WO2019181985A1 - Main électrique et procédé pour saisir un objet cible - Google Patents

Main électrique et procédé pour saisir un objet cible Download PDF

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Publication number
WO2019181985A1
WO2019181985A1 PCT/JP2019/011595 JP2019011595W WO2019181985A1 WO 2019181985 A1 WO2019181985 A1 WO 2019181985A1 JP 2019011595 W JP2019011595 W JP 2019011595W WO 2019181985 A1 WO2019181985 A1 WO 2019181985A1
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WO
WIPO (PCT)
Prior art keywords
target object
motion
translational
members
rotary motor
Prior art date
Application number
PCT/JP2019/011595
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English (en)
Japanese (ja)
Inventor
富高 五反田
浩二 松島
Original Assignee
第一精工株式会社
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 第一精工株式会社 filed Critical 第一精工株式会社
Priority to CN201980021248.7A priority Critical patent/CN111902247A/zh
Publication of WO2019181985A1 publication Critical patent/WO2019181985A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to an electric hand and a method of gripping a target object.
  • An electric hand that holds a target object (work) by opening and closing two fingers with an electric motor is disclosed (for example, see Patent Document 1).
  • This electric hand has a configuration in which an electric motor, a screw shaft, a nut, a pair of swing arms, and a pair of fingers (gripping portions) are connected in this order.
  • the nut fitted to the screw shaft that is rotationally driven by the electric motor reciprocates in the axial direction of the screw shaft, the pair of swing arms swings, and the pair of fingers approach each other to grip the target object.
  • the electric hand disclosed in Patent Document 1 incorporates a complicated mechanism such as a link mechanism including a screw shaft, a nut, a pair of swing arms, and a pair of fingers as a mechanism for gripping a target object. ing. If a complicated mechanism as described above is interposed between the electric hand and the finger that grips the target object, the output torque of the electric motor is consumed for the operation of the complicated mechanism, and the torque of the electric motor is lost. It becomes difficult to convey to the finger without. Further, the relationship between the output torque and the gripping force of the electric hand greatly depends on the state of the mechanism.
  • the present invention has been made in view of the above circumstances, and an object thereof is to provide an electric hand capable of gripping a target object with an appropriate gripping force and a target object gripping method.
  • an electric hand provides: A rotary motor; A rotary motion member coupled to a rotor of the rotary motor; A plurality of translational motion members that grip a target object by translationally moving in a tangential direction of the circumference around the rotation axis of the rotational motion member as the rotational motion member rotates.
  • a guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object.
  • the plurality of translational members are Centered on the rotation axis of the rotary motion member, it is arranged rotationally symmetrically, It is good as well.
  • the guide portion is provided with a linear motion rail, In the plurality of translational movement members, A block guided by the linear motion rail; A claw portion that approaches or moves away from the target object by translational motion; Are provided, It is good as well.
  • the same linear motion rail guides the two blocks; It is good as well.
  • the rotary motion member is provided with a pinion gear at an end portion to which the rotor of the rotary motor is not connected,
  • the translational movement member is provided with a rack gear that meshes with the pinion gear. It is good as well.
  • a target object gripping method includes: Drive the rotor of the rotary motor to rotate the rotary motion member, Along with the rotation of the rotational motion member, a plurality of translational motion members are translated in the tangential direction of the circumference around the rotation axis of the rotational motion member, and the target object is gripped, A guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object.
  • a torque sensor provided between the stator of the rotary motor and only the torque that is linearly related to the reaction force of the gripping force that the plurality of translational members grip the target object, Based on the detected torque, the target object is gripped by the plurality of translational members while adjusting the rotation of the rotary motor.
