JPH0555029A - Bidirectional actuator - Google Patents
Bidirectional actuatorInfo
- Publication number
- JPH0555029A JPH0555029A JP21191391A JP21191391A JPH0555029A JP H0555029 A JPH0555029 A JP H0555029A JP 21191391 A JP21191391 A JP 21191391A JP 21191391 A JP21191391 A JP 21191391A JP H0555029 A JPH0555029 A JP H0555029A
- Authority
- JP
- Japan
- Prior art keywords
- plunger
- yoke
- magnetic pole
- coil
- bidirectional actuator
- 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.)
- Granted
Links
Landscapes
- Electromagnets (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は双方向アクチュエータに
関する。FIELD OF THE INVENTION This invention relates to bidirectional actuators.
【０００２】[0002]
【従来の技術】従来、磁力を利用した双方向アクチュエ
ータとしては、位置保持用のマグネット（永久磁石）を
用いたものとか、位置保持用の電磁石を用いたものがあ
った。2. Description of the Related Art Hitherto, as bidirectional actuators utilizing magnetic force, there have been one using a position holding magnet (permanent magnet) and one using a position holding electromagnet.
【０００３】[0003]
【発明が解決しようとする課題】前記従来技術のうちの
前者は、保持用マグネットを必要とするため、そのぶん
部品点数が多くなり、コスト高になるという問題点があ
った。The former of the above-mentioned prior arts has a problem that the number of parts is increased and the cost is increased because a holding magnet is required.
【０００４】又、後者は、電流を流すことで保持するた
め、消費電力が大きく、電池駆動が困難であるという問
題点があった。そこで、本発明はこのような問題点を解
消できる双方向アクチュエータを提供することを目的と
する。Further, the latter has a problem in that it consumes a large amount of electric power and is difficult to be driven by a battery because the latter is held by flowing a current. Therefore, an object of the present invention is to provide a bidirectional actuator that can solve such problems.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に、第１の発明における双方向アクチュエータは、半硬
質磁性材料からなる棒状のプランジヤ（１）と、該プラ
ンジヤ（１）の端部に取付けた出力軸（３）と、プラン
ジヤ（１）の端部（１ａ）（１ｂ）と中央部（１ｃ）に
対向する磁極部（４ａ）（４ｂ）（４ｃ）を有するヨー
ク（４）と、該ヨーク（４）に磁気を発生させてプラン
ジヤ（１）を双方向に駆動する第１と第２のコイル
（５）（６）とを具備し、プランジヤ（１）の残留磁気
によってプランジヤ（１）の位置を保持することを特徴
とする。In order to achieve the above object, a bidirectional actuator according to a first aspect of the present invention comprises a rod-shaped plunger (1) made of a semi-hard magnetic material and an end portion of the plunger (1). An attached output shaft (3), a yoke (4) having magnetic pole portions (4a) (4b) (4c) facing the end portions (1a) (1b) and the central portion (1c) of the plunger (1), The first and second coils (5) and (6) for bidirectionally driving the plunger (1) by generating magnetism in the yoke (4) are provided, and the remanence of the plunger (1) causes the plunger (1) to move. ) Is maintained.
【０００６】ヨーク（４）で出力軸（３）を案内すると
よい。又、上記目的を達成するために、第２の発明は、
半硬質磁性材料からなる棒状のプランジャ（１１）と、
該プランジャ（１１）の端部に取付けた出力軸（１３）
と、プランジャ（１１）の両端部（１１ａ）（１１ｂ）
に夫々対向する磁極部（２１ａ）（２２ｂ）を有する第
１と第２の固定鉄心（２１）（２２）と、プランジャ
（１１）の中央部（１１ｃ）に対向する磁極部（１４
ｃ）を有するヨーク（１４Ｂ）と、該ヨーク（１４Ｂ）
と前記両固定鉄心（２１）（２２）に磁気を発生させて
プランジャ（１１）を双方向に駆動する第１と第２のコ
イル（１５）（１６）とを具備し、プランジャ（１１）
の残留磁気によってプランジャ（１１）の位置を保持す
ることを特徴とする。The output shaft (3) may be guided by the yoke (4). In order to achieve the above object, the second invention is
A rod-shaped plunger (11) made of a semi-hard magnetic material,
Output shaft (13) attached to the end of the plunger (11)
And both ends (11a) (11b) of the plunger (11)
First and second fixed iron cores (21) and (22) having magnetic pole portions (21a) and (22b) facing each other, and a magnetic pole portion (14 facing the central portion (11c) of the plunger (11).
