CN107949523A - Paper pulp moulded container - Google Patents
Paper pulp moulded container Download PDFInfo
- Publication number
- CN107949523A CN107949523A CN201680025239.1A CN201680025239A CN107949523A CN 107949523 A CN107949523 A CN 107949523A CN 201680025239 A CN201680025239 A CN 201680025239A CN 107949523 A CN107949523 A CN 107949523A
- Authority
- CN
- China
- Prior art keywords
- main body
- resin film
- heating
- laminated
- paper pulp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23L—FOODS, FOODSTUFFS, OR NON-ALCOHOLIC BEVERAGES, NOT COVERED BY SUBCLASSES A21D OR A23B-A23J; THEIR PREPARATION OR TREATMENT, e.g. COOKING, MODIFICATION OF NUTRITIVE QUALITIES, PHYSICAL TREATMENT; PRESERVATION OF FOODS OR FOODSTUFFS, IN GENERAL
- A23L5/00—Preparation or treatment of foods or foodstuffs, in general; Food or foodstuffs obtained thereby; Materials therefor
- A23L5/10—General methods of cooking foods, e.g. by roasting or frying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B27/00—Layered products comprising a layer of synthetic resin
- B32B27/06—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material
- B32B27/10—Layered products comprising a layer of synthetic resin as the main or only constituent of a layer, which is next to another layer of the same or of a different material of paper or cardboard
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D1/00—Containers having bodies formed in one piece, e.g. by casting metallic material, by moulding plastics, by blowing vitreous material, by throwing ceramic material, by moulding pulped fibrous material, by deep-drawing operations performed on sheet material
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- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21J—FIBREBOARD; MANUFACTURE OF ARTICLES FROM CELLULOSIC FIBROUS SUSPENSIONS OR FROM PAPIER-MACHE
- D21J3/00—Manufacture of articles by pressing wet fibre pulp, or papier-mâché, between moulds
Landscapes
- Engineering & Computer Science (AREA)
- Polymers & Plastics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Nutrition Science (AREA)
- Food Science & Technology (AREA)
- Health & Medical Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Containers Having Bodies Formed In One Piece (AREA)
- General Preparation And Processing Of Foods (AREA)
- Laminated Bodies (AREA)
- Paper (AREA)
Abstract
Blister when heating the cooking for the paper pulp moulded container filling food that at least single side stacking synthetic resin film suppressed in the main body to being made of paper mould product forms, moisture shared in the main body of paper pulp moulded container is formed for below 4.0 weight %.Think that the moisture contained by main body 11 gasifies expansion when heated, the vapor of gasification expansion is discharged from main body 11, into being the main reason for blistering between main body 11 and synthetic resin film 12, therefore by the way that the amount of moisture contained in main body 11 is suppressed to below ormal weight, it can suppress from main body 11 to occur and as the amount of vapor the reason for blistering when heated, and suppress blistering.
Description
Technical field
The present invention relates to paper pulp moulded container, the manufacture method of paper pulp moulded container and the food using paper pulp moulded container
The manufacture method of product package body.
Background technology
In the past, the container excellent as easy disposability often used paper pulp moulded container.
In addition, on such paper pulp moulded container, as the paper pulp moulded container for making the raisings such as water resistance, it is known that as specially
The such paper mould formed in the stacking synthetic resin film such as inner surface for the main body being made of paper mould product of sharp document 1 holds
Device.
Prior art literature
Patent document
Patent document 1:Japanese Unexamined Patent Publication 2003-128120 publications
The content of the invention
However, one of purposes as such paper pulp moulded container, can enumerate filling food in a reservoir and together with appearance
It is medium and carry out as the cooking of food, the purposes as cooking appliance dual-purpose that device is put into heating furnace.
But if direct-fired mode of heating is carried out to this paper pulp moulded container, it some times happens that being laminated in
Phenomenon that the synthetic resin film of main body is partly peeled off and expanded from main body, commonly referred to as blistering.