  • the rotor of the rotary motor and the rotary motion member are connected, and the target object is held by the plurality of translational motion members that translate in accordance with the rotation of the rotary motion member.
  • the torque sensor detects torque generated between a guide portion that guides the plurality of translational motion members that receive the rotational force of the rotational motion member in the direction of translational motion, and the stator of the rotary motor.
  • the output torque of the rotary motor can be transmitted to the translation member without loss to grip the target object, and the reaction force of the gripping force with which the translation member grips the target object based on the guide unit. Can be detected by a torque sensor. Thereby, a torque corresponding to the gripping force for gripping the target object can be detected, and the gripping force can be accurately controlled based on the torque. As a result, the target object can be gripped with an appropriate gripping force.
  • FIG. 1A It is a side view of the electric hand of FIG. 1A. It is a front view of an electric hand.
  • FIG. 2 is a cross-sectional view taken along line AA of FIG. It is a BB line sectional view of Drawing 1C showing an internal structure of an electric hand.
  • It is a top view which shows the part which the rotational motion member and the translational motion member are engaging.
  • It is a schematic diagram which shows the control system of the electric hand of FIG. It is a schematic diagram which shows the force which arises in a rotational motion member and a translational motion member in the state which is not holding the target object.
  • a part of the electric hand 1 according to the present embodiment is covered with an external cover 2.
  • the stator 11 of the rotary motor 10 is exposed.
  • a pair of grip portions 3 protrudes on the ⁇ z side of the outer cover 2.
  • the pair of gripping units 3 sandwich the target object M and grip it with an appropriate gripping force.
  • the appropriate gripping force is a force that exceeds the product of the coefficient of static friction between the gripping unit 3 and the target object M and the target object M and can hold the target object M without deforming it.
  • the direction in which the grip portion 3 moves is described as the x-axis direction.
  • the electric hand 1 includes a rotary motor 10 which is a driving source and a torque sensor 20 which detects torque. And a guide portion 30 for guiding the grip portion 3 (FIG. 1A) in a gripping direction, a rotational motion member 40 that performs a rotational motion, and a pair of translational motion members 50 that perform a translational motion.
  • the rotary motor 10 includes a stator 11 and a rotor 12.
  • the stator 11 has a rectangular parallelepiped housing, and the rotor 12 is rotatably held therein.
  • casing of the stator 11 does not need to be a rectangular parallelepiped shape.
  • the rotor 12 extends from the stator 11 in the ⁇ z direction. 2 and 3, the rotation axis AX is parallel to the z-axis direction. Electric power is supplied to the rotary motor 10 from the outside.
  • the rotor 12 rotates about the rotation axis AX with respect to the stator 11 with a torque corresponding to the supplied electric power.
  • the end on the + z side of the torque sensor 20 is fixed to the stator 11 of the rotary motor 10 by bolting.
  • the end of the torque sensor 20 on the ⁇ z side is fixed to the base plate 31 constituting the guide portion 30 by bolting.
  • the torque sensor 20 detects a torque around the rotation axis AX generated between the stator 11 of the rotary motor 10 and the guide portion 30 (base plate 31).
  • the torque sensor 20 is provided with a columnar through hole 20a having the rotation axis AX as a central axis.
  • the rotor 12 of the rotary motor 10 is inserted into the through hole 20a in a rotatable state.
  • the guide unit 30 guides the translational movement member 50 (the gripping unit 3 in FIG. 1A) in the translational movement direction, that is, the x-axis direction.
  • the guide part 30 regulates the movement of the translational movement member 50 in directions other than the x-axis direction.
  • the guide unit 30 includes a base plate 31, a housing 32, and a linear motion rail 33.
  • the base plate 31 is a flat plate member made of metal.
  • the base plate 31 is connected to other members (not shown) (for example, a stand fixed to a building or the like) and serves as a substrate for the guide unit 30.