a yoke (14B) having c), and the yoke (14B)
And first and second coils (15) and (16) for bidirectionally driving the plunger (11) by generating magnetism in the fixed iron cores (21) and (22), and the plunger (11).
The position of the plunger (11) is held by the remanent magnetism.
【０００７】一方の固定鉄心（２２）で出力軸（１３）
を案内するとよい。更に、一方の固定鉄心（２２）が双
方向アクチュエータを機器のケースに取付けるためのつ
ば（２２ｄ）を形成すると共に、プランジャ（１１）が
その内部を移動するシールパイプ（２３）を具備し、こ
のシールパイプ（２３）の各端部は夫々第１と第２の固
定鉄心（２１）（２２）にＯリング（２５）（２４）を
挾んで嵌合させると、双方向アクチュエータを機器に取
付けたときに、機器内の流体が外部に漏れないようにす
るのに効果的である。The output shaft (13) is provided by one fixed iron core (22).
You should guide me. Further, one fixed iron core (22) forms a collar (22d) for attaching the bidirectional actuator to the case of the device, and the plunger (11) is provided with a seal pipe (23) which moves inside thereof. The two ends of the seal pipe (23) were fitted with the O-rings (25) and (24) sandwiched between the first and second fixed iron cores (21) and (22), respectively, to attach the bidirectional actuator to the device. Sometimes, it is effective to prevent the fluid in the device from leaking to the outside.
【０００８】[0008]
【作用】第１の発明で、第１のコイルに励磁電流を流す
と、ヨークに磁気が発生して、プランジヤを一方向に付
勢して移動させ、出力軸が動く。このときプランジヤが
磁化されるので、その後第１のコイルの電流を切って
も、プランジヤはその残留磁気でその位置（第１の位
置）を保持する。In the first aspect of the present invention, when an exciting current is passed through the first coil, magnetism is generated in the yoke, and the plunger is urged and moved in one direction to move the output shaft. Since the plunger is magnetized at this time, even if the current in the first coil is cut off thereafter, the plunger retains its position (first position) due to its residual magnetism.
【０００９】次に第２のコイルに励磁電流を流すと、プ
ランジヤが他方に付勢されて移動し、出力軸も他方に動
く。このときプランジヤが磁化されるので、プランジヤ
はその位置（第２の位置）を保持する。Next, when an exciting current is passed through the second coil, the plunger is urged to move to the other side, and the output shaft also moves to the other side. At this time, since the plunger is magnetized, the plunger retains its position (second position).
【００１０】[0010]
【実施例】図１に示す第１発明の実施例で、１は棒状で
図の長手方向に長いプランジヤで、半硬質磁性材料で構
成されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the embodiment of the first invention shown in FIG. 1, 1 is a rod-shaped plunger which is long in the longitudinal direction of the drawing, and is made of a semi-hard magnetic material.
【００１１】２、３はプランジヤ１の上下両端に取付け
られた軸で、そのうちの一方の軸３は出力軸として機能
する。４はヨークで、前記プランジヤ１の上端部１ａに
対向する磁極部４ａと、プランジヤ１の下端部１ｂに対
向する磁極部４ｂと、プランジヤ１の中央部１ｃに対向
する磁極部４ｃとを有する。Reference numerals 2 and 3 denote shafts attached to the upper and lower ends of the plunger 1, and one of the shafts 3 functions as an output shaft. Reference numeral 4 denotes a yoke, which has a magnetic pole portion 4a facing the upper end portion 1a of the plunger 1, a magnetic pole portion 4b facing the lower end portion 1b of the plunger 1, and a magnetic pole portion 4c facing the central portion 1c of the plunger 1.