If blistering rests on sub-fraction, the performance as container is not influenced in itself, but it is beautiful impaired, therefore have
When also in shipment as defective work processing.
Therefore, the generation of blistering is substantially to paper pulp moulded container or filling food forms in this embodiment food bag
The yield rate of dress body brings harmful effect.
Therefore, the invention solves problem be on the main body being made of paper mould product at least single side be laminated close
The paper pulp moulded container that resin film forms, the generation of blistering when suppressing to heat.
The present inventor etc. have found the amount of moisture contained by the main body of paper pulp moulded container and the generation height of blistering first
The fact that degree is related, it is a certain amount of following by the way that the amount of moisture is limited to, so as to successfully significantly suppress the generation of blistering.
That is, paper pulp moulded container according to the present invention is set to form as follows:Possesses the master being made of paper mould product
Body and be laminated in aforementioned body at least single side resin film, moisture is accounted for below 4.0 weight % in aforementioned body.
It is above-mentioned using cellulose fibre as principal component as such paper pulp moulded container of the invention, preferably aforementioned body
Resin film is thermoplastic resin film, and aforementioned body is laminated in by deposition.
In addition, the manufacture method as paper pulp moulded container according to the present invention, including following process:Prepare by paper pulp
The process for the main body that moulded work is formed;In the process of at least single side laminated resin film of aforementioned body;And it will be laminated with above-mentioned
The process that the main body of resin film is dry and is adjusted in a manner of moisture in aforementioned body is accounted for below 4.0 weight %.
As the manufacture method of such paper pulp moulded container of the invention, preferably adjustment is laminated with the master of above-mentioned resin film
The process of the moisture of body is done with the heating of the heating-up temperature based on 100 DEG C~260 DEG C, the heating time of 1 minute~10 minutes
Dry progress.
And then as the manufacture method of foodstuff package according to the present invention, including following process:Prepare by paper pulp die
The process for the main body that modeling product are formed;In the process of at least single side laminated resin film of aforementioned body;It is being laminated with above-mentioned resin film
Main body in filling food process;The main body filled with food for being laminated above-mentioned resin film is heated, with aforementioned body
The preheating procedure that the mode that moisture is accounted for below 4.0 weight % is adjusted;And eaten being filled with for above-mentioned resin film has been laminated
Product and it have adjusted the main body of amount of moisture and further heat, carry out the main heating process that the heating of above-mentioned food is cooked.
In the manufacture method of such foodstuff package of the invention, preferably while being laminated with above-mentioned tree with conveyer conveying
The main body of adipose membrane, while be passed to heating furnace so that above-mentioned heating furnace conveyer conveying direction upstream side half portion into
Row preheating procedure, main heating process is carried out in the downstream half portion of the conveyer conveying direction of above-mentioned heating furnace.
As described previously for the paper that forms of at least single side stacking synthetic resin film in the main body being made of paper mould product
Container from pulp, makes in main body moisture account for below 4.0 weight % and forms, the generation of blistering during so as to suppress heating.
Brief description of the drawings
Fig. 1 is the profile of the paper pulp moulded container of embodiment.
Fig. 2 is the figure of a part for the manufacturing process for the paper pulp moulded container for representing embodiment.
Fig. 3 is the figure of a part for the manufacturing process for the foodstuff package for representing embodiment.
Embodiment
Hereinafter, the embodiments of the present invention will be described with reference to the drawings.
As shown in Figure 1, the paper pulp moulded container 10 of embodiment possess the main body 11 that is made of paper mould product and
The synthetic resin film 12 of inner surface stacking in the outer surface and inner surface of main body 11, wherein, by the moisture shared by the main body 11
Amount is adjusted to below 4.0 weight %.
Filling food 13 in paper pulp moulded container 10 preferably, carries out the heating cooking together with container and utilizes lid
14 sealings, so as to form the foodstuff package of embodiment.
The shape of the paper pulp moulded container 10 of embodiment is not particularly limited, can as general paper pulp moulded container
Illustrate the paper for the flange that there is bottom wall, the perisporium erected from the circumferential expansion of bottom wall and the upper limb from perisporium essentially horizontally to protrude
Container from pulp, as the plan view shape of bottom wall, can illustrate circular, oval, square.