  • the base plate 31 is provided with a cylindrical through hole 31a having the rotation axis AX as a central axis.
  • the base plate 31 is attached to the torque sensor 20 in a state where the through hole 31 a is disposed coaxially with the through hole 20 a of the torque sensor 20. Torque detected by the torque sensor 20 is torque generated in the stator 11 of the rotary motor 10 with the base plate 31 as a reference.
  • the housing 32 is attached to the ⁇ z side surface of the base plate 31.
  • the base plate 31 and the housing 32 form an internal space 32a.
  • the linear motion rail 33 is attached to the surface on the ⁇ z side of the housing 32.
  • the linear motion rail 33 extends in the x-axis direction orthogonal to the rotation axis AX.
  • a groove portion 33a for engaging with and guiding the pair of gripping portions 3 (translational motion members 50) extends in the x-axis direction.
  • the rotary motion member 40 is connected to the rotor 12 of the rotary motor 10.
  • the rotary motion member 40 includes a rotary body 41 and a pinion gear 42 (see FIG. 4).
  • the rotary body 41 is a columnar member made of metal, is connected to the rotor 12 of the rotary motor 10, and extends in the direction of the rotation axis AX.
  • the rotating body 41 enters the internal space 32 a of the housing 32 through the through hole 20 a of the torque sensor 20 and the through hole 31 a of the base plate 31.
  • the housing 32 is provided with a recess 32b around the rotation axis AX, and a bearing 32c is inserted into the recess 32b.
  • the ⁇ z side end of the rotary body 41 is fitted into the bearing 32c.
  • the rotating body 41 rotates around the rotation axis AX in accordance with the rotation of the rotor 12.
  • the pinion gear 42 is provided at the end of the rotary motor 10 where the rotor 12 is not fixed, that is, at the end of the rotary motion member 40 (rotary body 41) that enters the internal space 32a of the housing 32.
  • the pinion gear 42 is a circular gear that rotates about the rotation axis AX. Therefore, when the rotor 12 of the rotary motor 10 rotates, the rotary body 41 rotates and the pinion gear 42 rotates.
  • the pair of translational members 50 correspond to the pair of gripping portions 3 in FIG. As shown in FIG. 4, the translational motion member 50 is arranged in two-fold rotational symmetry about the rotational axis AX of the rotational motion member 40. The translation member 50 translates in the tangential direction of the circumference (virtual arc C in FIG. 4) around the rotation axis AX of the rotation member 40 as the rotation member 40 rotates.
  • the translational movement member 50 includes a translation main body 51, a rack gear 52, a block 53, and a claw portion 54, respectively.
  • the translation body 51 is the body of the translation member 50 that performs translation in the x-axis direction. As shown in FIG. 3, through holes 32 d are provided on both sides of the linear motion rail 33 in the housing 32 in the y-axis direction. The translation main body 51 protrudes from the internal space 32a of the housing 32 in the ⁇ z direction through the through hole 32d.
  • the through-hole 32d has the x-axis direction as the longitudinal direction so as not to prevent the translation body 51 from moving in the x-axis direction.
  • the translation main body 51 extends in the x-axis direction in the internal space 32a of the housing 32 as shown in FIG. 4, and the ⁇ z direction as shown in FIG. And is projected to the outside of the housing 32 through the through hole 32d.
  • the end portion that protrudes to the outside of the housing 32 is a flat plate-like member that is parallel to the xy plane.
  • the rack gear 52 is attached to a portion extending in the x-axis direction in the internal space 32 a of the housing 32 of the translation main body 51. It has been.
  • the rack gear 52 meshes with the pinion gear 42 and causes the translation main body 51 to translate in the x-axis direction by the rotation of the pinion gear 42. More specifically, when the pinion gear 42 rotates, the pair of rack gears 52 are driven in opposite directions, and the pair of translation bodies 51 approach or separate from each other.
  • the block 53 is connected to the surface on the + z side of the flat plate-like portion projecting outside the housing 32 of the translation main body 51. Further, as shown in FIG. 3, the block 53 is fitted in the groove 33 a of the linear motion rail 33 and is coupled to the linear motion rail 33 of the guide portion 30 so as to be slidable in the x-axis direction. The block 53 is guided by the linear motion rail 33 in the x-axis direction. When the translation body 51 translates in the x-axis direction, the block 53 also translates in the x-axis direction guided by the linear motion rail 33. In the present embodiment, the same linear motion rail 33 guides the two blocks 53.
