CN104009597A - Winding inserting machine for inserting coil without metal wire twisting into stator - Google Patents
Winding inserting machine for inserting coil without metal wire twisting into stator Download PDFInfo
- Publication number
- CN104009597A CN104009597A CN201410064259.2A CN201410064259A CN104009597A CN 104009597 A CN104009597 A CN 104009597A CN 201410064259 A CN201410064259 A CN 201410064259A CN 104009597 A CN104009597 A CN 104009597A
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- Prior art keywords
- bobbin
- metal wire
- mentioned
- coil
- insertion tool
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/06—Embedding prefabricated windings in machines
- H02K15/062—Windings in slots; salient pole windings
- H02K15/065—Windings consisting of complete sections, e.g. coils, waves
- H02K15/067—Windings consisting of complete sections, e.g. coils, waves inserted in parallel to the axis of the slots or inter-polar channels
- H02K15/068—Strippers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/04—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of windings, prior to mounting into machines
- H02K15/0435—Wound windings
- H02K15/0442—Loop windings
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The invention provides a winding inserting machine which is provided with a plurality of coil racks for keeping coils; a winding machine possessing a coil rack rotary part for rotating the coil rack and utilizing the coil rack winding the coil rack rotary part to wind a plurality of metal lines to form coils; an inserting tool accepting the coil rack with the coil winding the coil rack; an inserting tool rotary part for rotating the inserting tool; and a coil rack work part for closing and separating the coil rack relative to the inserting tool. In addition, the coil rack and the coil winding the coil rack are successively accepted in the inserting tool.
Description
Technical field
The coil that the present invention relates to that coiling metal wire is formed inserts the coiling insertion machine of stator.
Background technology
General coiling insertion machine is used in, and forms coiling (coil) by coiling frame winding cables (metal wire), and, by the slot of the stator of for example motor of position of the coil insertion regulation forming.Be applied with the coil that the motor of large electric current uses, by reeling abreast, multiple metal wires form.In addition, in the stator using at general motor, although the coil of a phase across multiple electrodes assemble, because omitting the object of operation that links metal wire, preferably spread all over multiple electrode roll around continuous metal wire.
At the state of having fixed bobbin, the method that makes flywheel coiling frame form rotatably coil is known.In this case, multiple electrodes can be spreaded all over comparalive ease reel the operation of continuous metal wire.But, using flywheel to form coil in the situation that, due to metal wire of every coiling just produce once turn round stubborn, so if multiple metal wires of reeling abreast produce multiple turn round stubborn.Therefore, it is large that resistance coil be inserted to the slot of stator time becomes, and result becomes and is difficult to assemble highdensity coil.In JP-B-3691222, disclose to arrange and prevented that stubborn the turning round of turning round of this metal wire from twisting anti-locking apparatus.
On the other hand, use by making bobbin rotation form the rotary coiling insertion machine of bobbin of coil.In this case, owing to not producing, turning round of metal wire is stubborn, so be favourable in the purposes that requires high-density coils.
But, in the method that makes bobbin rotation, there is following shortcoming: under the state that is fixed with insertion tool, can not under reservation is arranged on the state of the coil on insertion tool, directly form next coil.In addition, a kind of coil winding machine is disclosed in JP-A-2000-134876 and JP-2006-187132, it is characterized in that, multiple metal wires of reeling on bobbin by the axis rotation around extending along vertical form coil, and make established coil to moving with the fixture of the rotary synchronous rotation of bobbin.But, the coil winding machine that JP-B-3691222, JP-A-2000-134876 and JP-2006-187132 record and even coiling insertion machine, result from structure complexity and make to introduce cost and easily uprise, in addition, for making reliability improve the highly difficult technology that requires.
Summary of the invention
Therefore, expect a kind of coiling insertion machine, can not make metal wire turn round to twist to extend across multiple electrode roll around metal wire, low price and easily operation.
