CN107635849B - Perambulator - Google Patents
Perambulator Download PDFInfo
- Publication number
- CN107635849B CN107635849B CN201580080420.8A CN201580080420A CN107635849B CN 107635849 B CN107635849 B CN 107635849B CN 201580080420 A CN201580080420 A CN 201580080420A CN 107635849 B CN107635849 B CN 107635849B
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- China
- Prior art keywords
- wheel
- driving
- perambulator
- driving force
- handle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B7/00—Carriages for children; Perambulators, e.g. dolls' perambulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
- B62B9/20—Handle bars; Handles
Abstract
Perambulator (1) of the invention has: baby's vehicle main body (2)；Multiple wheels (4), by perambulator body supports；Driving source (5) is supported by baby's vehicle main body (2), provides driving force at least one of multiple wheels (4)；Detecting element (6), detection are input to the information relevant to traveling operation of baby's vehicle main body (2)；And control device (7), the driving force generated by driving source (5) is adjusted based on the information that detecting element (6) detects.
Description
Technical field
Driving source be the present invention relates to the use of to drive the perambulator of wheel.
Background technique
Such as the perambulator with electric motor is disclosed in Japan Patent JP2011-68336A.In Japan Patent
In perambulator documented by JP2011-68336A, when pressing control-rod, the electric motor for being connected to wheel is driven.Especially
Ground, the perambulator documented by Japan Patent JP2011-68336A utilize the automatic traveling of electric motor.That is, for Japan Patent
It, also can be merely with the driving of electric motor even if not pushed by operator for perambulator documented by JP2011-68336A
Power independently traveling.
Summary of the invention
Technical problem
However, perambulator documented by Japan Patent JP2011-68336A is independently walked using the driving force of electric motor
Row, therefore, it is difficult to operate according to the wish of operator to perambulator.Particularly, want to make when at turning or crossroad
When perambulator turns to, operator reduces the speed of advance in order to carry out go to action, and on the other hand, electric motor is to keep not
The speed of change continues to drive wheel.Therefore, inconsistent (deviation) is generated between the movement of operator and the movement of perambulator, it cannot
It is enough that perambulator is operated according to wish.
Technical solution
The present invention considers problem above, and its purpose is to provide one kind to operate according to wish to perambulator,
And the perambulator driven using driving source.
Perambulator of the invention has:
Baby's vehicle main body；
Multiple wheels, by above-mentioned perambulator body supports；
Driving source provides driving force at least one of above-mentioned multiple wheels by above-mentioned perambulator body supports；
Detecting element, detection are input to the information relevant to traveling operation of above-mentioned baby's vehicle main body；And
Control device adjusts the driving force generated by above-mentioned driving source based on the information that above-mentioned detecting element detects.
In perambulator of the invention, above-mentioned baby's vehicle main body be can have: chassis body, support above-mentioned multiple wheels；
And handle, it is connected to said frame main body, above-mentioned detecting element is set to above-mentioned handle, detects and be applied to the lotus of the handle
The relevant information of weight.
In perambulator of the invention, it can be in above-mentioned multiple wheels and provide the wheel of driving force by above-mentioned driving source
For rear-wheel, the front-wheel in above-mentioned multiple wheels is by Caster by perambulator body supports.
In perambulator of the invention, above-mentioned driving source be can have: the first driving element provides driving force above-mentioned
At least one of multiple wheels；And second driving element, by driving force provide in above-mentioned multiple wheels with by above-mentioned
The different wheel of the wheel of first driving element offer driving force, and be separately provided with above-mentioned first driving element.
In perambulator of the invention, can be by above-mentioned first driving element provide the wheel of driving force with by above-mentioned the
Two driving elements provide the position difference of the wheel of driving force in the lateral direction, and above-mentioned first driving element and above-mentioned second is driven
Dynamic element respectively includes d.c. motor, the d.c. motor of the d.c. motor of above-mentioned first driving element and above-mentioned second driving element
It is connected in series relative to power supply.
Technical effect
In accordance with the invention it is possible to which the traveling operation with perambulator cooperatively adjusts the driving provided from driving source to wheel
Power, therefore perambulator can be operated according to wish.
Detailed description of the invention
Fig. 1 is the figure that the perambulator for showing first embodiment from front is in unfolded state.
Fig. 2 is that the perambulator shown in FIG. 1 in unfolded state is shown from side in the state for having unloaded seating unit
Figure.
Fig. 3 is the figure for showing perambulator shown in Fig. 2 from side and being in folded state.
Fig. 4 is the block diagram for schematically illustrating the composition of perambulator shown in FIG. 1.
Fig. 5 is the driving element that perambulator shown in FIG. 1 is shown from rear side and the perspective view of wheel.
Fig. 6 is the circuit diagram for showing the connection relationship for the d.c. motor for constituting driving element.
Fig. 7 is the top view for enlargedly showing the handle of perambulator shown in FIG. 1.
Fig. 8 is the figure for illustrating the composition of detecting element set by the handle of perambulator shown in Fig. 1.
Fig. 9 is the circuit diagram of detecting element shown in Fig. 8.
Figure 10 is the song for showing the example that the driving force generated by driving element is adjusted based on the information from detecting element
Line chart.
The effect of detecting element when Figure 11 is for illustrating that the handle by perambulator shown in FIG. 1 promotes forwards
Figure.
The figure of the effect of detecting element when Figure 12 is for illustrating that the handle by perambulator shown in FIG. 1 is pressed downwards.
Detecting element when Figure 13 is for illustrating that the handle by perambulator shown in FIG. 1 is rearward drawn and when descending
The figure of effect.
Figure 14 is the perspective view for illustrating state when turning to perambulator shown in FIG. 1.
Figure 15 is the perspective view that the perambulator of second embodiment is shown from back side.
Figure 16 is the block diagram for schematically illustrating the composition of perambulator shown in figure 15.
Specific embodiment
" first embodiment "
Below, the embodiments of the present invention will be described with reference to the drawings.Fig. 1 to Figure 14 is for illustrating the first embodiment party
The figure of the perambulator 1 of formula.Wherein, Fig. 1 is the figure that the perambulator 1 of first embodiment is shown from positive direction.Shown in Fig. 1
In perambulator 1, the first seating unit 8a and second seat unit 8b are supported by baby's vehicle main body 2.First seating unit 8a and
Two seating unit 8b are the positions that infant takes a seat, and left and right is arranged side by side.Each seating unit 8a, 8b be provided with canopy cover 9a,
9b, to protect the infant for occupying seating unit 8a, 8b from solarization, wind.
