CN106730878B - The hand and human-shaped body of human-shaped body - Google Patents
The hand and human-shaped body of human-shaped body Download PDFInfo
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- CN106730878B CN106730878B CN201710150783.5A CN201710150783A CN106730878B CN 106730878 B CN106730878 B CN 106730878B CN 201710150783 A CN201710150783 A CN 201710150783A CN 106730878 B CN106730878 B CN 106730878B
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- hand
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- shaped body
- wrist
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
- A63H3/46—Connections for limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
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- Toys (AREA)
- Finger-Pressure Massage (AREA)
Abstract
The hand and human-shaped body of human-shaped body are provided.A kind of hand of human-shaped body, the hand of the human-shaped body include: the back of the hand；Multiple fingers are linked to above-mentioned the back of the hand；Opening portion is set to above-mentioned the back of the hand；And revolving member, it is rotatably installed on the position adjacent with above-mentioned opening portion, above-mentioned revolving member can be inserted into the opening by holding body that hold by above-mentioned hand handle, and above-mentioned revolving member can block above-mentioned opening portion and being rotated.
Description
The application is that international filing date is (to enter the National Phase in China date: February 04 in 2015 on 08 07th, 2013
Day), international application no be PCT/JP2013/071324 (national application number: 201380041519.8), entitled " humanoid
Ball and socket structure, the ball and socket structure of the ankle of human-shaped body and the human-shaped body of the wrist of body " divisional application (application No. is
201510114570.8, entitled " ball and socket structure and human-shaped body of the wrist of human-shaped body ") divisional application.
Technical field
The present invention relates to the ball and socket structure of the limb extremity of human-shaped body and human-shaped bodies.
Background technique
For example there is known construct documented by following patent documents 1 for the ball and socket structure of the hand of the plastic patterns such as robot.
In patent document 1, when linking wrist and hand (being made of the back of the hand and finger), on the top (lower end) of lower arm part
Equipped with the wrist joint for installing hand, the wrist joint is by the wrist rotation axis using the top for being set to lower arm part can turn
Structure made of dynamic mode supports is constituted.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2011-234986 bulletin
Summary of the invention
Problems to be solved by the invention
But the ball and socket structure of hand documented by patent document 1 is configured to only be able to carry out the top that winding by hand is set to lower arm part
The movement of the wrist rotation axis rotation at end is merely able to carry out the fortune swung centered on the wrist rotation axis to a direction
It is dynamic.
Therefore, the movement of hand becomes single, and movement such problems similar with people can not be carried out by having.Especially
It is, when robot is configured to the robot of fight, it is assumed that in the case where making hand handle hold weapon (by holding body), be
The weapon is lightheartedly manipulated, in movement of the palmistry for wrist, it is desired to be able to carry out the movement with people similar.
The present invention is given this situation to be made into, its purpose is to provide one kind although structure still simply is able to
Carry out the ball and socket structure of the limb extremity of the human-shaped body of the movement similar with people.
The solution to the problem
The ball and socket structure of the wrist of human-shaped body of the invention has the following structure, comprising: wrist is set to prolonging for lower arm part
On long line；The back of the hand is linked to above-mentioned wrist；Multiple fingers comprising be linked to the thumb of above-mentioned the back of the hand；And the 1st connection
Portion, be set to the position that has been displaced from the center of above-mentioned the back of the hand, above-mentioned the back of the hand and above-mentioned wrist above-mentioned 1st linking part with
The mode that can be rotated is connected.In addition, the hand of human-shaped body of the invention includes: the back of the hand；Multiple fingers are linked to above-mentioned hand
Back；Opening portion is set to above-mentioned the back of the hand；And revolving member, it is rotatably installed on and above-mentioned opening portion phase
Adjacent position, above-mentioned revolving member can be inserted into the opening by holding body that hold by above-mentioned hand handle, and above-mentioned rotation structure
Part can block above-mentioned opening portion and being rotated.
