AT516316A3 - Hydraulische Schaltung und Maschine mit einer hydraulischen Schaltung - Google Patents
Hydraulische Schaltung und Maschine mit einer hydraulischen SchaltungInfo
- Publication number
- AT516316A3 AT516316A3 ATA50805/2015A AT508052015A AT516316A3 AT 516316 A3 AT516316 A3 AT 516316A3 AT 508052015 A AT508052015 A AT 508052015A AT 516316 A3 AT516316 A3 AT 516316A3
- Authority
- AT
- Austria
- Prior art keywords
- hydraulic circuit
- machine
- control
- hydraulic
- valve control
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
- B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
- B21D24/14—Devices controlling or operating blank holders independently, or in conjunction with dies pneumatically or hydraulically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/16—Control arrangements for fluid-driven presses
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20538—Type of pump constant capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20561—Type of pump reversible
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20569—Type of pump capable of working as pump and motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
- F15B2211/20584—Combinations of pumps with high and low capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/265—Control of multiple pressure sources
- F15B2211/2654—Control of multiple pressure sources one or more pressure sources having priority
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/27—Directional control by means of the pressure source
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/61—Secondary circuits
- F15B2211/613—Feeding circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6653—Pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/765—Control of position or angle of the output member
- F15B2211/7656—Control of position or angle of the output member with continuous position control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/005—With rotary or crank input
- F15B7/006—Rotary pump input
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
- Punching Or Piercing (AREA)
- Control Of Presses (AREA)
- Press Drives And Press Lines (AREA)
Abstract
Bei einer hydraulischen Schaltung zur Steuerung einer hydraulisch angetriebenen Maschine (2) sind eine Verdrängersteuerung (10) und eine Ventilsteuerung (14) fluidisch parallel geschaltet. Die Verdrängersteuerung (10) weist eine Hydromaschine (18) mit zwei Anschlüssen (A1, A2) auf, die mit der Maschine (2) jeweils über einen Strömungspfad (30, 32) zur Bildung eines geschlossenen hydraulischen Kreises verbunden sind. Die Ventilsteuerung (14) ist mit der Maschine (2) in einem offenen hydraulischen Kreis verbunden. Es ist vorgesehen, dass die Verdrängersteuerung (10) den Hauptteil der hydraulischen Antriebsleistung und damit der Fluidmenge erbringt, während die Ventilsteuerung (10) Abweichungen von einer vorgegebenen Druck-, Weg- oder Geschwindigkeits-Regelkurve ausgleicht.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014114149 | 2014-09-29 |
Publications (3)
Publication Number | Publication Date |
---|---|
AT516316A2 AT516316A2 (de) | 2016-04-15 |
AT516316A3 true AT516316A3 (de) | 2016-11-15 |
AT516316B1 AT516316B1 (de) | 2017-11-15 |
Family
ID=55485829
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ATA50805/2015A AT516316B1 (de) | 2014-09-29 | 2015-09-21 | Verfahren zur Steuerung einer hydraulisch angetriebenen Maschine |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6899627B2 (de) |
CN (1) | CN105465066B (de) |
AT (1) | AT516316B1 (de) |
DE (1) | DE102014226236A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105955192B (zh) * | 2016-04-29 | 2022-01-04 | 上海新暴威电子科技有限公司 | 伺服压装机的实时压装监控方法 |
DE102016113294A1 (de) * | 2016-07-19 | 2018-01-25 | Dorst Technologies Gmbh & Co. Kg | Hydraulische Antriebseinrichtung |