It should be noted that in the present specification, in case of no particular description, for perambulator 1 and its structure
At the "front", "rear" of element, "upper", "lower", " front-rear direction ", " up and down direction " and " left and right directions " term, refer to right
"front", "rear" on the basis of the operator that perambulator 1 in unfolded state is operated while grasping handle 20,
"upper", "lower", " front-rear direction ", " up and down direction " and " left and right directions ".In more detail, " front-rear direction d1 " is equivalent in Fig. 1
Paper inward-outward direction.Therefore, unless otherwise specified, " preceding " refer to pressing handle operator towards side,
Before the outside of paper in Fig. 1 is.On the other hand, " up and down direction d3 " refers to vertical with front-rear direction, and hangs down with ground plane
Straight direction.Therefore, in the case where ground plane is horizontal plane, " up and down direction d3 " refers to vertical direction.In addition, " right and left
It is width direction to d2 ", is the direction vertical with " front-rear direction d1 " and " up and down direction d3 ".
In Fig. 2, the perambulator 1 in the state of having unloaded seating unit 8a, 8b is shown from side.Baby shown in Fig. 2
Vehicle main body 2 is made of chassis body 10 with the handle 20 for being connected to chassis body 10.
In chassis body 10, supports the upper frame 12 of two seating units 8a, 8b to be connected to and be supported by multiple vehicles
The base framework 11 of wheel 4.Upper frame 12 relative to the inclined state of base framework 11 to be supported.The front of upper frame 12
Part and the forward portion of base framework 11 are connected by front connecting component 13, the middle section of upper frame 12 and pedestal
The rear portion of frame 11 is connected by intermediate connecting part 14.Front connecting component 13 and intermediate connecting part 14 play connection
Effect, and enable upper frame 12 relative to base framework 11 rotate.
Particularly, the side group seat frame of the left and right discretely configured on d2 in left and right directions is provided in base framework 11
11a,11b.The rear end of side group seat frame 11a, 11b of left and right is connected by rear base framework 11c.In present embodiment
In, it is formed and by single bending pipes, so that side group seat frame 11a, 11b and rear frame pedestal of left and right be integrally formed
Frame 11c.Wherein, side group seat frame 11a, the 11b and rear base framework 11c controlled can also be used as individual component and carry out shape
At.
It is bounded on each side base framework 11a, 11b and front-wheel 41 and rear-wheel 42 is installed.In the present embodiment, each front-wheel 41 passes through
Caster (caster) 3 is supported in a manner of rotatable and can turn to by side group seat frame 11a, 11b.Caster 3 is with rotary shaft
Front-wheel 41 is pivotably supported centered on line Ar1, further, it is possible to the steering shaft not parallel with rotation axis Ar1, in this implementation
In mode, it is parallel to turn to centered on the steering shaft As1 in the direction vertical with rotation axis Ar1.That is, front-wheel 41 is to can oneself
Turn and the mode that can change its direction is supported by Caster 3.
On the other hand, positioned at the position than front-wheel 41 rearward each rear-wheel 42 not by Caster in a manner of it can turn to
Support.In the present embodiment, each rear-wheel 42 is rotatably supported by the drive shaft 51a of aftermentioned driving source 5 (referring to Fig. 5),
But it cannot turn to.
Upper frame 12 is provided with upper lateral part frame 12a, 12b of the left and right discretely configured on d2 in left and right directions.
Central frame 12c is configured between upper lateral part frame 12a, 12b of left and right.In the present embodiment, in the upper lateral part in left side
The first seating unit 8a, upper lateral part frame 12b and central frame on right side are configured between frame 12a and central frame 12c
Second seat unit 8b is configured between 12c.
The rear end of upper lateral part frame 12a, 12b and central frame 12c of left and right are linked by rear upper frame 12d.In
Rear upper frame 12d is equipped with handle 20.Handle 20 is the part that operator is operated with hand.About handle 20, reference
Fig. 7 to Figure 14, is described after.
It should be noted that in the example in the figures, upper lateral part frame 12a, 12b and rear upper frame 12d of left and right
It is integrally formed and being formed by single bending pipes.But upper lateral part frame 12a, 12b and rear upper frame of left and right
12d can also be used as individual component to be formed.
The front end of upper lateral part frame 12a, 12b of left and right are linked by transverse link 12e and upper side connection framework 13a.Its
In, d2 is formed as linearly transverse link 12e in left-right direction, and the front end of central frame 12c is connected to transverse link 12e's
Middle section.
Upper side connection framework 13a plays connection function, has and is projected into the curved of the region more closer to the front than transverse link 12e
Bent shape.Therefore, the forward portion of upper side connection framework 13a and left and right side group seat frame 11a, 11b front end it
Between be provided with base side connection framework 13b.Upper side connection framework 13a, pedestal are fixed in the front end of base side connection framework 13b
The side group seat frame that the rear end of the left and right directions of side connection framework 13b is pivotally connected to left and right by laterally linking connecting rod 13c
Frame 11a, 11b.Laterally d2 is formed as the side group seat for being linearly pivotally connected to left and right to connection connecting rod 13c in left-right direction
The front end of frame 11a, 11b.By upper side connection framework 13a, base side connection framework 13b and laterally link connecting rod 13c to constitute
Play the front connecting component 13 of connection function.
It should be noted that the intermediate connecting part 14 of left and right is erected in upper lateral part frame 12a, 12b of left and right
Between part and left and right side group seat frame 11a, 11b rear portion between.Each intermediate connecting part 14 plays connection function, relatively
It can be rotated in both upper lateral part frame 12a, 12b and side group seat frame 11a, 11b.
Perambulator 1 with frame structure as above can be folded into shown in Fig. 3 from Fig. 1 and unfolded state shown in Fig. 2
Folded state.Fig. 3 is that the figure of perambulator 1 shown in Fig. 2 in a folded configuration is shown from side.