In the ball and socket structure of the wrist of human-shaped body of the invention, it is preferred that in connecting for above-mentioned wrist for above-mentioned the back of the hand
The center of the side of knot is formed with notch section, and above-mentioned 1st linking part, which is set to, forms above-mentioned gap portions in centre
The side of protruding portion.
In the ball and socket structure of the wrist of human-shaped body of the invention, it is preferred that include: the 2nd linking part, be set to above-mentioned
The root portion of thumb；3rd linking part is set to the other side of above-mentioned protruding portion；And coupling member, it is used to link above-mentioned
2nd linking part and above-mentioned 3rd linking part, above-mentioned coupling member is in above-mentioned 2nd linking part and above-mentioned 3rd linking part respectively with can
The mode of rotation links, and above-mentioned thumb is rotatably linked to above-mentioned the back of the hand by above-mentioned coupling member.
In the ball and socket structure of the wrist of human-shaped body of the invention, it is preferred that above-mentioned multiple fingers are configured to phase
Above-mentioned the back of the hand is rotated, the ball and socket structure of the wrist of the human-shaped body, which has, rotatably to be turned set on above-mentioned the back of the hand
Dynamic component, above-mentioned revolving member can block the opening portion of the central portion set on above-mentioned the back of the hand.It is further preferred, that above-mentioned
Lower arm part is equipped with the 4th linking part, and above-mentioned wrist and above-mentioned 4th linking part link, and can be around the axial direction rotation of above-mentioned lower arm part.
The ball and socket structure of the ankle of human-shaped body of the invention has the following structure, comprising: ankle is set to prolonging for calf
On long line；Instep is linked to above-mentioned ankle；And the 5th linking part, it is set to the extension from above-mentioned calf of above-mentioned instep
The position that center on line has been displaced to the heel side of above-mentioned foot, above-mentioned instep and above-mentioned ankle are in above-mentioned 5th connection
Portion rotatably links.
In the ball and socket structure of the ankle of human-shaped body of the invention, it is preferred that above-mentioned instep links for above-mentioned ankle
Side be formed with notch section, above-mentioned 5th linking part is set to the above-mentioned of the protruding portion for forming above-mentioned gap portions in centre
Heel side.It is further preferred, that being equipped with the 6th linking part in above-mentioned calf, above-mentioned ankle and above-mentioned 6th linking part link,
And it can be around the axial direction rotation of above-mentioned calf.
The effect of invention
Although the ball and socket structure of the limb extremity of the human-shaped body constituted in this way can obtain structure still simply be able to carry out with
The similar movement of people.
Detailed description of the invention
Fig. 1 is the appearance for indicating the outline of the plastic pattern of ball and socket structure of the limb extremity using human-shaped body of the invention
Figure.
Fig. 2 is the structure chart for indicating the ball and socket structure of hand of above-mentioned robot, indicates the wrist for being installed on lower arm part together.
Fig. 3 is the figure correspondingly described with Fig. 2, is the figure for indicating the movement of wrist and each finger etc..
Fig. 4 is opening portion and the perspective view of the revolving member for blocking the opening portion for indicating to be formed in the back of the hand.
Fig. 5 is the perspective view for indicating the movement of the ball and socket structure of hand of human-shaped body of the invention.
Fig. 6 is to indicate to constitute the ball and socket structure of the hand of human-shaped body of the invention using ester moulding and avoid to constitute the hand
Ball and socket structure each component assembling component palette figure.
Fig. 7 is the structure chart in the case that the ball and socket structure of the limb extremity of human-shaped body of the invention is applied to foot.
Specific embodiment
Hereinafter, mode for carrying out the present invention (hereinafter referred to as embodiment) is described in detail with reference to accompanying drawings.In addition,
Identical appended drawing reference is marked to identical element in the full content being illustrated to embodiment.
(embodiment 1)
Fig. 1 is the appearance for indicating the outline of the plastic pattern of ball and socket structure of the limb extremity using human-shaped body of the invention
Figure.The robot 10 of plastic pattern composition fight.
