JPH0622393B2 - Brushless motor - Google Patents

Brushless motor

Info

Publication number
JPH0622393B2
JPH0622393B2 JP59199917A JP19991784A JPH0622393B2 JP H0622393 B2 JPH0622393 B2 JP H0622393B2 JP 59199917 A JP59199917 A JP 59199917A JP 19991784 A JP19991784 A JP 19991784A JP H0622393 B2 JPH0622393 B2 JP H0622393B2
Authority
JP
Japan
Prior art keywords
pole
permanent magnet
magnetic pole
magnetic
magnet rotor
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.)
Expired - Lifetime
Application number
JP59199917A
Other languages
Japanese (ja)
Other versions
JPS6181162A (en
Inventor
康夫 鈴木
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.)
Panasonic Electric Works Co Ltd
Original Assignee
Matsushita Electric Works Ltd
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 Matsushita Electric Works Ltd filed Critical Matsushita Electric Works Ltd
Priority to JP59199917A priority Critical patent/JPH0622393B2/en
Priority to GB08519639A priority patent/GB2163607B/en
Priority to US06/763,995 priority patent/US4644233A/en
Priority to DE19853529174 priority patent/DE3529174A1/en
Priority to FR8512591A priority patent/FR2569504B1/en
Priority to IT48487/85A priority patent/IT1182834B/en
Publication of JPS6181162A publication Critical patent/JPS6181162A/en
Publication of JPH0622393B2 publication Critical patent/JPH0622393B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Brushless Motors (AREA)

Description

【発明の詳細な説明】 ［技術分野］ 本発明は位置検出にホール素子などの磁気感応素子を用
いた２極の無刷子電動機に関するものである。Description: TECHNICAL FIELD The present invention relates to a two-pole brushless electric motor using a magnetically sensitive element such as a Hall element for position detection.

［背景技術］ 近年バッテリ電源で使用できしかもブラシの摩耗がなく
長寿命のファン用電動機として、磁気感応素子を使用し
た無刷子型直流電動機が開発されている。この種の電動
機は２相の電機子巻線を施した突極型固定子の外側また
は内側に永久磁石回転子を回転させるものであるが、２
相直流電動機に特有のトルクの死点をなくすために、第
４図(a)に示すように回転子として４極部分と８極部分
とよりなる円筒状永久磁石１２を使用すると共に、第４
図(b)に示すように固定子には巻線を施した主極１３の
中間に巻線のない補極１４を設けて、基本波の1/2の周
期を持つ補助トルクを発生させ、第３図に示すように、
磁気感応素子による基本波Ｔ1の相切換え時点(θ＝π，
２π)で補助トルクＴ2がプラス側(回転方向側)の最大値
をとるように構成することによって自起動特性を持たせ
ていた。しかしこの方法は永久磁石回転子の構造が複雑
で着磁が容易でない上に、８極部分の磁極の強さが劣化
し易いという問題があり、また固定子には主極と同数の
補極を必要とするので小形軽量化し難いという問題があ
った。BACKGROUND ART In recent years, a brushless DC motor using a magnetically sensitive element has been developed as a fan motor that can be used with a battery power source and has no brush wear and has a long life. This type of motor rotates a permanent magnet rotor outside or inside a salient pole type stator having a two-phase armature winding.
In order to eliminate the dead point of the torque peculiar to the phase DC motor, as shown in FIG. 4 (a), the cylindrical permanent magnet 12 consisting of the 4-pole part and the 8-pole part is used as the rotor, and
As shown in Fig. (B), a stator is provided with a windingless main pole 13 and a windingless commutating pole 14 to generate an auxiliary torque having a half cycle of the fundamental wave. As shown in FIG.
When the phase of the fundamental wave T 1 is switched by the magnetically sensitive element (θ = π,
The auxiliary torque T 2 has a maximum value on the plus side (rotation direction side) at 2π), thereby providing the self-starting characteristic. However, this method has the problems that the structure of the permanent magnet rotor is complicated and it is not easy to magnetize, and that the strength of the magnetic poles of the eight poles is easily deteriorated, and the stator has the same number of auxiliary poles as the main pole. However, there is a problem in that it is difficult to reduce the size and weight of the product.