Firstly, the locking between upper lateral part frame 12a, 12b and upper side connection framework 13a is released, using self weight by hand
Handle 20 is fallen downwards.By the action, upper side connection framework 13a, base side connection framework 13b and intermediate connecting part 14
It is rotated in an anti-clockwise direction along Fig. 3, it is Chong Die with base framework 11 to be folded into upper frame 12.
The result of above jackknife action is that as shown in Figure 3, base framework 11 and upper frame 12 are in perambulator 1
Lateral plan in approach and configure substantially in parallel.On the other hand, in order to which perambulator 1 is extensive from folded state shown in Fig. 3
Unfolded state shown in Fig. 2 is arrived again, according to the step opposite with above-mentioned folding operation.
Here, in the perambulator of present embodiment 1, in order to mitigate the burden of operator, driving source is connected in wheel 4
5.However, as in background technology part explanation, since previous perambulator is configured to so-called self-propelled perambulator,
Therefore, it is difficult to be operated according to wish to perambulator.Therefore, the perambulator 1 of present embodiment is configured to according to operator's
Traveling operates and is supplied to driving force the auxiliary drive formula pushchair of wheel 4.
In Fig. 4, the mechanism assisted the driving of vehicle 4 is schematically illustrated with block diagram.As shown in Figure 4, In
Several in multiple wheels 4 are connected with driving element 51,52.Driving element 51,52 is to drive the constituent element of wheel 4, changes speech
It, is to provide the constituent element of driving force to wheel 4.In the present embodiment, there are two driving element, i.e., the first drivings for setting
The rear-wheel 42 of element 51 and the second driving element 52, first driving element, 51 pairs of left sides drives, second driving element
The rear-wheel 42 on 52 pairs of right sides drives.
An example of the composition of driving element 51,52 is shown in Fig. 5.As shown in Figure 5, each driving element 51,52 is by even
Be connected to drive shaft 51a, 52a of the rear-wheel 42 of corresponding side and drive shaft 51a, 52a is driven d.c. motor 51b,
52b is constituted.One end of drive shaft 51a, 52a is connected to the rear-wheel 42 of corresponding side, cannot turn to, but can be with rotary shaft
The mode rotated centered on line Ar2 supports the rear-wheel 42.The other end of drive shaft 51a, 52a is transmitted by power (not shown)
Element (for example, gear) is attached to the main shaft of d.c. motor 51b, 52b.Here, drive shaft 51a, 52a can be with d.c. motor
It constitutes to the integrated spindle axis of 51b, 52b, can also be used as individual component and constitute.
D.c. motor 51b, 52b are configured in the storage box 70 by rear base framework 11c support, in the storage box 70
It is interior to be supported by rear base framework 11c.The connection relationship between d.c. motor 51b, 52b is being illustrated in Fig. 6 with circuit.Such as figure
Shown in 6 like that, d.c. motor 51b, 52b and power supply 75 of two driving elements 51,52 are connected in series.By by two direct current horses
It is connected in series up to 51b, 52b, to facilitate according to driving force is adjusted from the load with ground plane, this puts and is described later.
Back to Fig. 4, each driving element 51,52 is connected to control device 7, and is controlled by the control device 7.At this
Control device 7 is also connected with detecting element 6, and is read into the control as input information from the information of detecting element 6
Device 7.Therefore, control device 7 controls each driving element 51,52 based on the information from detecting element 6, and adjusts from each
The driving force that driving element 51,52 is provided to wheel 4.In addition, control device 7 is connected to disassembly is fixed on storage box 70 freely
Power supply 75.Such control device 7 for example can be to be provided with central processing unit (CPU) and register (REGISTER)
Microcontroller, programmable logic controller (PLC) form realize.
Detecting element 6 detects the information relevant to traveling operation for being input to baby's vehicle main body 2.Detecting element 6 detects
As long as operate the information that relevant information is input to from operator baby's vehicle main body 2 to traveling, there is no special
It limits.As an example for operating relevant information to traveling, can detecte related to the loading of the hand from operation handle 20
Information, make to operator the relevant information of the revolving speed of speed and wheel 4 associated with speed of 1 traveling of perambulator.
Back to Fig. 2, the detecting element 6 of present embodiment is set to handle 20, is configured to detection and is applied to the handle
The relevant information of 20 loading.Firstly, being illustrated to the composition of handle 20, then, to the detection element 6 for being set to handle 20
It is illustrated.Here, information relevant to the loading for being applied to handle 20, which refers to, can determine the loading for being applied to handle 20
Information.
Handle 20 is enlargedly shown in Fig. 7.As shown in Figure 7, it is grasped in handle 20 configured with the hand of operator
Operating member 21, handle main body 22 link operating member 21 and baby's vehicle main body 2.Handle main body 22 is in the company with upper frame 12
It ties position c1 and the upper frame 12 is fixedly connected.
Particularly as the element for constituting handle main body 22, column 22a extends from rear upper frame 12d and is stretched out, in column
The two sides of 22a are configured with side lever 22b, 22c.Operating member 21 be configured to d2 interval in left-right direction and arranged side by side two one or two
Hand 21a, 21b, the handle 21a in left side are erected between the side lever 22b and column 22a in left side, and the handle 21b on right side is erected at right side
Side lever 22c and column 22a between.
The detecting element 6 for being set to column 22a is enlargedly shown in fig. 8, the circuit diagram of detecting element 6 is shown in FIG. 9.
As shown in Figure 8 and Figure 9 like that, as multiple foil gauges 61 of detecting element 6 by attachment to the interior square bar 22d in column 22a.It is multiple
Foil gauge 61 constitutes bridge circuit, to measure the deformation of handle main body 22.In the example shown in Fig. 8, in rectangular interior square bar 22d
Upside face configuration there are two foil gauge 61, there are two foil gauges 61 for the face configuration in the downside of interior square bar 22d, this four are answered
Change piece 61 constitutes identical each other.Here, the interior square bar 22d of diagram is hollow but it is also possible to be solid.