【００１２】５と６は第１と第２のコイルで、第１のコ
イル５に励磁電流を流すと、ヨーク４の磁極部４ａ、４
ｃに磁気が発生し、プランジヤ１を上方に駆動する。こ
のとき、プランジヤ１の上半分が磁化されるため、第１
のコイル５の励磁電流を切っても、プランジヤ１の残留
磁気によって、プランジヤ１の上端部１ａがヨーク４の
磁極部４ａに磁力で吸着したまゝその位置を保持する。Reference numerals 5 and 6 are first and second coils. When an exciting current is passed through the first coil 5, magnetic pole portions 4a, 4 of the yoke 4 are formed.
Magnetism is generated in c and drives the plunger 1 upward. At this time, since the upper half of the plunger 1 is magnetized, the first
Even if the exciting current of the coil 5 is turned off, the upper end portion 1a of the plunger 1 is magnetically attracted to the magnetic pole portion 4a of the yoke 4 by the residual magnetism of the plunger 1, and the position is maintained.
【００１３】このように上限位置に、プランジヤ１が保
持された状態を図２に示す。第１のコイル５に励磁電流
を流すには、図１で、第１のコイル５と、電池７とに直
列に挿入された第１のスイッチ８を一時的（瞬間的）に
閉じればよい。FIG. 2 shows a state in which the plunger 1 is held at the upper limit position in this way. In order to supply the exciting current to the first coil 5, the first switch 8 inserted in series with the first coil 5 and the battery 7 in FIG. 1 may be temporarily (momentarily) closed.
【００１４】次に図１のスイッチ９を閉じて、第２のコ
イル６に励磁電流を流すと、ヨーク４の磁極部４ｂと４
ｃに磁気が発生し、プランジヤ１を下方に駆動する。こ
のときプランジヤ１の下半分が磁化されるため、そのあ
と、第２のコイル６の励磁電流を切っても、プランジヤ
１の残留磁気によって、プランジヤ１の下端部１ｂがヨ
ーク４の磁極部４ｂに磁力で吸着したままその位置を保
持する。Next, when the switch 9 shown in FIG. 1 is closed and an exciting current is passed through the second coil 6, the magnetic pole portions 4b and 4 of the yoke 4 are made.
Magnetism is generated in c and drives the plunger 1 downward. At this time, since the lower half of the plunger 1 is magnetized, even if the exciting current of the second coil 6 is cut off thereafter, the lower end portion 1b of the plunger 1 is moved to the magnetic pole portion 4b of the yoke 4 by the residual magnetism of the plunger 1. Holds its position while being attracted by magnetic force.
【００１５】なお、軸２と出力軸３は、ヨーク４の磁極
部４ａと４ｂによって、上下に摺動可能に案内されてい
る。図４と図５は請求項３〜５の第２発明の実施例で、
１１は棒状で図の長手方向に長いプランジャで、半硬質
磁性材料で構成されている。The shaft 2 and the output shaft 3 are vertically slidably guided by the magnetic pole portions 4a and 4b of the yoke 4. 4 and 5 show an embodiment of the second invention of claims 3 to 5,
Reference numeral 11 denotes a rod-shaped plunger that is long in the longitudinal direction of the drawing and is made of a semi-hard magnetic material.
【００１６】１３はプランジャ１１の下端に取付けられ
た出力軸である。１４Ａはコの字形に形成された第１の
ヨークで、その中央部には第１の固定鉄心２１がかしめ
付けられている。この固定鉄心２１は前記プランジャ１
１の上端部１１ａに対向する磁極部２１ａを有する。Reference numeral 13 is an output shaft attached to the lower end of the plunger 11. 14A is a first yoke formed in a U shape, and a first fixed iron core 21 is caulked to the central portion thereof. This fixed iron core 21 is the plunger 1
1 has a magnetic pole portion 21a facing the upper end portion 11a.
