JP2012069573A JP2013199079A (ja) 2012-03-26 2012-03-26 触知プリンター

Publications (1)

Publication Number Publication Date
WO2013146581A1 true WO2013146581A1 (fr) 2013-10-03

Family

ID=49259836

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/058267 WO2013146581A1 (fr) 2012-03-26 2013-03-22 Imprimante tactile

Country Status (2)

Country Link
JP (1) JP2013199079A (fr)
WO (1) WO2013146581A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109985769A (zh) * 2017-12-29 2019-07-09 奥动新能源汽车科技有限公司 机器人涂胶系统及涂胶方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018207313A1 (fr) * 2017-05-11 2018-11-15 株式会社Ｆｕｊｉ Dispositif de traitement d'informations, dispositif associé au montage en trois dimensions, système de montage et procédé de traitement d'informations
CN112562463B (zh) * 2020-11-30 2022-07-29 贵州电网有限责任公司 一种电力实训用的维修和带电操作平台

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60142078A (ja) * 1983-12-28 1985-07-27 Heishin Sobi Kk 一軸偏心ねじポンプ
JPH01210079A (ja) * 1988-02-18 1989-08-23 Sanyo Electric Co Ltd 高粘性物質塗布方法
JPH05330151A (ja) * 1992-05-28 1993-12-14 Hitachi Ltd 点字プリンタ、点字記録方法および点字変換装置
JPH0691946A (ja) * 1992-09-16 1994-04-05 Matsushita Electric Ind Co Ltd 印字装置と印字シート
JPH08126860A (ja) * 1994-10-31 1996-05-21 Sanyo Electric Co Ltd 線引き塗布方法及び装置
JPH08174915A (ja) * 1994-12-27 1996-07-09 I T W Dynamic Kk 点字印字方法
WO1996040559A2 (fr) * 1995-06-07 1996-12-19 B & H Manufacturing Co., Inc. Machine d'etiquetage geree par ordinateur
JPH09319295A (ja) * 1996-05-28 1997-12-12 Puroka Corp:Kk 点字表示板作成方法および装置
JPH11301033A (ja) * 1998-04-17 1999-11-02 Kobayashi Kirokushi Co Ltd 点字、墨字出力方法および装置
JP2000148001A (ja) * 1998-11-11 2000-05-26 Three Bond Co Ltd 点字形成装置
JP2003034333A (ja) * 2001-07-25 2003-02-04 Mitsubishi Materials Corp ボトル型金属容器
EP1537917A2 (fr) * 2003-12-01 2005-06-08 Lockheed Martin Corporation Effecteur d'extrémité miniature de distribution de fluide dans des zones difficilement accessibles
JP2009113033A (ja) * 2007-10-17 2009-05-28 Hitachi Chem Co Ltd 三次元形状樹脂成形品に回路を形成する回路形成装置
WO2010096982A1 (fr) * 2009-02-25 2010-09-02 中国科学院电工研究所 Dispositif d'impression en braille du type à trempage de colle
WO2010113410A1 (fr) * 2009-03-31 2010-10-07 兵神装備株式会社 Mécanisme d'entraînement de rotor et dispositif de pompe équipé dudit mécanisme

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS552010A (en) * 1978-06-21 1980-01-09 Hitachi Seiko Kk Twoodimensional positioning method using cross shaped wire
JPH05134721A (ja) * 1991-11-12 1993-06-01 Mutoh Ind Ltd Ｘｙ同期調整方式