In Figure 10, the deformation that detects according to foil gauge 61 is shown graphically to determine by driving element
51, an example of the control of 52 driving forces provided.In the curve graph of Figure 10, horizontal axis indicates the deformation that foil gauge 61 detects,
Be mounted on the face of upside of interior square bar 22d foil gauge 61 extend the case where and be mounted on interior square bar 22d downside face
Foil gauge 61 shorten in the case where be set as positive value, the upside for being mounted on interior square bar 22d face foil gauge 61 shorten feelings
Condition and be mounted on interior square bar 22d downside face foil gauge 61 extend in the case where be set as negative value.The longitudinal axis indicates driving wheel 4
Driving force, the driving force that direction rotates of marching forward of wheel 4 will be made to be set as positive value, the drive that wheel 4 will be rotated in the reverse direction
Power is set as negative value.
As shown in Figure 10, in the case that the size of the deformation detected in foil gauge 61 is smaller than lower limit value α 1, control
Device 7 processed is controlled in a manner of not providing the driving force generated by driving element 51,52 to wheel 4.Accordingly, even if it is external
Interference, casual operation are applied to perambulator 1, can also prevent 1 accidental movement of perambulator.
If the size for the deformation that foil gauge 61 detects is bigger than lower limit value α 1, control device 7 with will by driving element 51,
The mode that the size for the torsion that 52 driving forces generated are detected with foil gauge 61 is proportionally provided to wheel 4 is controlled.
In the curve graph of Figure 10, in the case where the foil gauge 61 for becoming object extends, providing makes wheel 4 march forward what direction rotated
Driving force provides the driving force for rotating wheel 4 in the reverse direction in the case where the foil gauge 61 for becoming object shortens.
On the other hand, bigger than upper limit value α 2 if being applied to the size of the deformation of handle 20, control device 7 is with will be by driving
The driving force that element 51,52 generates is set as upper limit driving force F, and the mode provided to wheel 4 is controlled.
Then, the effect for the present embodiment being made of above such structure is illustrated.
Particularly, from Fig. 2 it will be appreciated that four foil gauges 61 for constituting detecting element 6 are located on d3 in above-below direction
The position more closer to the top than operating member 21, operating member 21 are located at position more more rearward than coupling position c1 and more on the lower
It sets.According to such configuration, such as Figure 11 below of foil gauge 61 to acting on as shown in Figure 14.Figure 11 to Figure 14 is for illustrating
The figure of the effect of foil gauge 61 when being operated to handle 20.Here, in the following description, by interior square bar 22d with flat
Row is denoted as upper area A1 when the plane of its length direction is divided into two parts, by the part for becoming upside, under becoming
The part of side is denoted as lower area A2 (referring to Fig. 8).
As shown in Figure 11, when operator holds operating member 21, the front on d1 promotes perambulator 1 forward and backward
When, the upper area A1 elongation and lower area A2 shortening of interior square bar 22d.What upper area A1 elongation and lower area A2 shortened
Information is measured by four foil gauges 61.Control device 7 is sent to by the information that foil gauge 61 measures.Have received information
Control device 7 be identified as operating member 21 and promoted or pressed downwards forwards, obtained value will be measured with foil gauge 61
Corresponding electric current is provided to the circuit that d.c. motor 51b, 52b there are two driving element 51,52 is connected in series.Accordingly, direct current
Motor 51b, 52b rotation, drive shaft 51a, 52a for being connected to d.c. motor 51b, 52b rotate the direction of marching forward of rear-wheel 42.According to
This, assists the rotation of rear-wheel 42 by drive shaft 51a, 52a, so that it is negative to what is be pushed forward by perambulator 1 to mitigate operator
Load.
In the case where there is step on traveling road surface, operator presses the lower section on operating member 21 vertically d3,
Front-wheel 41 to be made lifts.As shown in Figure 12, the case where operator presses downwards perambulator 1 and phase the case where Figure 11
Together, the upper area A1 elongation and lower area A2 shortening of interior square bar 22d.What upper area A1 elongation and lower area A2 shortened
Information is measured by four foil gauges 61 and is sent to control device 7.The control device 7 for receiving information is identified as operating member
21 are promoted forwards or are pressed downwards, and the corresponding electric current of the value measured with foil gauge 61 is provided and is connected in series with two
The circuit of a d.c. motor 51b, 52b.Accordingly, d.c. motor 51b, 52b rotates, and is connected to the driving of d.c. motor 51b, 52b
Axis 51a, 52a rotate the direction of marching forward of rear-wheel 42.That is, the case where pressing operating member 21 downwards and by operating member
21 the case where promoting forwards, in the same manner, rotated the direction of marching forward of rear-wheel 42.As a result it is, in the movement for crossing step,
The auxiliary that the driving force generated by driving source 5 can be received promotes perambulator 1 without excessive burden.
On the other hand, when promoting perambulator 1 at descending, as shown in Figure 13, operator holds operating member 21,
Rear on perambulator 1 forward and backward d1 is furthered.In this case, with the case where Figure 11 and Figure 12 on the contrary, interior square bar 22d
Upper area A1 shorten and lower area A2 extend.Upper area A1 shortens and the information of lower area A2 elongation is answered by four
Become piece 61 to measure, and is sent to control device 7.The control device 7 for having received information is identified as operating member 21 by rearward
It furthers, the corresponding electric current of obtained value will be measured with foil gauge 61, and oppositely provided the case where Figure 11 and Figure 12 to the company of series connection
Connect the circuit there are two d.c. motor 51b, 52b.Accordingly, d.c. motor 51b, 52b rotates, and is connected to d.c. motor 51b, 52b
Drive shaft 51a, 52a rotate rear-wheel 42 in the reverse direction.Accordingly, being rotated into rear-wheel 42 by drive shaft 51a, 52a
Row auxiliary, to mitigate the burden that operator pulls back perambulator 1.
Then, when turning to perambulator 1, as shown in Figure 14, two handles 21a, 21b are pushed away forwards by making
Power generates difference, so as to turn to perambulator 1.In the example shown in Figure 14, pass through the handle 21b for making to act on right side
Power be compared to the handle 21a for left side power it is bigger, so as to make perambulator 1 to left-handed directional steering.Even if by different
Power act on two handles 21a, 21b, also with Figure 11 the case where identically, the upper area A1 of interior square bar 22d elongation and under
Portion region A2 shortens.The information that upper area A1 elongation and lower area A2 shorten is measured by four foil gauges 61, and is sent
To control device 7.The control device 7 for having received the information that foil gauge 61 detects is identified as operating member 21 and is promoted forwards
Or press downwards, the corresponding electric current of obtained value will be measured with foil gauge 61, is supplied to and goes here and there two d.c. motors 51b, 52b
Join the circuit of connection.In series circuit shown in Fig. 6, in the case that two d.c. motors 51b, 52b are identical structure, flow through
The size of the electric current of two d.c. motors 51b, 52b is also identical, therefore, it is considered that two d.c. motors 51b, 52b are provided to wheel 4
Driving force it is also equal.