  • the claw portion 54 is provided at the lower end of the translation main body 51.
  • the claw portion 54 is disposed so as to face the other claw portion 54 in the x-axis direction.
  • the rotary motor 10 is a stepping motor.
  • the control device 60 When gripping the target object M, the control device 60 outputs a pulse command to the drive device 70 while monitoring the sensor detection value of the torque sensor 20.
  • the driving device 70 drives the rotary motor 10 in accordance with the input pulse command.
  • the rotary motion member 40 (pinion gear 42) rotates.
  • the pair of translational motion members 50 (rack gears 52) receive a force F1 from the rotary motion member 40 (pinion gear 42), and the circumference around the rotational axis of the rotary motion member 40
  • the tangential direction of (virtual arc C in FIG. 4) is translated.
  • the translation member 50 moves in a direction approaching each other.
  • the translational member 50 when there is no target object M between the claw portions 54 of the pair of translational members 50, the translational member 50 performs a translational motion without receiving a reaction force from the target object M.
  • the torque sensor 20 detects torque generated between the guide unit 30 and the stator 11 of the rotary motor 10.
  • the rotational movement member 40 receives the reaction force F ⁇ b> 1 ′ from the translational movement member 50.
  • the torque detected by the torque sensor 20 is a counter-torque T1 'of the torque T1 that drives the rotor 12, the rotary motion member 40, and the translational motion member 50 by the stator 11 of the rotary motor 10.
  • the pair of claws 54 when the pair of claws 54 contacts the target object M, the pair of claws 54 receives a reaction force F2 ′ from the target object M, and the gripping force is F2 larger than the force F1. (F2> F1).
  • the reaction force F2 ′ is transmitted from the translational motion member 50 to the rotational motion member 40, and the rotational motion member 40 is the rotor of the rotary motor 10. 12 receives a torque T ⁇ b> 2 ′ opposite to the rotational direction of 12 from the translation member 50.
  • the torque T2 ′ opposite to the torque T received by the rotary motion member 40 due to the reaction force F2 ′ is applied to the rotary motor 10 via the rotary motion member 40 and the rotor 12 of the rotary motor 10. It is transmitted to the stator 11.
  • the base plate 31 of the guide part 30 is fixed to an external member (not shown), and its position and posture are constant. For this reason, torque T2 'is generated between the stator 11 of the rotary motor 10 and the guide portion 30 (base plate 31).
  • the torque sensor 20 detects this torque T2 '.
  • the torque T2 'detected by the torque sensor 20 is due to the reaction force F2' of the gripping force for gripping the target object M.
  • the torque detection value of the torque sensor 20 is T1'
  • the torque detection value of the torque sensor 20 is T2'.
  • the control device 60 stops the rotation of the rotary motor 10 via the drive device 70 when the torque detected by the torque sensor 20 reaches T2 ′. Thereby, the pair of gripping units 3 grips the target object M while maintaining the gripping force F2.
  • this electric hand 1 it is possible to detect the torque having a linear relationship with the gripping force of the target object M, control the torque, and appropriately adjust the gripping force.
  • the gripping force for gripping the target object M without crushing is F2 or more. Therefore, the target object M can be gripped without being crushed.
  • the control device 60 may perform feedback control when gripping the target object M.
  • the control device 60 performs feedback control using the gripping force F ⁇ b> 2 as a target value while monitoring the sensor detection value of the torque sensor 20, and outputs a pulse command to the drive device 70.
  • the drive device 70 supplies drive power to the rotary motor 10 based on the pulse command.
  • the rotary motor 10 rotates the rotor 12 and the rotary motion member 40 with the supplied driving power. As a result, the pair of translational members 50 translate, and the pair of claws 54 move in a direction approaching each other.
  • the torque sensor 20 detects the torque T2 'due to the reaction force F2' of the gripping force F2.
