JP6494404B2 - 振動型駆動装置、画像形成装置、位置決めステージ及び医用システム - Google Patents

振動型駆動装置、画像形成装置、位置決めステージ及び医用システム Download PDF

Info

Publication number
JP6494404B2
JP6494404B2 JP2015093997A JP2015093997A JP6494404B2 JP 6494404 B2 JP6494404 B2 JP 6494404B2 JP 2015093997 A JP2015093997 A JP 2015093997A JP 2015093997 A JP2015093997 A JP 2015093997A JP 6494404 B2 JP6494404 B2 JP 6494404B2
Authority
JP
Japan
Prior art keywords
bearing portion
bearing
driven body
vibration type
type driving
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.)
Active
Application number
JP2015093997A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016213937A (ja
JP2016213937A5 (enExample
Inventor
北島　暁
暁 北島
安倫 有満
安倫 有満
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2015093997A priority Critical patent/JP6494404B2/ja
Priority to US15/139,425 priority patent/US10948011B2/en
Publication of JP2016213937A publication Critical patent/JP2016213937A/ja
Publication of JP2016213937A5 publication Critical patent/JP2016213937A5/ja
Application granted granted Critical
Publication of JP6494404B2 publication Critical patent/JP6494404B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
    • F16C19/16—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls
    • F16C19/163—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls with angular contact
    • F16C19/166—Four-point-contact ball bearings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/002—Resistance welding; Severing by resistance heating specially adapted for particular articles or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/14—Projection welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/16—Resistance welding; Severing by resistance heating taking account of the properties of the material to be welded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/24—Seam welding
    • B23K26/28—Seam welding of curved planar seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/32—Bonding taking account of the properties of the material involved
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • B23K3/08—Auxiliary devices therefor
    • B23K3/087—Soldering or brazing jigs, fixtures or clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear wheels
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03G—ELECTROGRAPHY; ELECTROPHOTOGRAPHY; MAGNETOGRAPHY
    • G03G15/00—Apparatus for electrographic processes using a charge pattern
    • G03G15/65—Apparatus which relate to the handling of copy material
    • G03G15/6529—Transporting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
    • H02N2/163—Motors with ring stator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2103/00—Materials to be soldered, welded or cut
    • B23K2103/02—Iron or ferrous alloys
    • B23K2103/04—Steel or steel alloys
    • B23K2103/05—Stainless steel
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2316/00—Apparatus in health or amusement
    • F16C2316/10—Apparatus in health or amusement in medical appliances, e.g. in diagnosis, dentistry, instruments, prostheses, medical imaging appliances
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2324/00—Apparatus used in printing
    • F16C2324/16—Printing machines
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C25/00—Bearings for exclusively rotary movement adjustable for wear or play
    • F16C25/06—Ball or roller bearings
    • F16C25/08—Ball or roller bearings self-adjusting
    • F16C25/083—Ball or roller bearings self-adjusting with resilient means acting axially on a race ring to preload the bearing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/20—Arrangements or instruments for measuring magnetic variables involving magnetic resonance
    • G01R33/28—Details of apparatus provided for in groups G01R33/44 - G01R33/64
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03G—ELECTROGRAPHY; ELECTROPHOTOGRAPHY; MAGNETOGRAPHY
    • G03G2215/00—Apparatus for electrophotographic processes
    • G03G2215/00362—Apparatus for electrophotographic processes relating to the copy medium handling
    • G03G2215/00535—Stable handling of copy medium
    • G03G2215/00679—Conveying means details, e.g. roller

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Health & Medical Sciences (AREA)
  • Plasma & Fusion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • General Physics & Mathematics (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
JP2015093997A 2015-05-01 2015-05-01 振動型駆動装置、画像形成装置、位置決めステージ及び医用システム Active JP6494404B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2015093997A JP6494404B2 (ja) 2015-05-01 2015-05-01 振動型駆動装置、画像形成装置、位置決めステージ及び医用システム
US15/139,425 US10948011B2 (en) 2015-05-01 2016-04-27 Vibration drive device, image forming apparatus, positioning stage, and medical system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015093997A JP6494404B2 (ja) 2015-05-01 2015-05-01 振動型駆動装置、画像形成装置、位置決めステージ及び医用システム

Publications (3)

Publication Number Publication Date
JP2016213937A JP2016213937A (ja) 2016-12-15
JP2016213937A5 JP2016213937A5 (enExample) 2018-06-14
JP6494404B2 true JP6494404B2 (ja) 2019-04-03

Family

ID=57205520

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015093997A Active JP6494404B2 (ja) 2015-05-01 2015-05-01 振動型駆動装置、画像形成装置、位置決めステージ及び医用システム

Country Status (2)