However, if making perambulator 1 to left-handed directional steering, compared with the right side wheels 4 for becoming foreign steamer, from ground connection
The resistance in face significantly acts on the left side wheel 4 as lubrication groove, the d.c. motor connecting with the left side wheel 4 for becoming lubrication groove
51b becomes difficult to rotate.If the revolving speed for the d.c. motor 51b connecting with the left side wheel 4 for becoming lubrication groove reduces, this is resulted from
The counter electromotive force of d.c. motor 51b reduces, and is easy to flow through larger current in series circuit.As a result, flowing through and becoming foreign steamer
The electric current of d.c. motor 52b that connects of right side wheels 4 become relatively large, the right side wheels 4 for becoming foreign steamer can be provided
Biggish driving force.Accordingly, the right side wheels 4 for becoming foreign steamer become easy rotation, and as a result, it is possible to smoothly be turned to
Movement.
As above, the perambulator 1 of present embodiment has: baby's vehicle main body 2；The multiple wheels supported by baby's vehicle main body 2
4；It is supported by baby's vehicle main body 2, provides driving force to the driving source 5 of at least one of multiple wheels 4；Detection is input to baby
The detecting element 6 that relevant information is operated to traveling of youngster's vehicle main body 2；And the information control detected based on detecting element 6
Driving source 5 adjusts the control device 7 of the driving force provided from driving source 5 to wheel 4.According to such form, can cooperate
The traveling of perambulator 1 operates to adjust the driving force for being supplied to wheel 4 generated by driving source 5, therefore can reduce operator
Movement and perambulator movement between inconsistent (deviation), perambulator 1 is operated according to wish.
In addition, according to the present embodiment, the wheel by the offer driving force of driving source 5 in multiple wheels 4 is rear-wheel 42, more
Front-wheel 41 in a wheel 4 is supported by Caster 3 by baby's vehicle main body 2.Front-wheel 41 is by Caster 3 by baby's vehicle main body 2
Support, therefore can smoothly carry out the steering operation of perambulator 1.Furthermore, it is contemplated that after the handle 20 of operator's operation is located at
Side, ride on perambulator 1 infant center of gravity, it is believed that loading be easy to apply to rear-wheel 42 and rear-wheel 42 steadily with ground plane
Contact.By the way that the rear-wheel 42 being steadily grounded will be provided from the driving force of driving source 5, so as to steadily realize by
The driving auxiliary that driving source 5 carries out.
In addition, according to the present embodiment, driving source 5, which includes, provides driving force at least one of multiple wheels 4
First driving element 51；And driving force is provided in multiple wheels 4 and provides driving force with by the first driving element 51
The different wheel 4 of wheel 4, and the second driving element 52 being separately provided with the first driving element 51.According to such form, lead to
It crosses and different driving forces is supplied to different wheels 4, to help to realize the walking state according to perambulator 1 come suitably
Distribute driving force.
In addition, according to the present embodiment, providing the wheel 4 of driving force by the first driving element 51 and by the second driving element
52 provide the wheels 4 of driving forces, and the position on d2 is different in left and right directions, and the first driving element 51 and the second driving element 52 are divided
Not Bao Kuo d.c. motor, the d.c. motor 52b and power supply of the d.c. motor 51b of the first driving element 51 and the second driving element 52
75 are connected in series.Make perambulator 1 turn in the case where, with become foreign steamer wheel 4 compared with, from ground plane resistance compared with
The earth acts on the wheel 4 as lubrication groove.Therefore, it is connected in series by d.c. motor 51b, 52b of two driving elements 51,52
In the case where, the d.c. motor 51b connecting with the wheel 4 for becoming lubrication groove becomes difficult to rotate.If connecting with the wheel 4 for becoming lubrication groove
The revolving speed of the d.c. motor 51b connect reduces, then the counter electromotive force for resulting from d.c. motor 51b reduces, so being easy in series electrical
Flow through larger current in road.As a result, flowing through the electric current for the d.c. motor 52b connecting with the wheel 4 for becoming foreign steamer becomes opposite
It is larger, biggish driving force can be provided to the wheel 4 for becoming foreign steamer.As known from the above, in the straight of two driving elements 51,52
In the case where flowing motor 51b, 52b series connection, the wheel 4 in go to action as foreign steamer becomes easy rotation, Neng Gouping
Quietly carry out go to action.
In addition, according to the present embodiment, baby's vehicle main body 2 has the chassis body 10 for supporting multiple wheels 4；And connection
To the handle 20 of chassis body 10, detecting element 6 is set to handle 20, and detects relevant to the loading for being applied to the handle 20
Information.By selecting relevant to the loading for being applied to handle 20 information as being input to baby's vehicle main body 2 and traveling behaviour
Make relevant information, so as to provide driving force from driving source 5 according to the wish relevant to traveling operation of operator
To wheel 4.
In addition, according to the present embodiment, the operating member 21 that there is handle 20 operator's hand to grasp, and by operating member
21 and baby's vehicle main body 2 link handle main body 22, if by detecting element 6 detect operating member 21 be pushed to front letter
Breath or the information pressed downwards, then control device 7 makes driving source 5 provide the driving force for making wheel 4 advance, if passing through detection member
Part 6 detects that operating member 21 is pulled to the information at rear, then control device 7 makes driving source 5 provide the driving for retreating wheel 4
Power.According to such form, driving source 5 can be ordinatedly adjusted with the operation of the operating member 21 carried out by operator and drives vehicle
The direction of wheel 4.Particularly, according to the present embodiment, in the step etc. in order to cross ground plane, operating member 21 is pressed downwards
Pressure, so that front-wheel 41 lifts under such circumstances, driving source 5 is driven in a manner of making wheel 4 advance.Therefore, though
It crosses in the action process of step, can also receive the auxiliary of the driving force carried out by driving source 5, and without undue burden
Promote perambulator 1.
