JP2016205549A - 流量制御弁 - Google Patents
流量制御弁 Download PDFInfo
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- JP2016205549A JP2016205549A JP2015089391A JP2015089391A JP2016205549A JP 2016205549 A JP2016205549 A JP 2016205549A JP 2015089391 A JP2015089391 A JP 2015089391A JP 2015089391 A JP2015089391 A JP 2015089391A JP 2016205549 A JP2016205549 A JP 2016205549A
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- 239000012530 fluid Substances 0.000 claims abstract description 65
- 230000007935 neutral effect Effects 0.000 claims description 91
- 230000004308 accommodation Effects 0.000 claims description 38
- 230000008929 regeneration Effects 0.000 claims description 23
- 238000011069 regeneration method Methods 0.000 claims description 23
- 238000011144 upstream manufacturing Methods 0.000 claims description 20
- 238000007599 discharging Methods 0.000 claims description 10
- 230000001172 regenerating effect Effects 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 description 85
- 238000010586 diagram Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/021—Valves for interconnecting the fluid chambers of an actuator
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K27/00—Construction of housing; Use of materials therefor
- F16K27/04—Construction of housing; Use of materials therefor of sliding valves
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
- F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3122—Special positions other than the pump port being connected to working ports or the working ports being connected to the return line
- F15B2211/3133—Regenerative position connecting the working ports or connecting the working ports to the pump, e.g. for high-speed approach stroke
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31535—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having multiple pressure sources and a single output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41554—Flow control characterised by the connections of the flow control means in the circuit being connected to a return line and a directional control valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/42—Flow control characterised by the type of actuation
- F15B2211/428—Flow control characterised by the type of actuation actuated by fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/45—Control of bleed-off flow, e.g. control of bypass flow to the return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Valve Housings (AREA)
Abstract
【解決手段】流量制御弁50は、バルブブロック60に、収容穴51の開口部側から、タンクポート52と、アクチュエータ排出ポート53と、内部パイロットポート54と、第1ポンプP1から吐出された作動流体が供給されるブロック内供給通路65と、が形成され、ブロック内供給通路65は、少なくともその一部が収容穴51の軸線上であって収容穴51の底部から開口部とは反対側に離間した位置に形成され、収容穴51の軸線上におけるブロック内供給通路65と内部パイロットポート54との距離L1は、収容穴51の軸線上における内部パイロットポート54とアクチュエータ排出ポート53との距離L2よりも大きいことを特徴とする。
【選択図】図3
Description
Claims (6)
- ポンプから供給される作動流体によって駆動されるアクチュエータを制御する流体圧制御装置に用いられる流量制御弁であって、
前記流体圧制御装置は、
前記ポンプに接続され前記アクチュエータの一方及び他方の圧力室への作動流体の給排を制御するとともに、前記一方の圧力室からの排出される作動流体を前記他方の圧力室に再生するための再生通路を有する制御弁と、
前記制御弁が中立位置にある場合に前記ポンプの作動流体をタンクに還流させる中立通路と、
前記中立通路から分岐し前記制御弁に作動流体を供給する供給通路と、
前記制御弁と前記タンクの間に設けられ前記アクチュエータの一方の圧力室から前記タンクに作動流体を排出するための第1タンク通路と、
前記制御弁と前記タンクの間に設けられ前記アクチュエータの他方の圧力室から前記タンクに作動流体を排出するための第2タンク通路と、
前記第1タンク通路に設けられ前記第1タンク通路を通過する作動流体の流量をパイロット圧力に応じて制御する流量制御弁と、を備え、
前記流量制御弁は、
有底円筒状の収容穴が形成されたバルブブロックと、
前記収容穴に挿入される弁体と、を有し、
前記バルブブロックには、前記収容穴と交わるように前記収容穴の開口部側から、前記第1タンク通路における前記弁体の下流側に設けられ前記タンクと連通するタンクポートと、前記第1タンク通路における前記弁体の上流側に設けられ前記制御弁に連通するアクチュエータ排出ポートと、前記供給通路に連通する内部パイロットポートと、が形成され、
前記バルブブロックには、前記ポンプから吐出された作動流体が供給されるブロック内供給通路がさらに形成され、
前記ブロック内供給通路は、少なくともその一部が前記収容穴の軸線上であって前記収容穴の底部から前記開口部とは反対側に離間した位置に形成され、