According to the first scheme of the present invention, a kind of coiling insertion machine is provided, possess: multiple bobbins of hold-in winding; Coil winding machine, has the bobbin rotating part that makes above-mentioned bobbin rotation, and forms coil by multiple metal wires of reeling around the above-mentioned bobbin that utilizes this bobbin rotating part rotation; Insertion tool holds above-mentioned bobbin together with the coil of reeling around this bobbin; Insertion tool rotating part, makes above-mentioned insertion tool rotation; And bobbin operate portions, making the approaching and separation with respect to above-mentioned insertion tool of above-mentioned bobbin, above-mentioned bobbin and the coil of reeling around this bobbin, be formed as being contained in turn above-mentioned insertion tool.
According to alternative plan of the present invention, in the coiling insertion machine of the first scheme, above-mentioned multiple bobbins can form mutually removably.
According to third party's case of the present invention, in the coiling insertion machine of the first scheme or alternative plan, above-mentioned insertion tool rotating part is formed as making above-mentioned insertion tool to rotate the angle of regulation at every turn.
According to cubic case of the present invention, to the coiling insertion machine of the arbitrary scheme of third party's case, be contained in the above-mentioned bobbin of above-mentioned insertion tool in the first scheme, can retain the coil of reeling around this bobbin and take off from above-mentioned insertion tool.
According to the 5th scheme of the present invention, in the coiling insertion machine of cubic case, above-mentioned bobbin can take off from above-mentioned insertion tool with the state of being combined with other bobbin.
According to the 6th scheme of the present invention, in the coiling insertion machine of the arbitrary scheme of the first scheme to the five scheme, also possess the portion of metal wire travel mechanism that makes above-mentioned multiple metal wire move to the position that can reel around above-mentioned bobbin, this portion of metal wire travel mechanism also possesses the metal wire cutting portion of cutting off metal wire and the metal wire maintaining part that keeps metal wire.
Object, feature and the advantage of above and other of the present invention, with reference to the detailed description of illustrative execution mode of the present invention shown in the drawings, will become clearer and more definite.
Brief description of the drawings
Fig. 1 is the synoptic diagram that represents the coiling insertion machine of an embodiment of the invention.
Fig. 2 is illustrated in the coiling insertion machine shown in Fig. 1, and bobbin and coil are arranged on the stereogram of the state on insertion tool.
Fig. 3 is the cutaway view that represents the bobbin of an embodiment of the invention.
Fig. 4 is the upward view of the bobbin shown in presentation graphs 3.
Embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described.In order to contribute to understand the present invention, suitably from the modal alteration of practical application the engineer's scale of illustrated execution mode constitutive requirements.
Fig. 1 is the synoptic diagram that represents the coiling insertion machine 10 of an embodiment of the invention.Coiling insertion machine 10 possesses: the bobbin 14 of receiving multiple metal wires 12; Make the metal wire 12 extending from bobbin 14 move to the portion of metal wire travel mechanism 16 of assigned position; Keep multiple bobbins 20 of the coil 18 forming by coiling metal wire 12; The bobbin operate portions 22 that bobbin 20 is moved at above-below direction; Make the bobbin rotating part 24 of bobbin 20 around the axes O rotation of extending along vertical; And hold the insertion tool 26 of the coil 18 that bobbin 20 and coiling frame 20 reel.
Multiple metal wires 12 extend out from bobbin 14, supply with continuously portion of metal wire travel mechanism 16 by guide wheel 28.Portion of metal wire travel mechanism 16 can keep metal wire 12 by for example wire clamp, and has endways the metal wire maintenance cutting portion 16a that can cut off as required metal wire 12.In preparatory process, the mode that is kept cutting portion 16a to keep by the metal wire of metal wire travel mechanism 16 with the front end of metal wire 12 is drawn metal wire 12 from bobbin 14.This preparatory process is for example undertaken by operating personnel's manual working.Metal wire travel mechanism 16 can keep cutting portion 16a to keep, under the state of metal wire 12, the front end of metal wire 12 being moved to bobbin 20 by metal wire.Metal wire travel mechanism 16 for example has the three-dimensional driving mechanism of controlling by control device 30.