In addition, according to the present embodiment, detecting element 6 includes the multiple foil gauges for being installed on the handle main body 22 of handle 20
61, at least one foil gauge 61 is pushed forward or extends on time downwards when operating member 21, when operating member 21 is pulled rearward
Shorten, alternatively, when operating member 21 is pushed forward or shortens downwards, the elongation when operating member 21 is pulled rearward on time.According to
Such form, detecting element 6 are realized by foil gauge 61, therefore can be avoided complicated construction, and steadily detection behaviour
The information of author's operation operating member 21.The viewpoint of the information of operating member 21, behaviour are operated based on more stably detection operator
Making component 21 can be set position more rearward in the coupling position c1 than handle main body 22 and chassis body 10 and more on the lower
It sets or position closer to the front and closer to the top.
Particularly, according to the present embodiment, operating member 21 is located at than coupling position c1 more more rearward and more on the lower
Position, foil gauge 61 are installed in the portion between the link position and coupling position c1 of operating member 21 in handle main body 22
Point.In this case, with operating member 21 is applied to from operator loading in linkage, be pasted with strain in handle main body 22
The partial sensitivity of piece 61 stretches well.Therefore, by foil gauge 61, operator behaviour further can precisely be detected
Operate the information of component 21.
In addition, according to the present embodiment, the perambulator 1 provided has: multiple wheels 4 including front-wheel 41 and rear-wheel 42；
Baby's vehicle main body 2 with the chassis body 10 for supporting multiple wheels 4 and the handle 20 for being connected to chassis body 10；By perambulator
Main body 2 supports, and drives the driving source 5 of at least one rear-wheel 42；It is set to handle 20, detects and be applied to the loading of the handle 20
The detecting element 6 of relevant information；And the wheel 4 generated by driving source 5 is controlled based on the information that detecting element 6 detects
Driving control device 7, control device 7 adjusts driving wheel 4 according to the direction of the loading detected by detecting element 6
The direction of rotation.According to such form, can be driven according to the direction of the loading detected by detecting element 6 to adjust driving source 5
The direction of motor car wheel 4, therefore perambulator 1 can be operated according to wish.
It should be noted that various change can be applied to above-mentioned embodiment.An example of deformation is said below
It is bright.
For example, in the above-described embodiment, showing the example being abreast arranged along left and right there are two seating unit 8a, 8b
Son, but the quantity of seating unit 8a, 8b, are not limited to such example.For example, single seating unit can be set, it can also
More than two seating units are arranged, and the two above seating units are along in tandem.
In addition, in the above-described embodiment, d.c. motor 51b, the 52b for showing two driving elements 51,52 are opposite
In the example that power supply 75 is connected in series, but circuit design relevant to d.c. motor 51b, 52b is not limited to above-mentioned example.Two
D.c. motor 51b, 52b of a driving element 51,52 can also be connected in parallel relative to power supply 75.
In addition, in the above-described embodiment, showing the example that detecting element 6 is made of foil gauge 61, but detect member
The form of part 6 is not limited to above-mentioned example.As long as detecting element 6, which is able to detect, is input to grasping with traveling for baby's vehicle main body 2
Make relevant information, composition can be arbitrary, as other examples, is configured to be installed on turning for handle main body 22
Square sensor, pressure sensor and/or magneto strictive sensor.For example, can be capture as pressure sensor and be applied to hand
The loading of handle 20 as the pressure of working fluid variation, after the variation of the pressure is measured via diaphragm by pressure cell,
The type exported as electronic signals.
In addition, in the above-described embodiment, showing the column 22a connection rear upper frame being made of single pillar
The example of 12d and operating member 21, but the form of handle main body 22 is not limited to above-mentioned example.Column 22a can also be by more
A pillar is constituted, and links rear upper frame 12d and operating member 21.
In addition, in the above-described embodiment, show operating member 21 be located at it is more more rearward than coupling position c1 and more
The example of position on the lower, but the configuration of operating member 21 is not limited to above-mentioned example.At least one foil gauge 61
If when operating member 21 is pushed forward or is extended downwards on time, and the shortening when operating member 21 is pulled rearward, or
It is extended when operating member 21 is pushed forward or is shortened downwards on time, and when operating member 21 is pulled rearward, operation
The configuration of component 21 is arbitrary.For example, it may be operating member 21 is positioned at more closer to the front than coupling position c1 and closer to the top
Position, foil gauge 61 is installed in handle main body 22 in the position more more rearward than operating member 21.
" second embodiment "
Then, 5 and Figure 16 is illustrated second embodiment referring to Fig.1.Figure 15 is real from second shown in back side
The perspective view of the perambulator 1 of mode is applied, Figure 16 is the block diagram for schematically illustrating the composition of perambulator 1.The of 5 explanations referring to Fig.1
In two embodiments, with first embodiment the difference is that detecting element 6 includes the detection of the first test section 6a and second
Portion 6b, control device 7 include the aspect of first control units 7a and the second control unit 7b, and others are constituted can be with the first embodiment party
Formula and its variation are configured to identical.Used in the following description relevant to second embodiment and following explanation
In attached drawing, for being configured to identical part with above-mentioned first embodiment and its variation, implement using with above-mentioned first
The identical symbol of symbol used in corresponding part in mode and its variation, and the repetitive description thereof will be omitted.
In perambulator 1 shown in figure 15, baby's vehicle main body 2 is constituted by chassis body 10 and handle 20, lid fluffy 9 is installed
Single seating unit 8 supported by baby's vehicle main body 2.The frame pedestal of multiple wheels 4 is supported in chassis body 10
Frame 11 is connected with the upper frame 12 of support seating unit 8.Upper frame 12 is relative to the inclined state quilt of base framework 11
Support, and can be folded in a manner of Chong Die with base framework 11.
As shown in Figure 15, the operating member 21 grasped in handle 20 configured with the hand of operator, handle main body 22 connect
Tie operating member 21 and baby's vehicle main body 2.As the element for constituting handle main body 22, separates and be configured on d2 in left and right directions
A pair of curved bar 22f, 22g.The cardinal extremity of a pair of curved bar 22f, 22g are supported by rear upper frame 12d, a pair of curved bar 22f,
The curved path of the mode that 22g extends along d2 in left and right directions extends, and operating member 21 is supported between its front end.