The main body 11 being made of paper mould product using paper pulp materials such as reed, sugarcanes as raw material, using its cellulose fibre as
Principal component, except especially have adjusted as described above its amount of moisture this point in addition to, it is identical with the main body of conventional paper pulp moulded container.
The manufacture method for adjusting the main body of the last stage of amount of moisture is not particularly limited, such as based on following known system
Make method.
I.e., it is possible to illustrate following process:Prepare pulp suspension, it is taken up with mesh, while heating this takes up thing
While carrying out punching press using male and female stamping die, the suitably shearing etc. of the end of punching press thing is molded.Can certainly be suitably attached
Add and be mixed into inspection using the foreign matter of metal detector etc., utilize the processes such as the sterilization of the irradiation of ultraviolet etc..
The species of paper pulp, the species of binding agent, the mesh count of net type thing, heating-up temperature, stamping pressure, punching press time, public affairs
Gap between master tooling etc. is not particularly limited, and may be exemplified the Japanese Unexamined Patent Publication 2011- for same applicant with the applicant
Content described in No. 157662 publications.
The wall thickness of main body 11 is also not particularly limited, if wall thickness is too small, intensity is insufficient, if wall thickness is excessive, due to
Material cost increase etc. it is general the reasons why, be preferably 0.2~5.0mm.
The synthetic resin film 12 for being laminated in the inner surface of main body 11 be the paper pulp moulded container 10 of embodiment is assigned it is resistance to
Water-based energy, when filling washy food etc. in the paper pulp moulded container 10 of embodiment, main body 11 can be prevented by food
Moisture contamination.
The species of its synthetic resin is not particularly limited, and may be exemplified the polyolefins such as polypropylene (PP), polyethylene (PE)
The polyester based resins such as resin, polyethylene terephthalate (PET) or polylactic acid (PLA), as can be heated seal to main body
Resin, be preferably thermoplastic resin.
Synthetic resin film 12 is not limited to individual layer, such as in addition to the film of such as foregoing illustrative blank material, to improve and master
For the purpose of adaptation of body 11 etc., ethylene-vinyl acetate c can also be laminated on the face of the side contacted with main body 11
Thing (EVA), ethylene-methacrylic acid copolymer (EMMA) etc. are used as adhesive linkage.
Specifically, may be exemplified and carry out intaglio printing on the PET film of 25 μm of thickness, from printing ink with intaglio plate into
Row sticky end coating (anchor coat), is made adhesive linkage be laminated with 25 μm of thickness from the sticky end coating, makes the adhesive linkage in master
11 side of body, is laminated in the inner surface of main body 11.
In addition it is also possible to synthetic resin film 12 is suitably printed, aluminium-vapour deposition etc..
The thickness of synthetic resin film 12 is also not particularly limited, if thickness is too small, water resistance etc. becomes inadequate, if
Thickness is excessive, then does not meet the definition of paper container described in container package recycling process, can not be discarded as combustiblerefuse, because
This is preferably 5~200 μm.
Method on being laminated synthetic resin film 12 to main body 11, is also not particularly limited, such as based on known in following
Method.
First, as shown in Fig. 2 (a), prepare to be configured with mould M in lower section, configure the device of having heaters H on the top,
Mounting body 11 in mould M, supplies thermoplastic synthetic resin film 12 between mould M and heater H.
Here, if giving negative pressure to being arranged at the mould M suction holes that the illustration is omitted using sucker mechanism etc., due to
The main body 11 of mould M is installed on as paper mould product system and there is gas permeability, therefore as shown in the arrow of Fig. 2 (b), by heater
The synthetic resin film 12 that H is heated and softened is attracted towards main body 11, inner surface of the deposition to main body 11.
Finally, as shown in Fig. 2 (c), in the remaining synthetic resin film 12 of outer rim, using Thomson blade T suitably
Shearing.Certainly, for the method for shearing, can also be replaced with other well known method.