The front end that metal wire 12 moves to metal wire 12 by metal wire travel mechanism 16 arrives and can be arranged at the position that the metal wire maintaining part 32 of bobbin 20 keeps.The metal wire maintaining part 32 of bobbin 20 is formed as for example keeping releasedly metal wire 12 by wire clamp.Bobbin 20 is only prepared the number corresponding with the number (in other words, the number of poles of the stator of the coil 18 being made up of continuous metal wire 12 is installed) of the coil 18 being formed by continuous metal wire 12.Therefore,, although figure is shown with 2 bobbins 20 in Fig. 1, also can use 3 above bobbins 20.Bobbin 20 is linked to the output shaft of bobbin rotating part 24 with the state overlapping at above-below direction.
After the front end of metal wire 12 is temporarily kept by the metal wire maintaining part 32 of bobbin 20, discharge the confining force that the metal wire of metal wire travel mechanism 16 keeps cutting portion 16a to produce, and metal wire travel mechanism 16 returns to the initial position (position of Fig. 1) separating from bobbin 20.Then, keeping under the state of one end of metal wire 12 by metal wire maintaining part 32, bobbin 20 rotates around axes O by bobbin rotating part 24, and metal wire 12 coiling framves 20 are reeled and form coil 18 thus.Bobbin rotating part 24 is for example electro-motor.
On a bobbin 20, form after coil 18, for next bobbin 20 metal wire 12 of reeling in an identical manner., keep cutting portion 16a again to keep metal wire 12 by the metal wire of metal wire travel mechanism 16.Then, control metal wire travel mechanism 16, make metal wire 12 move to the position that can keep by the metal wire maintaining part 32 of next bobbin 20 metal wire 12.Now, can make bobbin operate portions 22 work and make bobbin 20 upward or below move.Or, also can only control metal wire travel mechanism 16, next make metal wire 12 move to the bobbin 20 of the metal wire 12 of should reeling.Then under the state, being kept by the metal wire maintaining part 32 of bobbin 20 at metal wire 12, bobbin 20 rotated and form coil 18.By carrying out repeatedly such operation, sequentially form around the bobbin 20 of any amount of preparing the coil 18 being formed by continuous metal wire 12.Like this, if metal wire 12 has been wound on all coils frame 20 of quantity needing, the metal wire of Ze Shi metal wire travel mechanism 16 keeps cutting portion 16a to work to cut off metal wire 12.Metal wire keeps cutting portion 16a also can arrange and keep the metal wire maintaining part of metal wire 12 and cut off the metal wire cutting portion of metal wire 12 in mutual different position.
Bobbin operate portions 22 can possess the mechanism with any known that makes the effect moving down on bobbin 20.Bobbin operate portions 22 is ball screws that the nut 36 that engages by for example thread spindle 34 and with thread spindle 34 forms.In this case, thread spindle 34 is formed as by being for example rotated by belt wheel and the power of being with the reducing gear portion 38 forming to be subject to the first electro-motor 40.Position relationship between the structure of bobbin operate portions 22 and bobbin 20 and insertion tool 26 is not limited to illustrated execution mode, as long as can play the effect that makes bobbin 20 approach and separate with respect to insertion tool 26, can adopt the structure of any known.
Below bobbin 20, be provided with insertion tool 26.On insertion tool 26, the accommodation section with the shape that can hold at least a portion bobbin 20 is vacated predetermined distance at the periphery of insertion tool 26 and is formed.The reducing gear portion 42 that insertion tool 26 is formed as by for example being formed by belt wheel and band is subject to the power of the second electro-motor 44 and is rotated around axes O 1.
Insertion tool 26 is positioned the angle position of regulation as follows with respect to bobbin 20: in the time bobbin 20 being moved by bobbin operate portions 22 downwards, insertion tool 26 can hold bobbin 20 together with coil 18.The second electro-motor 44 is to make accordingly the mode of the each rotation predetermined angular of insertion tool 26 control with the installation site of bobbin 20.Thus, can when insertion tool 26 is rotated, multiple bobbins 20 be installed on to insertion tool 26 in turn.Insertion tool 26 is for having the fixture that coil 18 is installed on the stator of the structure of definite any known according to purposes, can having the structure of any known.