As shown in Figure 1, identical as people, robot 10 has waist 20, chest 30, head 40, leg 50 and arm 60,
The surface at these positions shows the form that armored equipment is equipped in substantially the entire area.In addition, robot 10 is configured to
Such as the weapon 70 needed for the top of above-mentioned arm 60, the i.e. fight of shoulder equipment.Moreover, above-mentioned arm 60 is at it close to hand
100 part has lower arm part 80, and above-mentioned hand 100 is by wrist (not shown) (with appended drawing reference in Fig. 2, Fig. 3, Fig. 5, Fig. 6
110 indicate) it is linked to the lower arm part 80.
In addition, the hand 100 of robot 10 is configured to can for example to hold the weapon independently prepared with the robot 10 and (not scheme
Show).
Fig. 2 is the structure chart for indicating the ball and socket structure of hand 100 of above-mentioned robot 10, indicates to be installed on above-mentioned lower arm together
The wrist 110 in portion 80.(a) of Fig. 2 is the figure of the hand 100 for the robot 10 seen from dorsal side, and (b) of Fig. 2 is from palmar side
The figure of the hand for the robot 10 seen.(a) of Fig. 2, (b) of Fig. 2 include five fingers 120, these fingers 120, which become, to be removed
Close to adjacent finger 120 and the state of closure other than thumb 120A.
In addition, (b) of (a) of Fig. 3, Fig. 3 is the figure correspondingly described with (b) of Fig. 2 (a), Fig. 2 respectively,
For the figure of the movement of expression wrist 110 and each finger 120 etc..
As shown in (a) of Fig. 2, above-mentioned hand 100 the back of the hand (in this specification, by hand in addition to wrist, finger
Part is known as the back of the hand) on 115, side link for wrist 110 approximate centre position equipped with notch section 131, including make this
Notch section 131 is located at protruding portion 132 that is intermediate and being formed.
In the present embodiment, wrist 110 with its top end part configure state in the notch section 131 of the back of the hand 115 by
The 1st spherojoint 141 connection being embedded in the protruding portion 132.Wrist 110 is from the position on the extended line of the wrist 110 as a result,
It rotatably installs at the position for the protruding portion 132 that set has moved.
Thus, as shown in (a) of Fig. 3, wrist 110 can be so that the notch section 131 of its top end part from the back of the hand 115 be prominent
Mode rotated centered on the 1st spherojoint 141.
It, can be around in addition, wrist 110 is formed as the spherojoint 147 being linked in the lower arm part 80 for being embedded in robot 10
The axial rotation of the lower arm part 80.In this case, the back of the hand can be made curved in such a way that the extended line tool relative to wrist is angled
It is bent.Moreover, the back of the hand by relative to wrist extended line tool it is angled in a manner of be bent in the state of, additionally it is possible to make the back of the hand around
Extended line rotation.
In addition, thumb 120A is by the 2nd spherojoint being embedded in thumb 120A as shown in (a) of Fig. 3, (b) of Fig. 3
142, with the 2nd spherojoint 142 connection coupling member 143 and with the coupling member 143 link and be embedded in above-mentioned the back of the hand
The 3rd spherojoint 144 in 115 (protruding portions 132) is linked to the back of the hand 115.That is, the root portion in thumb 120A is equipped with
The linking part connecting with the 2nd spherojoint, the linking part connecting with the 3rd spherojoint is equipped in protruding portion 132, and coupling member 143 exists
Respective linking part rotatably links.In addition, it is identical as people, it is linked to the thumb 120A of the back of the hand 115 wherein
Between portion be equipped with bending section (joint portion) 150.The 4th spherojoint 145 being embedded in the finger member 120B of base end side is installed on top
The finger member 120T of end side, to form the bending section 150.