The heating-up temperature of the synthetic resin film 12 using heater H at this time and heating time, mould M suction hole it is big
The size of small and quantity, therewith associated attraction, pull up time etc., are not particularly limited, can suitably adjust.
In addition, in order to supplement the attraction of suction hole, can also take set on the main body 11 with awl etc. it is a large amount of fine
Hole and the adequate measures for improving gas permeability etc..It may be exemplified the Japanese Unexamined Patent Publication 2014- for same applicant with the applicant
It is No. 144612 publications, Japanese Unexamined Patent Publication 2014-144613 publications, interior described in Japanese Unexamined Patent Publication 2014-145142 publications
Hold.
The paper pulp moulded container 10 of embodiment is in the above described manner on the inner surface of molding main body 11 with above-mentioned side
After formula stacking synthetic resin film 12, drying process is re-started, so as to carry out especially adjusting the amount of moisture so that in its main body 11
For below 4.0 weight %.
Specifically, it can be envisaged that up to the process that resin film 12 is overlapped into the interior surface layers of molding main body 11 is
Only, carried out in specific place (factory etc.), be conveyed to different place (other factories etc.) etc. and after being moved, into
Row drying process, final adjustment is carried out by the amount of moisture in main body 11.
The amount of moisture in main body is adjusted to below 4.0 weight % by doing so, is existed so as to fully suppress container 10
Blister during heating.
The proof of its effect carries out in embodiment described later, and it is main that from mechanistic investigation, it, which can then estimate main cause,
Moisture contained by body 11 gasifies expansion when heated, and the vapor of gasification expansion is discharged from main body 11, into main body 11 with closing
Blister between resin film 12.
It is therefore contemplated that by the amount of moisture for suppressing to contain in main body 11, occur when heated from main body 11 so as to inhibit
And the amount of the vapor of the reason for as blistering, and then inhibit blistering.
Thus, the lower limit of amount of moisture is not particularly limited, in theory closer to 0 weight %, more can further prevented
Only blister.
On the other hand, for 4.0 weight % of the upper limit value as amount of moisture, shown in embodiment as be described hereinafter, be because
Blister for being whether there is before and after 4.0 weight %, experimentally observed significant difference.In addition, in conventional paper
In container from pulp, the amount of moisture of main body is usually more than 5.5 weight %.
As the method for the drying, it is not particularly limited, may be exemplified drying, the profit of heating with heating furnace etc.
Drying caused by moisture etc. is forcibly evaporated with the drying of drying machine etc., using vacuum plant etc., is preferred from volume production
Such as the main body of resin film is laminated with while being passed to heating furnace to be dried with conveyer conveying by one side.
In addition, the opportunity adjusted for the moisture of main body 11, place, are also not particularly limited.
For example, it is envisioned that water of the container manufacturing plant oneself in the main body 11 that paper pulp moulded container 10 is carried out by heating etc.
After dividing adjustment, with special packing seal etc. and will not change the moisture of the main body 11, afterwards hold the paper mould
Device 10 is to food factory's shipment.
On the other hand, it may also be envisaged that the paper mould for not carrying out the moisture adjustment of main body 11 from container manufacturing plant shipment holds
Device, is including its food factory, before the filling and heating that food is carried out to paper pulp moulded container are cooked, carries out main body
11 moisture adjustment.
By this way when food factory carries out the moisture adjustment of main body 11, as heating process, it can be used
In the preheating procedure of the moisture of adjustment main body 11 and for the food for being filled in paper pulp moulded container 10 to be carried out the heating cooking
Both heating of main heating process.
In this case, preheating procedure and main heating process can also be carried out respectively with different heating furnace etc., but such as
Shown in Fig. 3, the moisture adjustment of the main body 11 of paper pulp moulded container 10 is continuously carried out using single heating furnace F and is filled in
Then effective percentage, therefore preferably is cooked in the heating of the food 13 of paper pulp moulded container 10.