Fig. 2 is illustrated in the stereogram that the state of bobbin 20 and coil 18 is installed in the coiling insertion machine 10 shown in Fig. 1 on insertion tool 26.Bobbin 20 has guide rod 48, the first wound portion 50, the second wound portion 52 and flange 54.Guide rod 48, the first wound portion 50 and the second wound portion 52 are downwards that insertion tool 26 extends from flange 54 respectively.In illustrated example, insertion tool 26 has the profile of general cylindrical shape shape.And, by guide rod 48 is inserted along the inner surface of insertion tool 26, thereby make bobbin 20 be installed on insertion tool 26.In illustrated example, be installed on insertion tool 26 in 2 mutual opposed modes of bobbin 20.Therefore, in this case, a side bobbin 20 is installed on after insertion tool 26, makes on insertion tool 26, to install after insertion tool 26 Rotate 180 degree the opposing party's bobbin 20 by the second electro-motor 44.
Bobbin 20 is by alleviating the tension force of the coil 18 of reeling around this bobbin 20, thereby bobbin 20 taken off in turn from insertion tool 26 coil 18 is retained under the state on insertion tool 26.Its result, after all bobbins 20 are removed, only coil 18 is retained on insertion tool 26.The multiple bobbins 20 that take off from insertion tool 26, can return to metal wire 12 coiling positions before by shirtsleeve operation as described later.
With reference to Fig. 3 and Fig. 4, illustrate in greater detail the structure of the bobbin 20 of embodiments of the present invention.Fig. 3 is the cutaway view that represents the bobbin 20 of an embodiment of the invention.Fig. 4 is the upward view of the bobbin 20 shown in presentation graphs 3.Illustrated bobbin 20, has several for making the constructivity feature of processing ease of bobbin 20.The metal wire maintaining part 32 of bobbin 20 has action bars 56 and the first spring 58.Action bars 56 does not apply under the state of power on action bars 56, does not produce the confining force that keeps metal wire 12 by the active force of the first spring 58.On the other hand, be formed as by push operation bar 56, thereby make to keep the confining force of metal wire 12 to put on metal wire maintaining part 32.By this action bars 56 is set, apply and discharge the confining force that metal wire maintaining part 32 produces thereby can easily control.
In addition, on the sidepiece of the second wound portion 52 of bobbin 20, tension link 60 is installed.As shown in the arrow mark of Fig. 3, move to the first wound portion 50 by being pressed into tension link 60, the second wound portions 52.By the second wound portion 52 is moved to the first wound portion 50, thereby can relax the tension force of the coil 18 that coiling frame 20 be wound around around the first wound portion 50 and the second wound portion 52.Like this, by operation tension link 60, thereby therefore the tension force of regulating winding 18 easily can successfully carry out taking off from insertion tool 26 operation of bobbin 20.In addition, bobbin 20 has the second spring 70 that applies active force between the first wound portion 50 and the second wound portion 52.Thus, tension link 60 is not being applied under the state of pushing force, making distance between the first wound portion 50 and the second wound portion 52 maintain the length of regulation.
Near the first wound portion 50 of bobbin 20 and the end of the second wound portion 52, imbed respectively magnet 62.In addition, the flange 54 of bobbin 20 is formed by magnetic material.Therefore, in the situation that bobbin 20 coincides with the upper and lower, be positioned at the magnet 62 and flange 54 co-operatings of bobbin 20 that are positioned at below of the bobbin 20 of top, between two bobbins 20, produce attraction.By such structure, multiple bobbins 20 easily overlap with state that can dismounting.In addition, also can magnet be set on the top of bobbin 20, replace with magnetic material and form flange 54.
According to the bobbin 20 that possesses such magnet 62, by Line 1 circle frame 20 after insertion tool 26 takes off, can make No. 2 later bobbins 20 with and Line 1 circle frame 20 between the attraction state of being combined under take off from insertion tool 26.Thus, can successfully carry out taking off in turn the operation of bobbin 20 from insertion tool 26.