In the present embodiment, left and right bent stick 22f, 22g cardinal extremity near region be pasted with respectively test section 6a,
6b.Fig. 8 as the aforementioned and it is shown in Fig. 9 like that, each test section 6a, 6b include multiple foil gauges for connecting as bridge circuit
61.Detecting element 6 is made of test section 6a, 6b of left and right.
In Figure 16, the composition of driving source 5, detecting element 6 and control device 7 is schematically illustrated with block diagram.In Figure 16 institute
In the example shown, the rear-wheel 42 in the first driving element 51 driving left side of driving source 5, the second driving element 52 driving right side are constituted
Rear-wheel 42.First driving element 51 is connect with first control units 7a, is controlled by first control units 7a.Second driving element 52
It connect with the second control unit 7b, is controlled by the second control unit 7b.First control units 7a and the second control unit 7b are separately provided, phase
Mutually without the exchange of information.That is, first control units 7a and the second control unit 7b separately control corresponding driving member
Part 51,52.Here, control device 7 is made of first control units 7a and the second control unit 7b.In addition, first control units 7a and
Two control unit 7b are connect with power supply 75.
Moreover, the first test section 6a is connected in first control units 7a, from the information conduct of first test section 6a
Input information is read into first control units 7a.Therefore, first control units 7a based on from the first test section 6a information come
The first driving element 51 is controlled, the driving force generated by first driving element 51 is adjusted.The first control units of present embodiment
7a determines the size of the driving force generated by the first driving element 51 according to the size of the first test section 6a deformation detected.
Similarly, it is connected with the second test section 6b in the second control unit 7b, the information from second test section 6b is made
First control units 7a is read into for input information.Therefore, the second control unit 7b is based on the letter from the second test section 6b
It ceases to control the second driving element 52, adjusts the driving force generated by second driving element 52.Second control of present embodiment
Portion 7b processed determines the driving force generated by the second driving element 52 according to the size of the second test section 6b deformation detected
Size.
Then, the effect for the present embodiment being made of above such structure is illustrated.
In the case where operator holds operating member 21 for the front propulsion on operating member 21 forward and backward d1,
The load of first test section 6a and the second test section 6b by same degree, detects the load.It is detected by each test section 6a, 6b
Information be sent to corresponding control unit 7a, 7b.Each control unit 7a, 7b of the information detected are had received according to corresponding inspection
The size for the deformation that survey portion 6a, 6b are detected determine by corresponding driving element 51,52 generate driving force size.According to
This, the direction of marching forward of rear-wheel 42 rotates, and the burden that operator pushes away perambulator 1 mitigates.
In the case where there is step on traveling road surface, operator presses the lower section on operating member 21 vertically d3,
Lift front-wheel 41 and traveling.In this case, the first test section 6a and the second test section 6b is also by the load of same degree,
Detect the load.Corresponding control unit 7a, 7b are sent to by the information that each test section 6a, 6b are detected.It has received and detects
Each control unit 7a, 7b of information determined according to the size of corresponding test section 6a, 6b deformation detected by corresponding drive
The size for the driving force that dynamic element 51,52 generates.Accordingly, the direction of marching forward of rear-wheel 42 rotates, and operator pushes away the burden of perambulator 1
Mitigate.That is, according to the present embodiment, even if can also receive and be produced by driving element 51,52 in the action process for crossing step
The auxiliary of raw driving force, and perambulator 1 is promoted without excessively burden ground.
On the other hand, when promoting perambulator 1 at descending, operator holds operating member 21, forwards, backwards by perambulator 1
Rear on the d1 of direction pulls.In this case, the first test section 6a and the second test section 6b by with it is above-mentioned reversed identical
The load of degree detects the load.Corresponding control unit 7a, 7b are sent to by the information that each test section 6a, 6b are detected.It connects
Each control unit 7a, the 7b for having received the information detected are determined according to the size of corresponding test section 6a, 6b deformation detected
By the size for the driving force that corresponding driving element 51,52 generates.Accordingly, rear-wheel 42 rotates in the reverse direction, and operator pushes away baby
The burden of youngster's vehicle 1 mitigates.
Then, make perambulator 1 turn to when, by make by right-hand man forwards push operation component 21 power generate difference,
So as to turn to perambulator 1.In the case where making different power be applied to operating member 21 by right-hand man, the first detection
Portion 6a and the second test section 6b are detected the load by corresponding different loads.It is detected by each test section 6a, 6b
Information is sent to corresponding control unit 7a, 7b.Each control unit 7a, 7b of the information detected are had received according to corresponding detection
The size for the deformation that portion 6a, 6b are detected determine by corresponding driving element 51,52 generate driving force size.It is typical
Ground, the hand by becoming lubrication groove side apply relatively small power, and the hand by becoming foreign steamer side applies relatively large power, therefore
Compared with test section 6a, the 6b for becoming lubrication groove side, become test section 6a, 6b of foreign steamer side by relatively large load.
In linkage with this, compared with the driving element 51,52 for becoming lubrication groove side, become the driving element 51,52 of foreign steamer side for phase
Rear-wheel 42 is supplied to biggish driving force.Therefore, compared with the rear-wheel 42 for becoming lubrication groove side, become the rear-wheel of foreign steamer side
42 are easy rotation, and as a result, it is possible to smoothly carry out go to action.
As above, the perambulator 1 of present embodiment has: baby's vehicle main body 2；The multiple wheels supported by baby's vehicle main body 2
4；It is supported by baby's vehicle main body 2, provides driving force to the driving source 5 of at least one of multiple wheels 4；Detection is input to baby
The detecting element 6 that relevant information is operated to traveling of youngster's vehicle main body 2；And the information control detected based on detecting element 6
Driving source 5 adjusts the control device 7 of the driving force provided from driving source 5 to wheel 4.According to such form, can cooperate
The traveling of perambulator 1 operates to adjust the driving force for being supplied to wheel 4 generated by driving source 5, therefore can reduce operator
Movement and perambulator movement between inconsistent (deviation), perambulator 1 is operated according to wish.
In addition, according to the present embodiment, driving source 5, which includes, provides driving force at least one of multiple wheels 4
First driving element 51；And driving force is provided in multiple wheels 4 and provides driving force with by the first driving element 51
The different wheel 4 of wheel 4, and the second driving element 52 being separately provided with the first driving element 51.According to such form, lead to
It crosses and different driving forces is supplied to different wheels 4, to help to realize the walking state according to perambulator 1 come suitably
Distribute driving force.