［発明の目的］ 本発明は上記の問題点に鑑み為されたものであり、その
目的とするところは、上記従来例と同等の自起動機能を
持ち、しかも固定子および永久磁石回転子の構造がきわ
めて簡単で小形電気機器に適した無刷子電動機を提供す
るにある。[Object of the Invention] The present invention has been made in view of the above problems, and an object of the present invention is to have a self-starting function equivalent to that of the above-mentioned conventional example, and further, a structure of a stator and a permanent magnet rotor. Is to provide a brushless electric motor which is extremely simple and suitable for small electric devices.

［発明の開示］ 本発明の無刷子電動機は、異磁極を回転方向に等間隔で
交互に着磁した２極の永久磁石回転子と、それぞれ永久
磁石回転子の着磁面に対向する幅広磁極と幅狭磁極とを
１極ずつ備えた凸極型固定子と、永久磁石回転子の着磁
面に対向する定位置に固定され通過する永久磁石回転子
の磁極の極性を検出する磁気感応素子と、磁気感応素子
により検出された極性に応じて固定子巻線への通電方向
を交互に切り換えることにより幅広磁極と幅狭磁極との
極性を交互に切り換える電流切換回路とを備え、幅狭磁
極は磁極幅が幅広磁極の４０〜６０％に設定され、幅狭
磁極は中心線が幅広磁極の中心線に対して永久磁石回転
子の回転方向の前側に２００〜２４０度をなす位置に配
置されたものであり、１個の磁気感応素子と２極固定子
の組み合わせにより、機械的構造と電気回路を簡単化す
ると共に、突磁極の形状によって自起動特性を得るよう
にしたものである。DISCLOSURE OF THE INVENTION A brushless motor according to the present invention includes a two-pole permanent magnet rotor in which different magnetic poles are alternately magnetized at equal intervals in a rotation direction, and a wide magnetic pole facing a magnetized surface of each permanent magnet rotor. And a magnetic pole having a narrow magnetic pole, and a magnetic sensitive element for detecting the polarity of the magnetic pole of the permanent magnet rotor that is fixed and passes at a fixed position facing the magnetized surface of the permanent magnet rotor. And a current switching circuit that alternately switches the polarities of the wide magnetic pole and the narrow magnetic pole by alternately switching the energizing direction to the stator winding according to the polarity detected by the magnetic sensitive element. Has a magnetic pole width set to 40 to 60% of the wide magnetic pole, and the narrow magnetic pole is arranged at a position where the center line is 200 to 240 degrees in front of the center line of the wide magnetic pole in the rotation direction of the permanent magnet rotor. Of one magnetic sensitive element and two-pole stator By combining them, the mechanical structure and the electric circuit are simplified, and the self-starting characteristics are obtained by the shape of the salient magnetic poles.