That is, the main body 11 for being laminated with synthetic resin film 12 of food 13 will be pre-filled with, while conveyed with conveyer C,
While being passed to heating furnace F, the amount of moisture of main body 11 is adjusted in the upstream side of the conveyer conveying direction of heating furnace F
Preheating procedure, the heating that food 13 is carried out in the downstream of conveyer conveying direction are cooked.It should illustrate that Fig. 3 is schematic diagram, it is existing
The length dimension of heating furnace F is sufficiently large compared with the size of paper pulp moulded container 10 in reality.
Thereafter, paper pulp moulded container 10 with lid 14 cover etc. and sealed, as foodstuff package shipment.
In addition, for the paper pulp die as heating, i.e. embodiment for adjusting the amount of moisture contained by main body 11
Mould the manufacture method of container 10 based on heating in the case of heating-up temperature, heating time etc., be not particularly limited, example
It such as may be exemplified and the entirety of the paper pulp moulded container 10 of embodiment be put into heating furnace, at 100 DEG C~260 DEG C, 1~10 minute
Heated.
This is because if heating-up temperature is less than 100 DEG C, the evaporation of the moisture of the inside of main body 11 becomes inadequate, if super
Cross 260 DEG C, it is likely that harmful effect is brought to synthetic resin film 12 more than fusing point of synthetic resin film 12 etc..
In addition, if heating time is less than 1 minute, the evaporation of the moisture of the inside of main body 11 becomes inadequate, even if super
10 minutes are spent, moisture has also almost evaporated, therefore without the actual benefit of heating, it is inefficent.
The reasons why based on such as above, more preferably heating-up temperature are 100 DEG C~140 DEG C, and heating time is 4 minutes~8 minutes.
Embodiment
Hereinafter, embodiment and comparative example further clear and definite feature of the invention are enumerated.
For the main body being made of the paper mould product formed by cellulose fibre of thickness 0.6mm inner surface by thickness
The PET film of 50 μm of degree vacuumizes the paper pulp moulded container being laminated by as shown in Figure 2, as shown in table 1, prepares paper
The heating-up temperature of the container from pulp embodiment 1~4 different with the moisture rate of heating time, main body, comparative example 1 and 2.It should say
It is bright, in table 1, for comparative example 2, it is meant that do not carry out the drying process using heating.
It should illustrate that the measure of moisture rate is according to formula (P-Pd)/(P-F).
In the formula, P represents the weight of the paper pulp moulded container after heating.
In addition, F represents the weight of PET film in the formula, by removing main body from the weight of the paper pulp moulded container before heating
Weight calculate.
And then with formula, Pd is while by paper pulp moulded container with 100 DEG C of heating of heating-up temperature, while separating a timing
Between interval and weight when weight change is almost nil compared with the weight of its measure previous when measuring weight, represent to assume
Moisture from paper pulp moulded container almost evaporate when weight.
[table 1]
Prepare the paper pulp moulded container of 10 these embodiments 1~4 and comparative example 1 and 2 respectively, it is each to fill 200g's
The white sauce of Heinz Japan Co. Ltd. systems and make foodstuff package, by it with oven (Co., Ltd.'s FUJIMAC models
FSCC6 the heating cooking is carried out under conditions of) dividing 30 seconds in 210 DEG C of heating-up temperature, heating time 6.
Each 10 paper pulp moulded containers of embodiment 1~4, comparative example 1 and 2 for the end heating cooking, by visual observation
Confirmation, which whether there is, blisters.
It the results are shown in table 2, it is thus identified that when the moisture rate of main body is below 4.0 weight %, significantly inhibit blistering
Occur.
[table 2]
It will be understood that this time disclosed embodiment and embodiment are all to illustrate in all respects, it is not limitation.This hair
Bright scope represents by the scope of claims, and in the meaning and scope being equal comprising the scope with claims
Have altered and deform.
For example, in embodiment, synthetic resin film 12 is laminated in the inner surface of main body 11 in paper pulp moulded container 10, but
The outer surface of main body 11 can also be laminated in, the inner surface and the outer surface two sides can also be laminated in.