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60142078A (ja) * 1983-12-28 1985-07-27 Heishin Sobi Kk 一軸偏心ねじポンプ
JPH01210079A (ja) * 1988-02-18 1989-08-23 Sanyo Electric Co Ltd 高粘性物質塗布方法
JPH05330151A (ja) * 1992-05-28 1993-12-14 Hitachi Ltd 点字プリンタ、点字記録方法および点字変換装置
JPH0691946A (ja) * 1992-09-16 1994-04-05 Matsushita Electric Ind Co Ltd 印字装置と印字シート
JPH08126860A (ja) * 1994-10-31 1996-05-21 Sanyo Electric Co Ltd 線引き塗布方法及び装置
JPH08174915A (ja) * 1994-12-27 1996-07-09 I T W Dynamic Kk 点字印字方法
WO1996040559A2 (fr) * 1995-06-07 1996-12-19 B & H Manufacturing Co., Inc. Machine d'etiquetage geree par ordinateur
JPH09319295A (ja) * 1996-05-28 1997-12-12 Puroka Corp:Kk 点字表示板作成方法および装置
JPH11301033A (ja) * 1998-04-17 1999-11-02 Kobayashi Kirokushi Co Ltd 点字、墨字出力方法および装置
JP2000148001A (ja) * 1998-11-11 2000-05-26 Three Bond Co Ltd 点字形成装置
JP2003034333A (ja) * 2001-07-25 2003-02-04 Mitsubishi Materials Corp ボトル型金属容器
EP1537917A2 (fr) * 2003-12-01 2005-06-08 Lockheed Martin Corporation Effecteur d'extrémité miniature de distribution de fluide dans des zones difficilement accessibles
JP2009113033A (ja) * 2007-10-17 2009-05-28 Hitachi Chem Co Ltd 三次元形状樹脂成形品に回路を形成する回路形成装置
WO2010096982A1 (fr) * 2009-02-25 2010-09-02 中国科学院电工研究所 Dispositif d'impression en braille du type à trempage de colle
WO2010113410A1 (fr) * 2009-03-31 2010-10-07 兵神装備株式会社 Mécanisme d'entraînement de rotor et dispositif de pompe équipé dudit mécanisme

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109985769A (zh) * 2017-12-29 2019-07-09 奥动新能源汽车科技有限公司 机器人涂胶系统及涂胶方法

Also Published As

Publication number Publication date
JP2013199079A (ja) 2013-10-03

Similar Documents

Publication Publication Date Title
Götzelmann Visually augmented audio-tactile graphics for visually impaired people
Plimmer et al. Multimodal collaborative handwriting training for visually-impaired people
Brown et al. VizTouch: automatically generated tactile visualizations of coordinate spaces
WO2013146581A1 (fr) Imprimante tactile
CN102364426A (zh) 一种具有自学功能的绘画书写方法
KR20070047195A (ko) 상호작용 장치 및 방법
JP2011238198A5 (ja) 手書き入力ボードを用いた手書き入力システム、手書き入力ボード、スキャナーペンおよび手書き入力ボードを用いた情報処理システム
KR102428704B1 (ko) 핸드라이팅된 다이어그램 커넥터들의 인식을 위한 시스템 및 방법
WO2016135358A1 (fr) Dispositif de traçage et de peinture de dessins en relief pour les aveugles et les personnes ayant une motricité manuelle difficile
US20210162790A1 (en) Mechanical handwriting apparatus and method of use thereof
Chowdhury et al. An intuitive approach to innovate a low cost Braille embosser
CN202134126U (zh) 一种儿童影音绘画书写板
Kurtenbach Pen-based computing
CN110920268B (zh) 一种盲文刻印方法及其系统
WO2006016427A1 (fr) Procédé et dispositif d’affichage de caractère pour l’interprétation par le sens tactile
US11538354B2 (en) Reading teaching aid
CN107085485A (zh) 适用于课堂教学的智能触摸电子白板
Shubhom et al. BRAPTER: Compact braille transput communicator
JP2013016079A (ja) コンピュータ装置及びプログラム、並びにノート
US20160334889A1 (en) Electronic board system and method of controlling the same
US20170098382A1 (en) System and Method for Handwriting Instruction and Remediation
KR20020040697A (ko) 문자학습기 및 그를 이용한 문자학습방법
CN201535953U (zh) 多功能黑板
Neman et al. Automatic Writing Machine
JP3221434U (ja) 学習用付箋

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13770315

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13770315

Country of ref document: EP

Kind code of ref document: A1