第１図および第２図は本発明の一実施例を示したもので
ある。第１図(a)および(b)において、本体ケーシング１
に固定された円筒状支持体２の周囲に、積層鉄芯よりな
る２極の突極型固定子３が固設され、両磁極４および５
には直列にバイファイラ巻きの２相の電機子巻線６が施
されており、両相には互いに逆方向の電流が交互に供給
されるようになっている。円筒状支持体２には内側にベ
アリング７を介して回転軸８を保持されており、この回
転軸８の一端に固定されたカップ状ヨーク９とその内周
面に固着された円筒状永久磁石１０とにより回転子が構
成されている。永久磁石１０は(b)図に示すように、２
極構成で周面にＮＳが等間隔に着磁されており、一方固
定子は磁極幅Ｄ1の大きな幅広磁極４と磁極幅Ｄ2が幅広
磁極の約1/2に形成された幅狭磁極５とで構成され、さ
らに幅狭磁極５は等間隔位置から回転方向側へ２０度乃
至４０度偏位させられている。また幅広磁極４の中央線
から回転方向側へ約９０度離れた箇所に、通過する回転
子磁極の検出するための磁気感応素子１１が装着されて
おり、この磁気感応素子１１の出力によって、同図(c)
に示した電流切換回路の２個のトランジスタＱ1および
Ｑ2を制御し、固定子の２本の巻線Ｌ1およびＬ2に交互
に電流を供給している。すなわち磁気感応素子としての
ホール素子１１は一方の極性(本実施例ではＮ極)を検出
したときのみ信号を出力して、トランジスタＱ3をオン
にすることにより、トランジスタＱ1をオン、Ｑ2をオフ
にし、またＳ極を検出したときにはトランジスタＱ3を
オフにして、Ｑ1をオフ、Ｑ2をオンにして、巻線Ｌ1と
Ｌ2とに電流を切り換えるようになっているのである。1 and 2 show one embodiment of the present invention. 1 (a) and 1 (b), the main body casing 1
A two-pole salient pole type stator 3 made of a laminated iron core is fixedly installed around a cylindrical support 2 fixed to the two poles 4 and 5.
Is provided with a bi-phased armature winding 6 of two phases in series, and currents in opposite directions are alternately supplied to both phases. A rotary shaft 8 is held inside the cylindrical support body 2 via a bearing 7. A cup-shaped yoke 9 fixed to one end of the rotary shaft 8 and a cylindrical permanent magnet fixed to the inner peripheral surface thereof. A rotor is constituted by 10 and. The permanent magnet 10 has 2 as shown in FIG.
In the pole structure, NSs are magnetized at equal intervals on the peripheral surface, while the stator has a wide magnetic pole 4 having a large magnetic pole width D 1 and a narrow magnetic pole having a magnetic pole width D 2 which is about 1/2 of the wide magnetic pole. 5 and the narrow magnetic poles 5 are offset from the equidistant positions by 20 to 40 degrees toward the rotation direction. A magnetic sensitive element 11 for detecting a rotor magnetic pole passing therethrough is mounted at a position approximately 90 degrees away from the center line of the wide magnetic pole 4 in the rotation direction side. Figure (c)
The two transistors Q 1 and Q 2 of the current switching circuit shown in FIG. 2 are controlled to alternately supply current to the two windings L 1 and L 2 of the stator. That is, the Hall element 11 as a magnetically sensitive element outputs a signal only when one polarity (N pole in this embodiment) is detected, and the transistor Q 3 is turned on to turn on the transistor Q 1 and Q 2 Is turned off, and when the S pole is detected, the transistor Q 3 is turned off, Q 1 is turned off, Q 2 is turned on, and the current is switched to the windings L 1 and L 2. .