  • the control device 60 monitors the sensor detection value of the torque sensor 20 and gives a pulse command to the driving device 70 such that the gripping force becomes F2, that is, the sensor detection value of the torque sensor 20 is maintained at T2 ′.
  • the drive device 70 drives the rotary motor 10 to rotate. Thereby, even if the target object M is soft and easily crushed, the target object M can be gripped with a gripping force F2 that does not collapse.
  • the rotor 12 of the rotary motor 10 and the rotary motion member 40 are coupled, and a plurality of translational motion members that translate as the rotary motion member 40 rotates. 50, the target object M is gripped.
  • the torque sensor 20 detects torque generated between the guide portion 30 that guides the plurality of translational motion members 50 that receive the rotational force of the rotational motion member 40 in the direction of translational motion and the stator 11 of the rotary motor 10. To do.
  • a reaction force F2 ′ of the gripping force F2 is applied from the target object M to the translational motion member 50, and the rotational motion member 40, the rotor 12 of the rotary motor 10, and the fixed state. It is transmitted to child 11.
  • the reaction force F ⁇ b> 2 ′ is detected by the torque sensor 20 as torque T ⁇ b> 2 ′ generated between the stator 11 of the rotary motor 10 and the guide portion 30.
  • the output torque of the rotary motor 10 can be transmitted to the translational motion member 50 without loss to grip the target object M, and the translational motion member 50 grips the target object M with reference to the guide unit 30. Only the torque T2 ′ having a linear relationship with the reaction force F2 ′ of the gripping force F2 to be detected can be detected. As a result, the gripping force for gripping the target object M can be detected, and the gripping force can be accurately controlled based on the torque T2 '. As a result, the target object M can be gripped with an appropriate gripping force.
  • the gripping force can be maintained at a value that does not crush the target object M.
  • the target object M can be gripped without being deformed.
  • the translational motion member 50 is arranged in two-fold rotational symmetry about the rotational axis AX of the rotational motion member 40, but the present invention is not limited to this.
  • the translational members 50 may be arranged in a three-fold rotational symmetry.
  • the target object M is gripped by the three claw portions 54.
  • the translational members 50 can also be arranged with four-fold rotational symmetry or more.
  • the two blocks 53 are slidable on one linear motion rail 33. Thereby, since it becomes unnecessary to provide the linear motion rail 33 for every block 53, the electric hand 1 can be reduced in size.
  • linear motion rails 33 may be provided, and one block 53 may be slidably attached to each linear motion rail 33.
  • FIG. 9A when the three translational motion members 50 are arranged rotationally symmetrically three times, the translational motion members 50 are provided with linear motion rails 33, respectively.
  • the rotational motion member 40 is provided with the pinion gear 42
  • the translational motion member 50 is provided with the rack gear 52
  • the rotational motion of the rotor 12 of the rotary motor 10 is translated. Converted to movement.
  • the present invention is not limited to this.
  • the grip portion 3 may be driven by a cam system such as a groove cam or a yoke cam.
  • the electric hand 1 is configured with a simpler mechanism that converts the rotational movement of the rotational force of the rotary motor into a linear movement that grips the target object M in one step.
  • the rotary motor 10 may be an induction motor or a synchronous motor. Further, the rotary motor 10 may be an AC motor or a DC motor. Further, the rotary motor 10 may be a single-phase motor or a three-phase motor. In the above embodiment, since the rotary motor 10 is a stepping motor, the command output to the rotary motor 10 is a pulse command. However, the command applied to the rotary motor 10 is a voltage command, a current command, or the like. Depending on the type of
  • the base plate 31, the housing 32, and the linear motion rail 33 may be configured as an integral member.
  • the present invention can be applied to an electric hand, and in particular, can be applied to an electric hand that grips a soft target object.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Telephone Function (AREA)