Country Link
US (1) US10948011B2 (enExample)
JP (1) JP6494404B2 (enExample)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9089353B2 (en) 2011-07-11 2015-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
JP6502848B2 (ja) 2011-10-03 2019-04-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式手術用ロボットシステム
EP4357083A3 (en) 2012-05-01 2024-08-21 Board of Regents of the University of Nebraska Single site robotic device and related systems and methods
CA2880622C (en) 2012-08-08 2021-01-12 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
CA2967593C (en) 2014-11-11 2024-02-27 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
CN114027986B (zh) 2015-08-03 2024-06-14 内布拉斯加大学董事会 机器人手术装置系统及相关方法
CN114098975A (zh) 2016-05-18 2022-03-01 虚拟切割有限公司 机器人外科装置、系统及相关方法
CA3035064A1 (en) 2016-08-30 2018-03-08 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and an additional degree of freedom and related systems and methods
EP3687370B1 (en) 2017-09-27 2024-11-20 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems
US11013564B2 (en) 2018-01-05 2021-05-25 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
JP7110865B2 (ja) * 2018-09-20 2022-08-02 富士フイルムビジネスイノベーション株式会社 トナー搬送装置、現像装置、及び画像形成装置
EP3908171A4 (en) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
DE102019204007A1 (de) * 2019-03-25 2020-10-01 Aktiebolaget Skf Lageranordnung
CN110893498B (zh) * 2019-12-10 2022-02-22 江西金酷科技有限公司 一种旋转锡焊工装
CN113043056B (zh) * 2021-04-08 2022-06-21 无锡贝斯特精机股份有限公司 一种回转式轴承随动器
DE102021119529B4 (de) 2021-07-28 2025-02-13 Karl Storz Se & Co. Kg Lagerungsanordnung einer Taumelscheibe in einem Lenkgetriebebauteil und chirurgisches Instrument
CN119423972A (zh) * 2023-07-31 2025-02-14 武汉联影智融医疗科技有限公司 远心机构及手术机器人

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2537217B2 (ja) 1987-01-12 1996-09-25 キヤノン株式会社 振動波駆動装置
JPH05276768A (ja) * 1992-03-19 1993-10-22 T H K Kk 回転テーブル
US6107723A (en) * 1996-12-26 2000-08-22 Canon Kabushiki Kaisha Vibrating type driving device
JP2002340922A (ja) * 2001-01-25 2002-11-27 Nsk Ltd 車輪用回転検出装置
JP2009036321A (ja) * 2007-08-02 2009-02-19 Jtekt Corp 車軸用軸受装置
DE102008050620A1 (de) * 2008-10-09 2010-04-15 Imo Holding Gmbh Vorrichtung zur verdrehbaren Kopplung zweier koaxialer Anschlußelemente
JP2013210059A (ja) * 2012-03-30 2013-10-10 National Institute Of Advanced Industrial Science & Technology 回転軸支持機構及び回転導入機構
KR20140134566A (ko) * 2013-05-14 2014-11-24 사회복지법인 삼성생명공익재단 방사선 요법과 온열 요법을 병행할 수 있는 의료장치 및 이를 이용한 환부 치료방법

Also Published As

Publication number Publication date
US10948011B2 (en) 2021-03-16
JP2016213937A (ja) 2016-12-15
US20160319860A1 (en) 2016-11-03

Similar Documents

Publication Publication Date Title
JP6494404B2 (ja) 振動型駆動装置、画像形成装置、位置決めステージ及び医用システム
EP1806793B1 (en) Exciting method for elastic vibration member and vibratory driving device
US9705426B2 (en) Ultrasonic motor and lens apparatus including the same
JP4296041B2 (ja) 圧電モータ及び圧電モータ付き電子機器
JP4881406B2 (ja) 圧電モータ及び圧電モータ付き電子機器
JP2016027780A (ja) 振動型アクチュエータ、レンズ鏡筒、撮像装置及び自動ステージ
JP6961383B2 (ja) 振動型アクチュエータ
US20210242808A1 (en) Vibration-type actuator, pan head, and electronic apparatus
JP6611446B2 (ja) 振動型駆動装置及び撮像装置
JP2001008472A (ja) 振動波駆動装置
JP4992182B2 (ja) 回転機構付軸方向微動装置
JP2011010539A (ja) 振動アクチュエータ及び電子機器
JP2022136602A (ja) 振動型アクチュエータ及びそれを有する雲台、電子機器
JP2022155689A (ja) 振動型アクチュエータ並びにそれを有する光学機器及び電子機器
US11843279B2 (en) Vibration wave driving apparatus and image pickup apparatus
JP2022028254A (ja) 振動型アクチュエータ及び機器
JP2016063712A (ja) 振動体、振動型アクチュエータ、撮像装置及びステージ装置
JP5273270B2 (ja) 回転機構付軸方向微動機構およびそれを用いた位置決め装置
US11711032B2 (en) Vibration-type actuator and electronic apparatus including the same
JP2022132781A (ja) 振動型アクチュエータ、雲台、および電子機器
JP7395320B2 (ja) 振動型アクチュエータ、雲台、および電子機器
JP2010057362A (ja) 振動波駆動装置
JPH05294491A (ja) 画像記録装置の駆動機構、および画像記録装置
US20190386583A1 (en) Vibration wave motor and apparatus incorporating same
JP5066826B2 (ja) 駆動装置、電子機器、駆動装置の製造方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180427

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20180427

TRDD Decision of grant or rejection written
A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20190131

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20190205

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190305

R151 Written notification of patent or utility model registration

Ref document number: 6494404

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151