次に第２図により本発明無刷子電動機の動作を説明す
る。巻線６のＬ1およびＬ2に電流が流れていない時に
は、回転子は同図(a)または第１図(b)のいずれかの状態
で停止しており、幅狭磁極５に回転子のＮ極またはＳ極
のほぼ中央部が対向している。この時には、永久磁石１
０からのみ磁束が発生しており、幅狭磁極５では幅広磁
極４に比較して永久磁石１０の磁極との対向面積が小さ
いから、永久磁石１０との間の磁束密度は、幅狭磁極５
では幅広磁極４に比較して大きくなる。すなわち、永久
磁石１０から作用する単位面積当たりの吸引力は、幅狭
磁極５のほうが大きくなり、第１図(b)のように、永久
磁石１０の磁極の中心が幅狭磁極５のほぼ中心に対向す
るような位置で停止することになる。次に巻線６に電機
子電流を流すと、両磁極４および５では永久磁石による
磁化に電機子電流による磁化が重畳され、そのために幅
広磁極４の磁化の中心がほぼ磁極の中心に移動するの
で、回転子は第２図(b)に矢印で示した向きに反発力を
受ける。いま第２図(a)の状態で電動機が起動されたと
すると、ホール素子１１は回転子のＳ極を検出している
ので、トランジスタＱ2がオンとなって巻線Ｌ2に電流が
流れて磁極４がＳ極、磁極５がＮ極に励磁され、回転子
は正回転(右回転)して(b)図の位置を通過し、さらに右
回転方向に吸引されて(c)図の位置に達する。この位置
でホール素子が回転子のＮ極を検出して巻線Ｌ2からＬ1
へ電流が切り換えられるので、再び回転子は(d)図のよ
うに反発され、上記と同様にして回転を続けることがで
きるのである。Next, the operation of the brushless motor of the present invention will be described with reference to FIG. When no current is flowing in L 1 and L 2 of the winding 6, the rotor is stopped in either state of FIG. 1 (a) or FIG. 1 (b), and the rotor is attached to the narrow magnetic pole 5. Nearly the center of the north pole or the south pole of is opposed. At this time, the permanent magnet 1
Since the magnetic flux is generated only from 0, and the narrow magnetic pole 5 has a smaller facing area with the magnetic pole of the permanent magnet 10 than the wide magnetic pole 4, the magnetic flux density between the narrow magnetic pole 5 and the permanent magnet 10 is small.
Is larger than the wide magnetic pole 4. That is, the attraction force per unit area acting from the permanent magnet 10 is larger in the narrow magnetic pole 5, and the center of the magnetic pole of the permanent magnet 10 is almost the center of the narrow magnetic pole 5 as shown in FIG. 1 (b). Will be stopped at a position facing. Next, when an armature current is passed through the winding 6, the magnetization due to the armature current is superimposed on the magnetization due to the permanent magnets in both magnetic poles 4 and 5, so that the center of magnetization of the wide magnetic pole 4 moves to the center of the magnetic pole. Therefore, the rotor receives a repulsive force in the direction indicated by the arrow in FIG. 2 (b). If the motor is started in the state of FIG. 2 (a), the Hall element 11 detects the S pole of the rotor, so that the transistor Q 2 is turned on and a current flows through the winding L 2. The magnetic pole 4 is excited by the S pole and the magnetic pole 5 is excited by the N pole, the rotor rotates forward (rotates right), passes through the position shown in (b), and is further attracted in the right rotation direction to the position shown in (c). Reach At this position, the Hall element detects the N pole of the rotor and detects the windings L 2 to L 1
Since the current is switched to, the rotor is repelled again as shown in Fig. (D), and the rotation can be continued in the same manner as above.

第３図は本発明無刷子電動機の動作特性を示したもので
ある。同図において、電機子電流による磁束と回転子と
の相互作用のみによるトルク曲線Ｔ1は半周期ごとに基
本波が切換えられて上半分の波形となっている。電機子
電流ゼロの状態における永久磁石と固定子突磁極との相
互作用による補助トルク曲線Ｔ2は基本波Ｔ1の２倍の周
期を持ち、正から負へ座標軸を切る点θ1θ2が安定停止
点となっている。固定子の各磁極が等間隔に設けられて
おれば、この安定停止点が基本波Ｔ1のゼロ点に一致す
るのであるが、幅狭磁極５を偏位させることによって補
助トルク曲線Ｔ2を正回転方向へずらし、それによって
安定停止点θ1θ2が基本波Ｔ1のゼロ点の若干右側に位
置するようにしてあり、合成トルク曲線Ｔ1＋Ｔ2は常に
正で死点のない曲線となっている。このように起動時す
なわち電機子電流がゼロの状態において、第２図(a)の
ように、回転子が正回転方向へ若干回転した位置で停止
しているのが、幅狭磁極５を等間隔位置から偏位させ且
つその磁極幅を小さくしたことによる効果である。FIG. 3 shows the operating characteristics of the brushless electric motor of the present invention. In the same figure, the torque curve T 1 due to only the interaction between the magnetic flux due to the armature current and the rotor has an upper half waveform because the fundamental wave is switched every half cycle. The auxiliary torque curve T 2 due to the interaction between the permanent magnet and the stator salient magnetic pole in the state where the armature current is zero has a cycle twice that of the fundamental wave T 1 , and the point θ 1 θ 2 where the coordinate axis is cut from positive to negative. It is a stable stopping point. If the magnetic poles of the stator are provided at equal intervals, this stable stop point coincides with the zero point of the fundamental wave T 1 , but by displacing the narrow magnetic pole 5, the auxiliary torque curve T 2 is changed. It is shifted in the forward rotation direction so that the stable stop point θ 1 θ 2 is located slightly to the right of the zero point of the fundamental wave T 1 , and the combined torque curve T 1 + T 2 is always a positive curve with no dead point. Has become. Thus, at the time of start-up, that is, when the armature current is zero, the rotor is stopped at a position slightly rotated in the forward rotation direction as shown in FIG. 2 (a). This is the effect of deviating from the gap position and reducing the magnetic pole width.

