In December 1969, the Doraemon manga appeared simultaneously in six different children's monthly magazines. The magazines were titled by the year of children's studies, which included Yoiko (good children), Yōchien (nursery school), and Shogaku Ichinensei (first grade of primary school) to Shogaku Yonnensei (fourth grade of primary school). By 1973, the series began to appear in two more magazines, Shogaku Gonensei (fifth grade of primary school) and Shogaku Rokunensei (sixth grade of primary school). The stories featured in each of the magazines were different, meaning the author was originally creating more than six stories each month. In 1977, CoroCoro Comic was launched as a magazine of Doraemon. Original manga based on the Doraemon movies were also released in CoroCoro Comic. The stories which are preserved under the Tentōmushi brand are the stories found in these magazines.
Since the debut of Doraemon in 1969, the stories have been selectively collected into forty-five books published from 1974
to 1996, which had a circulation of over 80 million in 1992. In addition, Doraemon has appeared in a variety of manga series by Shōgakukan. In 2005, Shōgakukan published a series of five more manga volumes under the title Doraemon+ (Doraemon Plus), which were not found in the forty-five Tentōmushi pipi volumes. Many other series have since been produced, some not from official supplies.