Moreover, the 5th spherojoint 146 being embedded in the back of the hand 115 is installed on the hand as shown in (a) of Fig. 2, (b) of Fig. 2
The base end side for referring to 120, so that other fingers 120 in addition to thumb 120A are linked to the back of the hand 115.As a result, such as Fig. 3
(a), shown in (b) of Fig. 3, each finger 120 can be rotated centered on the 5th spherojoint 146, so that its top is from adjacent hand
Refer to that 120 top separates.In addition, identical as people, other fingers 120 in addition to thumb 120A are respectively equipped with along its length
Two bending sections (joint portion) being set side by side.These bending sections are for example by scheming adjacent finger member (not by hinge
Show) it installs and is formed.
In addition, being formed with opening portion 160 in the substantial middle of the back of the hand 115 as shown in (a) of Fig. 3, (b) of Fig. 3.Do not scheme
In the case that the weapon (by holding body) shown is tightly attached to hand 100, which enables the protrusion for being formed in the weapon to be fitted into
In the opening portion 160.The form for being held in the back of the hand 115 just thereby, it is possible to become weapon.In addition, for example shown in Fig. 4,
The revolving member 162 rotated centered on being adjacent to the hinge 161 to be formed with above-mentioned opening portion 160 is installed on the back of the hand 115,
It, can be stifled using the revolving member 162 under the case where having removed the weapon from the back of the hand 115 (not the weapon is held the case where)
Fill in opening portion 160.In the case where not holding weapon, the opening portion 160 for being formed in the back of the hand 115 can be appreciated that, therefore utilize this turn
Dynamic component 162 blocks the opening portion 160 and increases beautiful.Certainly, in the case where such holding weapon, can also by
The weapon forms opening portion, and is inserted into revolving member 162 into the opening portion be fixed on the weapon on the back of the hand 115.
(a) of Fig. 5, (b) of Fig. 5 are the action diagrams for indicating the movement of the hand 100 constituted in the above described manner.
Firstly, making palm lateral bend of other fingers 120 in addition to thumb 120A to hand 100 as shown in (a) of Fig. 5.
In this case, it is approximate horizontal by being configured to the finger member near 115 side of the back of the hand, it is capable of increasing in finger member
The space of weapon (not shown) is configured between the palmar side of hand 100.In this case, as described above, the protrusion of weapon is embedded in
It is formed in the opening portion 160 of the back of the hand 115.
Then, as shown in (a) of Fig. 5, keep the thumb 120A for being linked to the back of the hand 115 mobile, so that connection is embedded in the back of the hand
The coupling member 143 of the 2nd spherojoint 142 and the 3rd spherojoint 144 being embedded in thumb 120A in 115 is relative to the back of the hand 115
Face it is substantially vertical, then, as shown in (b) of Fig. 5, by making finger of the finger member 120T of tip side relative to base end side
Component 120B bending, by the finger member 120T of the tip side towards little finger of toe side, so as to realize with approximate with the palmistry of people
State hold weapon feeling.
Fig. 6 indicates to constitute the ball and socket structure of the hand 100 of above-mentioned human-shaped body using ester moulding and avoid to constitute the hand
The component palette 170 of the assembling of each component (epidermis of table side, the epidermis of back side, spherojoint etc.) of 100 ball and socket structure.
In Fig. 6, such as with the morphogenetic pair of right and left hand 100 of shape shown in (b) of Fig. 3 respectively with the portion of wrist 110
The split-phase pair and mode connecting with running channel 171 configures.
Component palette 170 shown in Fig. 6 is made of the 1st component palette 170A and the 2nd component palette 170B, the 1st component palette
170A makes the component for constituting the epidermis of the table side of above-mentioned hand 100 utilize running channel 171A connection, the 2nd component palette at several positions
170B makes the component for constituting the epidermis of the back side of above-mentioned hand 100 utilize running channel 171B connection at several positions.
Moreover, the 1st component palette 170A and the 2nd component palette 170B is so that above-mentioned 141,142,144,145 equipotential of spherojoint
Said modules plate 170 is constituted from the mode that up and down direction is overlapped in intermediate and the 1st component palette 170A and the 2nd component palette 170B.