【００１７】２３はその上端を固定鉄心２１に嵌合した
シールパイプで、このシールパイプ２３内を前記プラン
ジャ１１が上下方向に摺動する。２２は第２の固定鉄心
で、前記プランジャ１１の下端部１１ｂと対向する磁極
部２２ｂと、つば２２ｄとが一体的に形成されている。Reference numeral 23 denotes a seal pipe having its upper end fitted to the fixed iron core 21, and the plunger 11 slides in the seal pipe 23 in the vertical direction. Reference numeral 22 denotes a second fixed iron core, and a magnetic pole portion 22b facing the lower end portion 11b of the plunger 11 and a collar 22d are integrally formed.
【００１８】前記シールパイプ２３の下端は、磁極部２
２ｂを覆うように固定鉄心２２に嵌合され、固定鉄心２
２とシールパイプ２３との間にはシール用のＯリング２
４が設けてある。The lower end of the seal pipe 23 has a magnetic pole portion 2
2b is fitted to the fixed core 22 so as to cover the fixed core 2b.
2 and the seal pipe 23 between the O-ring 2 for sealing
4 is provided.
【００１９】又、同様に、固定鉄心２１とシールパイプ
２１との間にシール用のＯリング２５が設けてある。１
５、１６は夫々ボビン１５Ａと１６Ａとに巻回した第１
と第２のコイルで、両ボビン１５Ａと１５Ｂの間に板状
の第２のヨーク１４Ｂを挾んだかたちで、両コイルがシ
ールパイプ２３に嵌めてある。Similarly, an O-ring 25 for sealing is provided between the fixed iron core 21 and the seal pipe 21. 1
Nos. 5 and 16 are the first wound around bobbins 15A and 16A, respectively.
With the second coil, both coils are fitted to the seal pipe 23 in such a manner that the plate-shaped second yoke 14B is sandwiched between the bobbins 15A and 15B.
【００２０】第２のヨーク１４Ｂは、プランジャ１１の
中央部１１ｃにシールパイプ２１の厚みを介して対向す
る磁極部１４ｃを有する。第２の固定鉄心２２のつば２
２ｄは、コの字形の第１のヨーク１４Ａの両脚部と固定
鉄心２２の磁極部２２ｂを接続する磁路を構成するとと
もに、本発明の双方向アクチュエータを機器のケース２
６にねじ２７で固定する取付用つばとしての役目を果
す。The second yoke 14B has a magnetic pole portion 14c facing the central portion 11c of the plunger 11 with the thickness of the seal pipe 21 interposed therebetween. Brim 2 of the second fixed iron core 22
2d constitutes a magnetic path that connects both legs of the U-shaped first yoke 14A and the magnetic pole portion 22b of the fixed iron core 22, and the bidirectional actuator of the present invention is used for the equipment case 2
It serves as a mounting collar that is fixed to 6 with screws 27.
【００２１】２８はケース２６とつば２２ｄの間に挿入
されたＯリングである。つば２２ｄ、シールパイプ２
３、及びＯリング２４、２５、２８は、機器のケース２
６の内側（図４で下側）の流体がケース２６の外部（図
４で上側）へ漏れないようなシール構造として作用す
る。Reference numeral 28 is an O-ring inserted between the case 26 and the collar 22d. Collar 22d, seal pipe 2
3, and the O-rings 24, 25, 28 are the case 2 of the device.
6 acts as a sealing structure that prevents fluid inside 6 (lower side in FIG. 4) from leaking to the outside of case 26 (upper side in FIG. 4).
【００２２】図４、図５に示す実施例の場合も、プラン
ジャ１１が図４に示す下限位置と、別の上限位置とを保
持する双方向アクチュエータとして働らくが、その作用
は図１〜図３について説明した第１発明の場合と類似で
あるので、その説明は省略する。Also in the embodiment shown in FIGS. 4 and 5, the plunger 11 acts as a bidirectional actuator for holding the lower limit position shown in FIG. 4 and another upper limit position. Since it is similar to the case of the first invention described with respect to No. 3, its description is omitted.