［発明の効果］ 本発明は上述のように構成したから、固定子の無励磁時
には電気角で１８０度ごとに安定停止点が存在するトル
ク波形が得られ、固定子の励磁時には無励磁時のトルク
波形の１／２の周期であって無励磁時の安定停止点で最
大トルクになるようなトルク波形が得られる。その結
果、両トルクを合成した回転中のトルクは常に同じ向き
に作用することになるのであって、自起動できることに
なる。また、回転中のトルク波形は比較的変化が小さく
なるから、トルクむらの少ない安定した回転が得られる
のである。しかも、固定子に磁極幅の異なる幅広磁極と
幅狭磁極とを設け、幅狭磁極を幅広磁極に対して等間隔
位置からずらして設けていることにより、永久磁石回転
子の各磁極の着磁位置を等間隔として着磁を容易にしな
がらも、磁束の集中度を幅狭磁極の周囲で幅広磁極の周
囲でよりも高くすることができ、無励磁時の安定停止点
の安定性が高まって、永久磁石回転子の変位量を所望量
に設定するのが容易なるという効果を奏するのである。[Advantages of the Invention] Since the present invention is configured as described above, a torque waveform having stable stop points at every 180 electrical degrees is obtained when the stator is not excited, and when the stator is excited, a torque waveform is obtained. A torque waveform having a half cycle of the torque waveform and having the maximum torque at the stable stop point during non-excitation is obtained. As a result, the torque during rotation, which is a combination of both torques, always acts in the same direction, and can be self-started. Further, since the torque waveform during rotation has a relatively small change, stable rotation with less torque unevenness can be obtained. Moreover, the wide magnetic poles and the narrow magnetic poles having different magnetic pole widths are provided on the stator, and the narrow magnetic poles are provided so as to be displaced from the wide magnetic poles at equal intervals, so that the magnetic poles of the permanent magnet rotor are magnetized. Even though the positions are arranged at equal intervals to facilitate magnetization, the magnetic flux concentration can be made higher around the narrow magnetic pole than around the wide magnetic pole, and the stability of the stable stop point during non-excitation is increased. Thus, it is easy to set the displacement amount of the permanent magnet rotor to a desired amount.

【図面の簡単な説明】[Brief description of drawings]

第１図は本発明無刷子電動機の一実施例を示したもの
で、(a)は縦断面図、(b)は要部横断面図、(c)は回路
図、第２図(a)(b)(c)(d)は同上の動作を示す要部断面
図、第３図は同上の動作特性図、第４図は従来例を示す
もので、(a)は回転子の概略斜視図、(b)は固定子の概略
平面図である。 １は本体ケーシング、２は円筒状支持体、３は突極型固
定子、４は幅広磁極、５は幅狭磁極、６は電機子巻線、
７はベアリング、８は回転軸、９はカップ状ヨーク、１
０は永久磁石、１１は磁気感応素子。FIG. 1 shows one embodiment of the brushless electric motor of the present invention. (A) is a longitudinal sectional view, (b) is a lateral sectional view of essential parts, (c) is a circuit diagram, and FIG. 2 (a) is shown. (b), (c) and (d) are cross-sectional views of a main part showing the same operation, FIG. 3 is an operation characteristic diagram of the same, FIG. 4 shows a conventional example, and (a) is a schematic perspective view of the rotor. FIG. 1B is a schematic plan view of the stator. 1 is a main body casing, 2 is a cylindrical support, 3 is a salient pole type stator, 4 is a wide magnetic pole, 5 is a narrow magnetic pole, 6 is an armature winding,
7 is a bearing, 8 is a rotating shaft, 9 is a cup-shaped yoke, 1
0 is a permanent magnet, 11 is a magnetically sensitive element.