Have again, be formed with groove 64 at the upper surface of bobbin 20.This groove 64, in the time that bobbin 20 and coil 18 are installed on to insertion tool 26 in turn, uses for separate winding frame 20.Particularly, insert plate to groove 64, to maintain the state of plate, bobbin operate portions 22 is worked and bobbin 20 is moved upward.By such operation, can only 1 bobbin 20 be separated from other bobbin 20.
In addition, form recess 66 at the upper surface of bobbin 20, and form protuberance 68 at lower surface.Recess 66 and protuberance 68 are formed at the position of mutual correspondence.By under these recesses 66 and the chimeric state of protuberance 68, bobbin 20 being overlapped, thereby can easily make bobbin 20 position consistency each other.Contrary with illustrated example, also can form protuberance at the upper surface of bobbin 20, and form recess at lower surface.
According to the coiling insertion machine of above-mentioned execution mode, because employing makes the coil winding machine of the type of bobbin rotation, therefore can not can make metal wire turn round and form coil stubbornly.Do not turn round stubborn coil owing to using, therefore can on stator, assemble highdensity coil, can increase the output of motor or make motor miniaturization.In addition, can multiple bobbins be installed in turn on insertion tool with the simple procedures that does not need highly difficult technology, and be taken off from insertion tool.Therefore, can provide low price and maneuverable coiling insertion machine.
The present invention has following effect.
According to the coiling insertion machine of the present invention that possesses said structure, owing to supplying with in turn multiple bobbins and coiling frame forms by making the rotation of these bobbins coil to insertion tool, the metal wire of reeling continuously so can make metal wire not produce to turn round stubbornly on multiple electrodes.Thus, because the density that can make to pack into the coil in the slot of stator increases, so can the output that makes motor increase or the substantive state that maintains output under make motor miniaturization.
Above, although the description of various execution modes of the present invention and variation, but also can realize by other execution mode and variation the action effect that the present invention will embody, it will be apparent to those skilled in the art that.Especially, can be not exceeding in scope of the present invention the constitutive requirements of cutting down and even replacing above-mentioned execution mode and variation.In addition, by random combine in this specification, express or impliedly the feature of disclosed multiple execution modes also can implement the present invention, it will be apparent to those skilled in the art that.
Claims (6)
1. a coiling insertion machine (10), is characterized in that possessing:
Multiple bobbins (20) of hold-in winding (18);
Coil winding machine, has the bobbin rotating part (24) that makes above-mentioned bobbin (20) rotation, and forms coil (18) by the multiple metal wires (12) of reeling around the above-mentioned bobbin (20) that utilizes this bobbin rotating part (24) rotation;
Insertion tool (26) holds above-mentioned bobbin (20) together with the coil (18) of reeling around this bobbin (20);
Insertion tool rotating part (44), makes above-mentioned insertion tool (26) rotation; And
Bobbin operate portions (22), makes above-mentioned bobbin (20) approaching and separation with respect to above-mentioned insertion tool (26),
Above-mentioned bobbin (20) and the coil (18) of reeling around this bobbin (20), be formed as being contained in turn above-mentioned insertion tool (26).
2. coiling insertion machine according to claim 1 (10), is characterized in that,
Above-mentioned multiple bobbin (20) can form mutually removably.
3. coiling insertion machine according to claim 1 and 2 (10), is characterized in that,
Above-mentioned insertion tool rotating part (44) is formed as making the angle of the each rotation regulation of above-mentioned insertion tool (26).
4. according to the coiling insertion machine (10) described in claims 1 to 3 any one, it is characterized in that,
Be contained in the above-mentioned bobbin (20) of above-mentioned insertion tool (26), can retain the coil of reeling around this bobbin (20) and take off from above-mentioned insertion tool (26) (18).
5. coiling insertion machine according to claim 4 (10), is characterized in that,
Above-mentioned bobbin (20) can be to take off from above-mentioned insertion tool (26) with other the state of bobbin (20) combination.