【００２３】[0023]
【発明の効果】本発明の双方向アクチュエータは上述の
ように構成されているので、保持用マグネット（永久磁
石）が不要で構造が簡単となり、しかも、位置保持のた
めに電磁石のコイルに励磁電流を継続して流す必要がな
いので、電池駆動の省電力型双方向アクチュエータが実
現できる。Since the bidirectional actuator of the present invention is constructed as described above, it does not require a holding magnet (permanent magnet) and has a simple structure. Moreover, in order to hold the position, an exciting current is applied to the coil of the electromagnet. Since it is not necessary to continuously flow the battery, it is possible to realize a battery-driven, power-saving bidirectional actuator.
【００２４】又、機器に取付けたときに、機器内部の流
体が外部へ漏れるのを防止するのに好都合である。Further, when it is attached to the equipment, it is convenient to prevent the fluid inside the equipment from leaking to the outside.
【図１】本発明の実施例の模式図。FIG. 1 is a schematic diagram of an example of the present invention.
【図２】本発明の実施例の一態様を示す模式図。FIG. 2 is a schematic view showing an aspect of an embodiment of the present invention.
【図３】本発明の実施例の他の態様を示す模式図。FIG. 3 is a schematic view showing another aspect of the embodiment of the present invention.
【図４】本発明の他の実施例の縦断面図。FIG. 4 is a vertical sectional view of another embodiment of the present invention.
【図５】図４の実施例の平面図。5 is a plan view of the embodiment of FIG.
１、１１ プランジヤ １ａ、１１ａ 上端部 １ｂ、１１ｂ 下端部 １ｃ、１１ｃ 中央部 ３、１３ 出力軸 ４、４Ｂ ヨーク ４ａ、４ｂ、４ｃ、２１ａ、２２ｂ 磁極部 ５、１５ 第１のコイル ６、１６ 第２のコイル ２１、２２ 固定鉄心 ２２ｄ つば ２３ シールパイプ ２４、２５ Ｏリング 1, 11 Plunger 1a, 11a Upper end portion 1b, 11b Lower end portion 1c, 11c Central portion 3, 13 Output shaft 4, 4B Yoke 4a, 4b, 4c, 21a, 22b Magnetic pole portion 5, 15 First coil 6, 16th 2 coil 21,22 fixed iron core 22d collar 23 seal pipe 24,25 O-ring
Claims (5)
ヤ（１）と、該プランジヤ（１）の端部に取付けた出力
軸（３）と、プランジヤ（１）の端部（１ａ）（１ｂ）
と中央部（１ｃ）に対向する磁極部（４ａ）（４ｂ）
（４ｃ）を有するヨーク（４）と、該ヨーク（４）に磁
気を発生させてプランジヤ（１）を双方向に駆動する第
１と第２のコイル（５）（６）とを具備し、プランジヤ
（１）の残留磁気によってプランジヤ（１）の位置を保
持することを特徴とする双方向アクチュエータ。1. A rod-shaped plunger (1) made of a semi-hard magnetic material, an output shaft (3) attached to the end of the plunger (1), and ends (1a) (1b) of the plunger (1).
And magnetic pole portions (4a) (4b) facing the central portion (1c)
A yoke (4) having (4c), and first and second coils (5) and (6) for bidirectionally driving the plunger (1) by generating magnetism in the yoke (4), A bidirectional actuator characterized in that the position of the plunger (1) is held by the residual magnetism of the plunger (1).
ている請求項１の双方向アクチュエータ。2. A bidirectional actuator according to claim 1, wherein the output shaft (3) is guided by a yoke (4).
ャ（１１）と、該プランジャ（１１）の端部に取付けた
出力軸（１３）と、プランジャ（１１）の両端部（１１
ａ）（１１ｂ）に夫々対向する磁極部（２１ａ）（２２
ｂ）を有する第１と第２の固定鉄心（２１）（２２）
と、プランジャ（１１）の中央部（１１ｃ）に対向する
磁極部（１４ｃ）を有するヨーク（１４Ｂ）と、該ヨー
ク（１４Ｂ）と前記両固定鉄心（２１）（２２）に磁気
を発生させてプランジャ（１１）を双方向に駆動する第
１と第２のコイル（１５）（１６）とを具備し、プラン
ジャ（１１）の残留磁気によってプランジャ（１１）の
位置を保持することを特徴とする双方向アクチュエー
タ。3. A rod-shaped plunger (11) made of a semi-hard magnetic material, an output shaft (13) attached to the end of the plunger (11), and both ends (11) of the plunger (11).