In addition, in embodiment, synthetic resin film is laminated in the almost whole face of the inner surface of main body, but can also partly lack
It is laminated less.
In addition, as shown in Fig. 2, when synthetic resin film 12 is laminated in main body 11 using the technology vacuumized when, it is former
It is only capable of being laminated in the single side of main body 11 on then, but for example resin film can be overlapped into by the outer surface layer vacuumized in main body 11
12, by assigning gas permeability with a large amount of micropores of the formation such as awl on the film so that inner surface also with vacuumize stacking
Film.
Symbol description
The paper pulp moulded container of 10 embodiments
11 main bodys
12 synthetic resin films
13 food
14 lids
M moulds
H heaters
T Thomson blades
F heating furnaces
C conveyers
Claims (6)
1. a kind of paper pulp moulded container, it possesses:
The main body that is made of paper mould product and
The resin film of at least single side of the main body is laminated in,
Moisture is accounted for below 4.0 weight % in the main body.
2. paper pulp moulded container according to claim 1, wherein,
The main body using cellulose fibre as principal component,
The resin film is thermoplastic resin film, and the main body is laminated in by deposition.
3. a kind of manufacture method of paper pulp moulded container, it includes following process:
Prepare the process of main body being made of paper mould product;
In the process of at least single side laminated resin film of the main body;And
The main body for being laminated with the resin film is dried and in a manner of moisture in the main body is accounted for below 4.0 weight % into
The process of row adjustment.
4. the manufacture method of paper pulp moulded container according to claim 3, wherein, the main body to being laminated with the resin film
The process that is adjusted of moisture done with the heating-up temperature based on 100 DEG C~260 DEG C, the heating of the heating time of 1~10 minute
It is dry to carry out.
5. a kind of manufacture method of foodstuff package, it includes following process:
Prepare the process of main body being made of paper mould product;
In the process of at least single side laminated resin film of the main body;
In the process for the main body filling food for being laminated with the resin film;
The main body for being filled with food for being laminated with the resin film is heated, 4.0 weight % are accounted for moisture in the main body
The preheating procedure that following mode is adjusted;And
The main body for being filled with food and have adjusted amount of moisture of the resin film will be laminated with, further heating, carries out the food
The main heating process that the heating of product is cooked.
6. the manufacture method of foodstuff package according to claim 5, wherein, while being laminated with conveyer conveying described
The main body of resin film, while being passed to heating furnace, is preheated in the upstream side of the conveyer conveying direction of the heating furnace
Process, main heating process is carried out in the downstream of the conveyer conveying direction of the heating furnace.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP2015-099727 | 2015-05-15 | ||
JP2015099727A JP6529334B2 (en) | 2015-05-15 | 2015-05-15 | Pulp mold container |
PCT/JP2016/062340 WO2016185855A1 (en) | 2015-05-15 | 2016-04-19 | Molded pulp container |
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Publication Number | Publication Date |
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CN107949523A true CN107949523A (en) | 2018-04-20 |
CN107949523B CN107949523B (en) | 2020-03-03 |
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CN201680025239.1A Active CN107949523B (en) | 2015-05-15 | 2016-04-19 | Pulp molding container |
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JP (1) | JP6529334B2 (en) |
CN (1) | CN107949523B (en) |
WO (1) | WO2016185855A1 (en) |
Cited By (1)
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CN117241928A (en) * | 2022-05-16 | 2023-12-15 | 株式会社浅野研究所 | Thermoforming device |
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KR102377254B1 (en) * | 2021-11-12 | 2022-03-23 | 주식회사 서주에코팩 | Manufacturing Method of Pulp Molds |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN117241928A (en) * | 2022-05-16 | 2023-12-15 | 株式会社浅野研究所 | Thermoforming device |
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WO2016185855A1 (en) | 2016-11-24 |
JP2016216055A (en) | 2016-12-22 |
JP6529334B2 (en) | 2019-06-12 |
CN107949523B (en) | 2020-03-03 |
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