In addition, according to the present embodiment, baby's vehicle main body 2 has the chassis body 10 and and frame for supporting multiple wheels 4
The handle 20 that main body 10 connects, detecting element 6 are set to handle 20, detect letter relevant to the loading for being applied to the handle 20
Breath.By selecting relevant to the loading for being applied to handle 20 information as being input to baby's vehicle main body 2 and traveling operation
Relevant information, so as to according to the wish relevant to traveling operation of operator come by driving force from driving source 5 provide to
Wheel 4.
It should be noted that, although illustrating several variations for embodiment as described above, but certainly can also
It is applied with being appropriately combined multiple variations.
Claims (3)
1. a kind of perambulator, which is characterized in that have:
Baby's vehicle main body；
Multiple wheels, by the perambulator body supports；
Driving source provides driving force at least one of the multiple wheel by the perambulator body supports；
Detecting element, detection are input to the information relevant to traveling operation of baby's vehicle main body；And
Control device, the information that is detected based on the detecting element control the driving source to adjust from the driving source to institute
The driving force of wheel offer is provided,
The driving source includes
First driving element provides driving force at least one of the multiple wheel；And
Driving force is provided in the multiple wheel and provides driving force with by first driving element by the second driving element
The different wheel of wheel, and be separately provided with first driving element,
Existed by the wheel that first driving element provides driving force with the wheel for providing driving force by second driving element
Position on left and right directions is different,
First driving element and second driving element respectively include d.c. motor,
The d.c. motor of first driving element and the d.c. motor of second driving element are identical structure, and relative to
Power supply is connected in series.
2. perambulator as claimed in claim 1, wherein, which is characterized in that
Baby's vehicle main body includes chassis body, supports the multiple wheel；And handle, it is connected to the chassis body,
The detecting element is set to the handle, detects information relevant to the loading for being applied to the handle.
3. the perambulator as documented by claims 1 or 2, which is characterized in that
The wheel for providing driving force by the driving source in the multiple wheel is rear-wheel,
Front-wheel in the multiple wheel is by Caster by perambulator body supports.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2015/075829 WO2017042954A1 (en) | 2015-09-11 | 2015-09-11 | Baby carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107635849A CN107635849A (en) | 2018-01-26 |
| CN107635849B true CN107635849B (en) | 2019-11-01 |
Family
ID=58240583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580080420.8A Active CN107635849B (en) | 2015-09-11 | 2015-09-11 | Perambulator |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP6556853B2 (en) |
| KR (1) | KR102259631B1 (en) |
| CN (1) | CN107635849B (en) |
| HK (1) | HK1243684A1 (en) |
| TW (1) | TWI691424B (en) |
| WO (1) | WO2017042954A1 (en) |
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| JP2003054418A (en) * | 2001-08-17 | 2003-02-26 | Combi Corp | Remote control device and stroller provided with the same |
| JP3127472U (en) * | 2006-07-07 | 2006-12-07 | 志津加 中島 | Stroller with electric assist mechanism |
| JP2007176195A (en) * | 2005-12-27 | 2007-07-12 | Sunstar Engineering Inc | Electric-assisted truck |
| CN101284544A (en) * | 2007-03-15 | 2008-10-15 | 蒂姆-特克斯公司 | Stroller with a child seat |
| CN201357857Y (en) * | 2008-09-19 | 2009-12-09 | 中山市隆成日用制品有限公司 | Electric folding stroller framework with safety device |
| WO2014157308A1 (en) * | 2013-03-26 | 2014-10-02 | カヤバ工業株式会社 | Drive-assist unit for bogies |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3922554B2 (en) * | 2002-09-25 | 2007-05-30 | 松下電工株式会社 | Power assisted transport vehicle |
| JP4761831B2 (en) * | 2005-05-19 | 2011-08-31 | 三洋電機株式会社 | Force detection device |
| US8033348B1 (en) * | 2008-04-07 | 2011-10-11 | Hemin Parkhe | Self-propelled child stroller |
| JP5638712B1 (en) * | 2014-01-17 | 2014-12-10 | シャープ株式会社 | stroller |
-
2015
- 2015-09-11 CN CN201580080420.8A patent/CN107635849B/en active Active
- 2015-09-11 KR KR1020177032895A patent/KR102259631B1/en active IP Right Grant
- 2015-09-11 WO PCT/JP2015/075829 patent/WO2017042954A1/en active Application Filing
- 2015-09-11 JP JP2017538814A patent/JP6556853B2/en active Active
-
2016
- 2016-09-10 TW TW105129427A patent/TWI691424B/en active
-
2018
- 2018-03-03 HK HK18103096.7A patent/HK1243684A1/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003054418A (en) * | 2001-08-17 | 2003-02-26 | Combi Corp | Remote control device and stroller provided with the same |
| JP2007176195A (en) * | 2005-12-27 | 2007-07-12 | Sunstar Engineering Inc | Electric-assisted truck |
| JP3127472U (en) * | 2006-07-07 | 2006-12-07 | 志津加 中島 | Stroller with electric assist mechanism |
| CN101284544A (en) * | 2007-03-15 | 2008-10-15 | 蒂姆-特克斯公司 | Stroller with a child seat |
| CN201357857Y (en) * | 2008-09-19 | 2009-12-09 | 中山市隆成日用制品有限公司 | Electric folding stroller framework with safety device |
| WO2014157308A1 (en) * | 2013-03-26 | 2014-10-02 | カヤバ工業株式会社 | Drive-assist unit for bogies |
Also Published As
| Publication number | Publication date |
|---|---|
| KR102259631B1 (en) | 2021-06-02 |
| JPWO2017042954A1 (en) | 2018-06-21 |
| JP6556853B2 (en) | 2019-08-07 |
| TW201710133A (en) | 2017-03-16 |
| HK1243684A1 (en) | 2018-07-20 |
| KR20180051434A (en) | 2018-05-16 |
| WO2017042954A1 (en) | 2017-03-16 |
| CN107635849A (en) | 2018-01-26 |
| TWI691424B (en) | 2020-04-21 |
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