前記収容穴の前記軸線上における前記ブロック内供給通路と前記内部パイロットポートとの距離は、前記収容穴の前記軸線上における前記内部パイロットポートと前記アクチュエータ排出ポートとの距離よりも大きいことを特徴とする流量制御弁。 - 前記内部パイロットポートは、前記収容穴の前記軸線上における前記タンクポートと前記ブロック内供給通路とのほぼ中間の位置に設けられることを特徴とする請求項1に記載の流量制御弁。
- 前記パイロット圧力は、前記内部パイロットポートに供給される作動流体の圧力であり、
前記収容穴の底部と前記弁体の一方の端面との間に前記内部パイロットポートと連通する内部パイロット圧室が形成され、
前記弁体が前記パイロット圧力に応じて移動することによって、前記第1タンク通路を通過する作動流体の流量を制御することを特徴とする請求項1または2に記載の流量制御弁。 - 前記バルブブロックには、前記収容穴の前記軸線上における前記ブロック内供給通路と前記内部パイロットポートとの間の位置に、前記弁体の一方の端面が臨むドレンポートがさらに形成され、
前記バルブブロックと前記バルブブロックの外部に設けられるキャップ部材との間に前記弁体の他方の端面が臨む外部パイロット圧室が形成され、
前記パイロット圧力は、前記外部パイロット圧室に供給される作動流体の圧力であり、
前記弁体が前記パイロット圧力に応じて移動することによって、前記第1タンク通路を通過する作動流体の流量を制御することを特徴とする請求項1または2に記載の流量制御弁。 - 前記内部パイロットポートは、前記弁体によって常に閉塞されていることを特徴とする請求項4に記載の流量制御弁。
- 前記ブロック内供給通路は、前記中立通路の一部であることを特徴とする請求項1から5のいずれか一項に記載の流量制御弁。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015089391A JP6423754B2 (ja) | 2015-04-24 | 2015-04-24 | 流量制御弁 |
KR1020177030764A KR20170130575A (ko) | 2015-04-24 | 2016-04-08 | 유량 제어 밸브 |
PCT/JP2016/061590 WO2016171015A1 (ja) | 2015-04-24 | 2016-04-08 | 流量制御弁 |
GB1717277.6A GB2554244B (en) | 2015-04-24 | 2016-04-08 | Flow control valve |
CN201680023812.5A CN107532617B (zh) | 2015-04-24 | 2016-04-08 | 流量控制阀 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015089391A JP6423754B2 (ja) | 2015-04-24 | 2015-04-24 | 流量制御弁 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016205549A true JP2016205549A (ja) | 2016-12-08 |
JP6423754B2 JP6423754B2 (ja) | 2018-11-14 |
Family
ID=57143027
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015089391A Active JP6423754B2 (ja) | 2015-04-24 | 2015-04-24 | 流量制御弁 |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP6423754B2 (ja) |
KR (1) | KR20170130575A (ja) |
CN (1) | CN107532617B (ja) |
GB (1) | GB2554244B (ja) |
WO (1) | WO2016171015A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7021964B2 (ja) * | 2018-01-31 | 2022-02-17 | Kyb株式会社 | 弁装置 |
WO2019172131A1 (ja) * | 2018-03-09 | 2019-09-12 | Kyb株式会社 | 制御弁 |
JP6600386B1 (ja) * | 2018-07-06 | 2019-10-30 | Kyb株式会社 | 弁装置 |
CN111927844B (zh) * | 2020-07-16 | 2024-06-14 | 浙江工业大学 | 一种高频响高精度液压控制单元及其控制方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09302730A (ja) * | 1996-05-21 | 1997-11-25 | Samsung Heavy Ind Co Ltd | 可変再生が備えられた重装備用のコントロールバルブ |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04312630A (ja) * | 1991-04-11 | 1992-11-04 | Hitachi Constr Mach Co Ltd | 建設機械の油圧回路 |
JP4776366B2 (ja) * | 2005-12-14 | 2011-09-21 | カヤバ工業株式会社 | アクチュエータ制御装置 |
US9309901B2 (en) * | 2011-07-12 | 2016-04-12 | Volvo Construction Equipment Ab | Flow control valve for construction machinery |
EP2765244A4 (en) * | 2011-10-07 | 2015-05-27 | Volvo Constr Equip Ab | PRIORITY CONTROL SYSTEM FOR CONSTRUCTION MACHINES |
-
2015
- 2015-04-24 JP JP2015089391A patent/JP6423754B2/ja active Active
-
2016
- 2016-04-08 KR KR1020177030764A patent/KR20170130575A/ko not_active Application Discontinuation
- 2016-04-08 GB GB1717277.6A patent/GB2554244B/en active Active
- 2016-04-08 CN CN201680023812.5A patent/CN107532617B/zh active Active
- 2016-04-08 WO PCT/JP2016/061590 patent/WO2016171015A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09302730A (ja) * | 1996-05-21 | 1997-11-25 | Samsung Heavy Ind Co Ltd | 可変再生が備えられた重装備用のコントロールバルブ |
US5862831A (en) * | 1996-05-21 | 1999-01-26 | Volvo Construction Equipment Korea Co., Ltd. | Variable-regeneration directional control valve for construction vehicles |
Also Published As
Publication number | Publication date |
---|---|
GB201717277D0 (en) | 2017-12-06 |
GB2554244B (en) | 2020-08-26 |
KR20170130575A (ko) | 2017-11-28 |
JP6423754B2 (ja) | 2018-11-14 |
CN107532617B (zh) | 2019-07-26 |
GB2554244A (en) | 2018-03-28 |
WO2016171015A1 (ja) | 2016-10-27 |
CN107532617A (zh) | 2018-01-02 |
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