a) magnetic pole parts (21a) (22) facing (11b) respectively
b) a first and a second stationary core (21) (22)
A yoke (14B) having a magnetic pole portion (14c) facing the central portion (11c) of the plunger (11), and magnetism is generated in the yoke (14B) and the fixed iron cores (21) (22). It is characterized by comprising first and second coils (15) (16) for bidirectionally driving the plunger (11), and holding the position of the plunger (11) by the remanent magnetism of the plunger (11). Bidirectional actuator.
２）で案内されている請求項３の双方向アクチュエー
タ。4. The fixed iron core (2) having one output shaft (13).
Bidirectional actuator according to claim 3, guided in 2).
ュエータを機器のケースに取付けるためのつば（２２
ｄ）を形成すると共に、プランジャ（１１）がその内部
を移動するシールパイプ（２３）を具備し、このシール
パイプ（２３）の各端部は夫々第１と第２の固定鉄心
（２１）（２２）にＯリング（２５）（２４）を挾んで
嵌合していることを特徴とする請求項４の双方向アクチ
ュエータ。5. One of the fixed cores (22) for attaching the bidirectional actuator to the case of the device (22).
d), and the plunger (11) comprises a seal pipe (23) which moves inside thereof, each end of this seal pipe (23) having a first and a second fixed core (21) ( The bidirectional actuator according to claim 4, wherein the O-rings (25) and (24) are fitted in and fitted to the (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3211913A JP3017850B2 (en) | 1991-08-23 | 1991-08-23 | Bidirectional actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3211913A JP3017850B2 (en) | 1991-08-23 | 1991-08-23 | Bidirectional actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0555029A true JPH0555029A (en) | 1993-03-05 |
| JP3017850B2 JP3017850B2 (en) | 2000-03-13 |
Family
ID=16613735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3211913A Expired - Lifetime JP3017850B2 (en) | 1991-08-23 | 1991-08-23 | Bidirectional actuator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3017850B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759208A (en) * | 1993-08-13 | 1995-03-03 | Murata Mach Ltd | Holding unit for linear carrying truck |
| US7091807B2 (en) | 2003-08-12 | 2006-08-15 | Japan Ae Power Systems Corporation | Electromagnetic device |
| US7093778B1 (en) * | 1999-08-11 | 2006-08-22 | Brp Us Inc. | Device for delivering and/or spraying flowable media, especially fluids |
| CN113316692A (en) * | 2019-02-01 | 2021-08-27 | 拉普兰塔-拉登理工大学 | Magnetic actuator and transmission system comprising the same |
| JP2022062678A (en) * | 2020-10-08 | 2022-04-20 | ザ・スウォッチ・グループ・リサーチ・アンド・ディベロップメント・リミテッド | Solenoid microactuator with magnetic retraction |
-
1991
- 1991-08-23 JP JP3211913A patent/JP3017850B2/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759208A (en) * | 1993-08-13 | 1995-03-03 | Murata Mach Ltd | Holding unit for linear carrying truck |
| US7093778B1 (en) * | 1999-08-11 | 2006-08-22 | Brp Us Inc. | Device for delivering and/or spraying flowable media, especially fluids |
| US7091807B2 (en) | 2003-08-12 | 2006-08-15 | Japan Ae Power Systems Corporation | Electromagnetic device |
| CN113316692A (en) * | 2019-02-01 | 2021-08-27 | 拉普兰塔-拉登理工大学 | Magnetic actuator and transmission system comprising the same |
| US11927264B2 (en) | 2019-02-01 | 2024-03-12 | Lappeenrannan-Lahden Teknillinen Yliopisto Lut | Magnetic actuator and a gear system comprising the same |
| JP2022062678A (en) * | 2020-10-08 | 2022-04-20 | ザ・スウォッチ・グループ・リサーチ・アンド・ディベロップメント・リミテッド | Solenoid microactuator with magnetic retraction |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3017850B2 (en) | 2000-03-13 |
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