As a result, by dividing the ball and socket structure for each hand 100 for being connected to component palette 170 from the running channel 171 of the component palette 170
From the ball and socket structure of hand 100 shown in Fig. 3 can be obtained.
By forming such component palette 170, when constituting hand 100, each component (table for constituting the hand 100 can be eliminated
The epidermis of side, the epidermis of back side, spherojoint etc.) assembling miscellaneous process.
In this way, the ball and socket structure of the wrist by using present embodiment, the movement that can be realized movement and people is more approximate
Human-shaped body.
(embodiment 2)
In the embodiment 1, the ball and socket structure of the wrist of human-shaped body is illustrated.But it's not limited to that, the present invention is also
It can be applied to the ball and socket structure of ankle.
For example, (b) of (a) of Fig. 7, Fig. 7 is the figure for indicating the ball and socket structure of foot of above-mentioned robot.
As shown in (a) of Fig. 7, above-mentioned foot 200 is in its instep (in this specification by foot in addition to ankle, toe
Part is known as instep) on 215, includes notch section 231 in the part of the side linked for ankle 210 and make the notch section 231
In the protruding portion 232 that centre is formed.
Ankle 210 configures state in the above-mentioned notch section 231 of instep 215 by being embedded in the protrusion with its top end part
The 6th spherojoint 241 connection in portion 232, the protruding portion 232 are set to from the center on the extended line of calf to foot 200
Heel side displacement position.Ankle 210 is at the position of the protruding portion 232 of the position displacement from the ankle 210 with energy as a result,
The mode enough rotated is installed.
Thus, as shown in (b) of Fig. 7, ankle 210 can be outstanding with the notch section 231 of its top end part from the instep 215
Mode rotates (arrow direction in figure) centered on the 6th spherojoint 241.
In addition, ankle 210 is formed as and is embedded in the connection of the 7th spherojoint 247 in the calf 250 of robot 10, and
It can be around the axial direction rotation of the calf 250.By application present embodiment ankle ball and socket structure, can be realized movement with
The more approximate human-shaped body of the movement of people.
More than, the present invention is illustrated using embodiment, but technical scope of the invention is not limited to above-mentioned embodiment party
Range documented by formula, this is self-evident.Those skilled in the art it is clear that, above embodiment can be applied each
Kind change or improvement.In addition, it will be clear that being applied with the reality of such change or improvement from the record of claims
Applying mode can also be comprised in technical scope of the invention.
Description of symbols
10, robot；20, waist；30, chest；40, head；50, leg；60, arm；70, weapon；80, lower arm part；
100, hand；110, wrist；115, the back of the hand；120, finger；120A, thumb；131, notch section；132, protruding portion；141, the 1st ball connects
Head；142, the 2nd spherojoint；143, coupling member；144, the 3rd spherojoint；145, the 4th spherojoint；146, the 5th spherojoint；147,
Spherojoint；150,151, bending section；160, opening portion；161, hinge；162, revolving member；170,170A, 170B, component palette；
171,171A, 171B, running channel；200, foot；210, ankle；215, instep；231, notch section；232, protruding portion；241, the 6th ball connects
Head；247, the 7th spherojoint；250, calf.
Claims (2)
1. a kind of hand of human-shaped body, which is characterized in that
The hand of the human-shaped body includes:
The back of the hand；
Multiple fingers are linked to above-mentioned the back of the hand；
Opening portion is set to above-mentioned the back of the hand, by this by holding body handle and will be embedded in the opening portion by the protrusion of holding body
It is held in above-mentioned the back of the hand；And
Revolving member is rotatably installed on the position adjacent with above-mentioned opening portion,
Above-mentioned revolving member can be such that this is fixed on by holding body to what is hold by above-mentioned hand handle by the opening insertion of holding body
Above-mentioned the back of the hand, and when not holding this by holding body, above-mentioned revolving member can block above-mentioned opening and being rotated
Portion.