US11048281B2 (en) * | 2018-06-12 | 2021-06-29 | Robert Bosch Gmbh | Real-time capable control strategy for hydraulic systems while systematically taking into consideration control (rate) and state variable constraints |
JP7267879B2 (ja) * | 2019-09-06 | 2023-05-02 | 株式会社東芝 | 蒸気タービン弁駆動装置 |
JP7408494B2 (ja) | 2020-06-15 | 2024-01-05 | 株式会社東芝 | 蒸気タービン弁異常監視システム、蒸気タービン弁駆動装置、蒸気タービン弁装置および蒸気タービンプラント |
DE102021205065A1 (de) | 2021-05-19 | 2022-11-24 | Robert Bosch Gesellschaft mit beschränkter Haftung | Ziehkissen und Verfahren zum Steuern desselben |
DE102021121461A1 (de) * | 2021-08-18 | 2023-02-23 | Dorst Technologies Gmbh & Co. Kg | Pulverpresse mit hydraulischem Pressenantrieb |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0673737B2 (ja) * | 1988-09-30 | 1994-09-21 | 宇部興産株式会社 | 加圧鋳造方法および装置 |
JPH1137106A (ja) * | 1997-07-16 | 1999-02-09 | Kayaba Ind Co Ltd | 操作制御回路 |
DE19831624A1 (de) * | 1998-07-15 | 2000-01-20 | Mueller Weingarten Maschf | Hydraulischer Antrieb für eine Presse |
DE29920122U1 (de) * | 1999-11-16 | 2000-03-23 | Trw Fahrwerksyst Gmbh & Co | Elektro-hydraulisches Lenksystem |
JP2005076781A (ja) * | 2003-09-01 | 2005-03-24 | Shin Caterpillar Mitsubishi Ltd | 作業機械の駆動装置 |
US7234298B2 (en) * | 2005-10-06 | 2007-06-26 | Caterpillar Inc | Hybrid hydraulic system and work machine using same |
KR20090014137A (ko) * | 2006-06-02 | 2009-02-06 | 브뤼닝하우스 히드로마틱 게엠베하 | 용적 유동을 균등화하는 유체정역학적 드라이브 |
DE102006045442A1 (de) * | 2006-09-26 | 2008-03-27 | Robert Bosch Gmbh | Hydrostatische Antriebseinheit |
US7775040B2 (en) * | 2006-11-08 | 2010-08-17 | Caterpillar Inc | Bidirectional hydraulic transformer |
JP4844363B2 (ja) * | 2006-11-28 | 2011-12-28 | コベルコ建機株式会社 | 油圧駆動装置及びこれを備えた作業機械 |
US20080155975A1 (en) * | 2006-12-28 | 2008-07-03 | Caterpillar Inc. | Hydraulic system with energy recovery |
DE102009043034A1 (de) * | 2009-09-25 | 2011-03-31 | Robert Bosch Gmbh | Vorgespannter hydraulischer Antrieb mit drehzahlvariabler Pumpe |
DE102010012126A1 (de) * | 2010-03-20 | 2011-09-22 | Robert Bosch Gmbh | Presse mit vorgespanntem Rahmen |
CN201679799U (zh) * | 2010-04-30 | 2010-12-22 | 海特克液压有限公司 | 一种两点电控带压力控制型变量马达 |
BR112013022383A2 (pt) * | 2011-03-21 | 2020-09-29 | Spicer Off-Highway Belgium N.V. | linha de acionamento hidrostático para um veículo e método para minimizar uma taxa de consumo de combustível de um veículo tendo uma linha de acionamento hidrostático |
JP5645236B2 (ja) * | 2011-06-23 | 2014-12-24 | 株式会社ニレコ | 電油ハイブリッド駆動装置 |
DE102012019665A1 (de) | 2012-10-08 | 2014-04-10 | Robert Bosch Gmbh | Hydraulische Steueranordnung und Presse mit einer derartigen Steueranordnung |
JP6023211B2 (ja) * | 2012-11-07 | 2016-11-09 | 日立建機株式会社 | 建設機械の油圧駆動装置 |
WO2014109131A1 (ja) * | 2013-01-08 | 2014-07-17 | 日立建機株式会社 | 作業機械の油圧システム |
DE102013216346A1 (de) * | 2013-06-25 | 2015-01-08 | Robert Bosch Gmbh | Vierkammerzylinder für eine hydraulische Stellvorrichtung mit Notfunktion und hydraulische Stellvorrichtung damit |
CN103362171B (zh) * | 2013-07-29 | 2015-04-29 | 哈尔滨工业大学 | 切换控制的液压混合动力挖掘机液压系统 |
DE102013221410A1 (de) | 2013-10-22 | 2015-04-23 | Robert Bosch Gmbh | Antriebseinheit und schnell laufende Maschine mit einer derartigen Antriebseinheit |
-
2014
- 2014-12-17 DE DE102014226236.4A patent/DE102014226236A1/de active Pending
-
2015
- 2015-09-21 AT ATA50805/2015A patent/AT516316B1/de active
- 2015-09-28 CN CN201510625737.7A patent/CN105465066B/zh active Active
- 2015-09-29 JP JP2015190837A patent/JP6899627B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
DE102014226236A1 (de) | 2016-03-31 |
CN105465066A (zh) | 2016-04-06 |
AT516316B1 (de) | 2017-11-15 |
AT516316A2 (de) | 2016-04-15 |
CN105465066B (zh) | 2019-11-19 |
JP2016070500A (ja) | 2016-05-09 |
JP6899627B2 (ja) | 2021-07-07 |
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