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】異磁極を回転方向に等間隔で交互に着磁し
た２極の永久磁石回転子と、それぞれ永久磁石回転子の
着磁面に対向する幅広磁極と幅狭磁極とを１極ずつ備え
た凸極型固定子と、永久磁石回転子の着磁面に対向する
定位置に固定され通過する永久磁石回転子の磁極の極性
を検出する磁気感応素子と、磁気感応素子により検出さ
れた極性に応じて固定子巻線への通電方向を交互に切り
換えることにより幅広磁極と幅狭磁極との極性を交互に
切り換える電流切換回路とを備え、幅狭磁極は磁極幅が
幅広磁極の４０〜６０％に設定され、幅狭磁極は中心線
が幅広磁極の中心線に対して永久磁石回転子の回転方向
の前側に２００〜２４０度をなす位置に配置されて成る
ことを特徴とする無刷子電動機。1. A two-pole permanent magnet rotor in which different magnetic poles are alternately magnetized at equal intervals in the rotation direction, and one pole is a wide magnetic pole and a narrow magnetic pole facing the magnetized surface of the permanent magnet rotor. Each of them has a convex pole type stator, a magnetic sensitive element that detects the polarity of the magnetic poles of the permanent magnet rotor that is fixed and passes at a fixed position facing the magnetized surface of the permanent magnet rotor, and is detected by the magnetic sensitive element. And a current switching circuit that alternately switches the polarities of the wide magnetic pole and the narrow magnetic pole by alternately switching the energizing direction to the stator winding according to the polarity. Is set to 60%, and the narrow magnetic poles are arranged such that the center line of the narrow magnetic poles is located 200 to 240 degrees in front of the center line of the wide magnetic poles in the rotation direction of the permanent magnet rotor. Brush electric motor.
JP59199917A 1984-08-25 1984-09-25 Brushless motor Expired - Lifetime JPH0622393B2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP59199917A JPH0622393B2 (en) 1984-09-25 1984-09-25 Brushless motor
GB08519639A GB2163607B (en) 1984-08-25 1985-08-05 D c brushless motor
US06/763,995 US4644233A (en) 1984-08-25 1985-08-09 D.C. brushless motor having wider and narrower pole parts
DE19853529174 DE3529174A1 (en) 1984-08-25 1985-08-14 BRUSHLESS DC MOTOR
FR8512591A FR2569504B1 (en) 1984-08-25 1985-08-21 DIRECT CURRENT MOTOR WITHOUT MANIFOLD
IT48487/85A IT1182834B (en) 1984-08-25 1985-08-22 DIRECT CURRENT MOTOR WITHOUT BRUSHES

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59199917A JPH0622393B2 (en) 1984-09-25 1984-09-25 Brushless motor

Publications (2)

Publication Number Publication Date
JPS6181162A JPS6181162A (en) 1986-04-24
JPH0622393B2 true JPH0622393B2 (en) 1994-03-23

Family

ID=16415746

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59199917A Expired - Lifetime JPH0622393B2 (en) 1984-08-25 1984-09-25 Brushless motor

Country Status (1)

Country Link
JP (1) JPH0622393B2 (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59139852A (en) * 1983-01-28 1984-08-10 Honma Eiichi Dc brushless motor

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59139852A (en) * 1983-01-28 1984-08-10 Honma Eiichi Dc brushless motor

Also Published As

Publication number Publication date
JPS6181162A (en) 1986-04-24

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