6. according to the coiling insertion machine (10) described in any one in claim 1 to 5, it is characterized in that,
Also possess the portion of metal wire travel mechanism (16) that makes above-mentioned multiple metal wire (12) move to the position that can reel around above-mentioned bobbin (20), this portion of metal wire travel mechanism (16) also possesses the metal wire cutting portion of cut-out metal wire (12) and keeps the metal wire maintaining part of metal wire (12).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-035978 | 2013-02-26 | ||
| JP2013035978A JP5661831B2 (en) | 2013-02-26 | 2013-02-26 | Winding insertion machine that inserts a coil without kinking of wire into the stator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104009597A true CN104009597A (en) | 2014-08-27 |
| CN104009597B CN104009597B (en) | 2017-07-18 |
Family
ID=51349555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410064259.2A Active CN104009597B (en) | 2013-02-26 | 2014-02-25 | Machine is inserted into the coiling that stubborn coil insertion stator is turned round without metal wire |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5661831B2 (en) |
| CN (1) | CN104009597B (en) |
| DE (1) | DE102014002277A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6009618A (en) * | 1994-12-02 | 2000-01-04 | Matsushita Electric Industrial Co., Ltd. | Apparatus for producing winding of stator coil |
| JP2000134876A (en) * | 1998-10-23 | 2000-05-12 | Odawara Engineering Co Ltd | Coil-winding machine |
| JP2006054967A (en) * | 2004-08-12 | 2006-02-23 | Odawara Engineering Co Ltd | Coil winding method |
| JP2010246236A (en) * | 2009-04-03 | 2010-10-28 | Sanko Kiki Co Ltd | Coil winding method and coil winding device |
| CN201887618U (en) * | 2010-12-28 | 2011-06-29 | 湘潭电机股份有限公司 | Coiling clamp for motor rotor |
| CN102381587A (en) * | 2011-10-11 | 2012-03-21 | 吴国溶 | Winding machine |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5838058B2 (en) * | 1976-05-31 | 1983-08-20 | 三菱電機株式会社 | Coil winding method for stators for rotating electric machines |
| JPS5858893B2 (en) * | 1978-11-02 | 1983-12-27 | 澤藤電機株式会社 | Stator multiple coil manufacturing method and coil forming frame |
| JP3691222B2 (en) | 1997-09-24 | 2005-09-07 | 株式会社小田原エンジニアリング | Wire twisting prevention device for winding machine |
| JP2006187132A (en) | 2004-12-28 | 2006-07-13 | Odawara Engineering Co Ltd | Coil winding machine and method thereof using it |
-
2013
- 2013-02-26 JP JP2013035978A patent/JP5661831B2/en active Active
-
2014
- 2014-02-19 DE DE102014002277.3A patent/DE102014002277A1/en active Pending
- 2014-02-25 CN CN201410064259.2A patent/CN104009597B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6009618A (en) * | 1994-12-02 | 2000-01-04 | Matsushita Electric Industrial Co., Ltd. | Apparatus for producing winding of stator coil |
| JP2000134876A (en) * | 1998-10-23 | 2000-05-12 | Odawara Engineering Co Ltd | Coil-winding machine |
| JP2006054967A (en) * | 2004-08-12 | 2006-02-23 | Odawara Engineering Co Ltd | Coil winding method |
| JP2010246236A (en) * | 2009-04-03 | 2010-10-28 | Sanko Kiki Co Ltd | Coil winding method and coil winding device |
| CN201887618U (en) * | 2010-12-28 | 2011-06-29 | 湘潭电机股份有限公司 | Coiling clamp for motor rotor |
| CN102381587A (en) * | 2011-10-11 | 2012-03-21 | 吴国溶 | Winding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104009597B (en) | 2017-07-18 |
| JP5661831B2 (en) | 2015-01-28 |
| DE102014002277A1 (en) | 2014-08-28 |
| JP2014166065A (en) | 2014-09-08 |
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