2. a kind of human-shaped body, wherein
The human-shaped body application have the right to require 1 described in human-shaped body hand.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012223695A JP5476441B1 (en) | 2012-10-05 | 2012-10-05 | Doll body wrist joint structure, doll body ankle joint structure, and doll body |
| JP2012-223695 | 2012-10-05 | ||
| CN201380041519.8A CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380041519.8A Division CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106730878A CN106730878A (en) | 2017-05-31 |
| CN106730878B true CN106730878B (en) | 2019-07-09 |
Family
ID=50434674
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380041519.8A Active CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
| CN201710150783.5A Active CN106730878B (en) | 2012-10-05 | 2013-08-07 | The hand and human-shaped body of human-shaped body |
| CN201710437649.3A Active CN107261510B (en) | 2012-10-05 | 2013-08-07 | Component palette and human-shaped body |
| CN201510114570.8A Active CN104815441B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure of the wrist of human-shaped body and human-shaped body |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380041519.8A Active CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710437649.3A Active CN107261510B (en) | 2012-10-05 | 2013-08-07 | Component palette and human-shaped body |
| CN201510114570.8A Active CN104815441B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure of the wrist of human-shaped body and human-shaped body |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5476441B1 (en) |
| CN (4) | CN104519970B (en) |
| HK (1) | HK1205975A1 (en) |
| WO (1) | WO2014054339A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5476441B1 (en) * | 2012-10-05 | 2014-04-23 | 株式会社バンダイ | Doll body wrist joint structure, doll body ankle joint structure, and doll body |
| JP6126185B2 (en) * | 2015-10-22 | 2017-05-10 | 株式会社バンダイ | Joint structure of doll body |
| JP6059786B1 (en) * | 2015-10-26 | 2017-01-11 | 株式会社バンダイ | Doll body shoulder joint structure |
| JP7112349B2 (en) | 2018-03-29 | 2022-08-03 | 株式会社神戸製鋼所 | Painted galvanized steel sheet |
| JP7112350B2 (en) | 2018-03-29 | 2022-08-03 | 株式会社神戸製鋼所 | Painted galvanized steel sheet |
| JP6987820B2 (en) * | 2019-09-25 | 2022-01-05 | 株式会社バンダイ | Doll body and its joint structure |
| JP6999020B2 (en) * | 2020-12-28 | 2022-01-18 | 株式会社バンダイ | Doll body hands and doll body |
| JP7198871B2 (en) * | 2021-05-28 | 2023-01-04 | 株式会社バンダイ | Model parts and joint structures |
| JP7450104B1 (en) | 2023-09-01 | 2024-03-14 | 株式会社バンダイ | Model toys and decorative parts |
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- 2012-10-05 JP JP2012223695A patent/JP5476441B1/en active Active
-
2013
- 2013-08-07 CN CN201380041519.8A patent/CN104519970B/en active Active
- 2013-08-07 CN CN201710150783.5A patent/CN106730878B/en active Active
- 2013-08-07 CN CN201710437649.3A patent/CN107261510B/en active Active
- 2013-08-07 CN CN201510114570.8A patent/CN104815441B/en active Active
- 2013-08-07 WO PCT/JP2013/071324 patent/WO2014054339A1/en active Application Filing
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2015
- 2015-07-10 HK HK15106622.6A patent/HK1205975A1/en unknown
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| EP1005886A1 (en) * | 1998-12-04 | 2000-06-07 | Giochi Preziosi Lussemburgo S.A. | A mechanism for moving the lower limbs of a toy figure |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106730878A (en) | 2017-05-31 |
| JP2014073331A (en) | 2014-04-24 |
| HK1205975A1 (en) | 2015-12-31 |
| CN107261510B (en) | 2019-11-15 |
| CN107261510A (en) | 2017-10-20 |
| JP5476441B1 (en) | 2014-04-23 |
| WO2014054339A1 (en) | 2014-04-10 |
| CN104815441A (en) | 2015-08-05 |
| CN104519970A (en) | 2015-04-15 |
| CN104815441B (en) | 2017-03-08 |
| CN104519970B (en) | 2017-07-11 |
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