Abstract

L'invention concerne une main électrique (1), laquelle main comprend : un moteur rotatif (10) ; un élément de mouvement rotatif (40) ; une pluralité d'éléments de mouvement de translation (50) ; une partie de guidage (30) ; et un capteur de couple (20). L'élément de mouvement rotatif (40) est relié à un rotor (12) du moteur rotatif (10). Les éléments de mouvement de translation (50) se déplacent en translation dans une direction tangentielle d'une périphérie centrée sur un axe de rotation (AX) de l'élément de mouvement rotatif (40), accompagnant la rotation de l'élément de mouvement rotatif (40). La partie de guidage (30) guide la pluralité d'éléments de mouvement de translation (50) dans les directions de leurs mouvements de translation. Le capteur de couple (20) détecte un couple qui se produit entre la partie de guidage (30) et le rotor (11) du moteur rotatif (10).
PCT/JP2019/011595 2018-03-23 2019-03-19 Main électrique et procédé pour saisir un objet cible WO2019181985A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201980021248.7A CN111902247A (zh) 2018-03-23 2019-03-19 电动机械手及对象物体的把持方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-055665 2018-03-23
JP2018055665A JP6481791B1 (ja) 2018-03-23 2018-03-23 電動ハンド及び対象物体の把持方法

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WO2019181985A1 true WO2019181985A1 (fr) 2019-09-26

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PCT/JP2019/011595 WO2019181985A1 (fr) 2018-03-23 2019-03-19 Main électrique et procédé pour saisir un objet cible

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JP (1) JP6481791B1 (fr)
CN (1) CN111902247A (fr)
TW (1) TWI791798B (fr)
WO (1) WO2019181985A1 (fr)

Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN114800596A (zh) * 2022-04-18 2022-07-29 中国科学院深圳先进技术研究院 夹具及机器手
WO2023201463A1 (fr) * 2022-04-18 2023-10-26 中国科学院深圳先进技术研究院 Pince et bras robotique

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KR102188322B1 (ko) * 2019-10-31 2020-12-11 주식회사 나우테크닉스 로봇팔 그리퍼
CN112025753A (zh) * 2020-09-18 2020-12-04 清华大学 紧凑型夹持末端执行器
KR102594150B1 (ko) * 2021-10-14 2023-10-25 경희대학교 산학협력단 모바일 머니퓰레이터 및 이를 포함하는 서비스 로봇
CN115781713B (zh) * 2022-12-09 2023-05-30 青岛拓普斯智能科技有限公司 一种立柱移栽用机械手

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JPH0315088U (fr) * 1989-06-26 1991-02-15
JP2003083824A (ja) * 2001-09-12 2003-03-19 Kawatetsu Advantech Co Ltd トルク計
JP2009058388A (ja) * 2007-08-31 2009-03-19 Tetsuya Mori トルクセンサ及びトルクセンサ付モータ
JP2015085390A (ja) * 2013-10-28 2015-05-07 株式会社アイエイアイ アクチュエータ装置

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JP3968415B2 (ja) * 2001-11-30 2007-08-29 独立行政法人産業技術総合研究所 把持装置
JP5834478B2 (ja) * 2011-05-10 2015-12-24 セイコーエプソン株式会社 ロボット
KR102067458B1 (ko) * 2011-10-21 2020-01-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 수술 기구 엔드 이펙터용 파지력 제어 방법
JP5543539B2 (ja) * 2012-07-25 2014-07-09 ファナック株式会社 力制御電動ハンド
DE102013110216A1 (de) * 2013-09-17 2015-03-19 gomtec GmbH Endeffektor für ein chirurgisches Instrument und chirurgisches Instrument mit einem Endeffektor

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Publication number Priority date Publication date Assignee Title
JPH0315088U (fr) * 1989-06-26 1991-02-15
JP2003083824A (ja) * 2001-09-12 2003-03-19 Kawatetsu Advantech Co Ltd トルク計
JP2009058388A (ja) * 2007-08-31 2009-03-19 Tetsuya Mori トルクセンサ及びトルクセンサ付モータ
JP2015085390A (ja) * 2013-10-28 2015-05-07 株式会社アイエイアイ アクチュエータ装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114800596A (zh) * 2022-04-18 2022-07-29 中国科学院深圳先进技术研究院 夹具及机器手
CN114800596B (zh) * 2022-04-18 2023-04-11 中国科学院深圳先进技术研究院 夹具及机器手
WO2023201463A1 (fr) * 2022-04-18 2023-10-26 中国科学院深圳先进技术研究院 Pince et bras robotique

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TWI791798B (zh) 2023-02-11
JP2019166596A (ja) 2019-10-03
JP6481791B1 (ja) 2019-03-13
CN111902247A (zh) 2020-11-06
TW201940297A (zh) 2019-10-16

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