WO2016079876A1 - 波動発生器および波動歯車装置 - Google Patents
波動発生器および波動歯車装置 Download PDFInfo
- Publication number
- WO2016079876A1 WO2016079876A1 PCT/JP2014/080959 JP2014080959W WO2016079876A1 WO 2016079876 A1 WO2016079876 A1 WO 2016079876A1 JP 2014080959 W JP2014080959 W JP 2014080959W WO 2016079876 A1 WO2016079876 A1 WO 2016079876A1
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- WIPO (PCT)
- Prior art keywords
- wave generator
- peripheral surface
- wave
- outer peripheral
- plug
- Prior art date
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Classifications
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- 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
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- 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
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
- F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
- F16C19/364—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone
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- 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
- F16C33/588—Races of sheet metal
-
- 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
- F16C2361/00—Apparatus or articles in engineering in general
- F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
-
- 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
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
Definitions
- the present invention relates to a wave generator of a wave gear device, and more particularly to a wave generator used in a wave gear device including a cup-shaped or top-hat-shaped flexible external gear.
- the wave generator of the wave gear device includes a rigid plug and a wave bearing attached to the elliptical outer peripheral surface of the plug.
- Patent Document 1 proposes a wave generator using a needle roller bearing as a wave bearing.
- a conventional wave generator using a roller bearing is employed in a wave gear device called a flat type having a cylindrical external gear.
- a wave gear device called a cup type or top hat type having a cup-shaped or top hat-shaped external gear, the following disadvantages occur.
- FIG. 3 (a) shows a situation in which the cup-shaped external gear is bent in an elliptical shape, the solid line is the state before deformation, the alternate long and short dash line is the deformation state on the cross section including the major axis of the ellipse, A two-dot chain line is a deformed state on a cross section including a short axis.
- a cylindrical external tooth forming portion 102 on the opening end 101 side is bent in an elliptical shape by a wave generator.
- the cylindrical external tooth forming portion 102 is bent outward in the radial direction on the major axis side of the elliptical shape as indicated by a one-dot chain line, and has a radius on the minor axis side of the elliptical shape as indicated by a two-dot chain line. Bends inward in the direction.
- the external tooth forming portion 102 is repeatedly bent in the radial direction between the position indicated by the alternate long and short dash line and the position indicated by the alternate long and two short dashes line as the wave generator rotates.
- the three-dimensional bending state of the external gear that occurs with the rotation of the wave generator is called “corning”, and the shape of this bending state is called “corning shape”.
- the bending angle with respect to the central axis of the portion where the coning occurs Is called “corning angle”.
- a wave generator 104 that supports the external tooth forming portion 102 of the external gear 100 is provided.
- the outer peripheral portion (the outer ring of the wave bearing) 105 can tilt following the coning.
- FIGS. 3B to 3D when the roller bearing 106 is used, the outer peripheral portion 108 of the wave generator 107 is parallel to the direction of the central axis by each roller 109. Supported by Therefore, except for the intermediate position between the long axis position and the short axis position shown in FIG. 3C, the case of the long axis position of FIG. 3B, the case of the short axis position of FIG. Thus, it cannot follow the coning shape of the external tooth formation part in a cup-shaped or top hat-shaped external gear.
- the outer peripheral surface of the wave generator 107 using the roller bearing 106 is shown on the elliptical long axis of the external gear 100 on the diaphragm side as shown by the arrow in FIG. 3B and on the short axis. 3 (d) strongly contacts the opening side as indicated by an arrow, so that the contact portion is offset.
- the angle transmission error and the positioning accuracy which are important characteristics of the wave gear device, are deteriorated.
- the problem of the present invention is to use a wave generator using a roller bearing that can follow the three-dimensional bending state of a cup-shaped or top-hat shaped external gear, and the wave generator. It is to provide a wave gear device.
- the present invention provides a wave gear device in which a cup-shaped or top-hat-shaped flexible external gear is bent in an elliptical shape and partially meshed with a rigid internal gear.
- the wave generator includes a rigid plug having an elliptical outer peripheral surface and a roller bearing attached to the outer peripheral surface of the plug.
- the outer peripheral surface of the plug includes a long-axis-side outer peripheral surface portion formed at the long-axis position and a short-axis-side outer peripheral surface portion formed at the short-axis position.
- the long-axis-side outer peripheral surface portion is a tapered surface tapered in a first direction along the central axis of the plug, and the short-axis-side outer peripheral surface portion is in the first direction along the central axis. Is a reverse taper surface tapered in the second direction which is the reverse direction.
- the outer peripheral surface of the plug has the same peripheral length of an elliptical contour line on a cross section perpendicular to each axis in the direction of the central axis.
- the long-axis-side outer peripheral surface portion and the short-axis-side outer peripheral surface portion of the outer peripheral surface of the plug are respectively tapered in opposite directions in accordance with the coning shape of the external gear bent in an elliptical shape. Is attached. Therefore, the roller bearing roller mounted on the outer peripheral surface of the plug is also supported in a state inclined in the same direction. Therefore, the roller bearing can be brought into contact with the inner peripheral surface of the external gear in a state where there is no contact or a state where the contact is suppressed.
- the outer peripheral surface of the plug has a different taper angle at each position in the circumferential direction, and the taper angle is a tooth width direction in an external tooth forming portion of the external gear.
- the angle is preferably an angle corresponding to the coning angle at each position in the circumferential direction in the external tooth formation portion. Accordingly, the roller bearing can be brought into contact with the inner peripheral surface of the external gear without any deviation at each position in the circumferential direction.
- an inner ring of the roller bearing may be integrally formed with the plug.
- the outer peripheral surface functions as an inner ring raceway surface.
- the wave gear device of the present invention includes a rigid internal gear, a flexible external gear having a cup shape or a top hat shape, and the internal gear by bending the external gear into an ellipse. And a wave generator that moves the meshing positions of these two gears in the circumferential direction.
- the wave generator is a wave generator having the above-described configuration.
- the outer ring of the roller bearing of the wave generator can be formed integrally with the external gear forming portion of the external gear.
- (A) is a front view of the cup type wave gear device to which the present invention is applied, and (b) is a schematic sectional view thereof.
- (A) is a schematic front view of a wave generator,
- (b) is a schematic cross-sectional view at the long axis position of the wave generator, and
- (c) is a schematic cross-sectional view at the short axis position of the wave generator.
- (A) is an explanatory view showing the bending state of the wave gear device, and (b) to (e) are explanatory views showing the contact state between the wave generator and the external gear.
- FIG. 1A is a schematic front view of a cup-type wave gear device
- FIG. 1B is a schematic longitudinal sectional view thereof.
- the cup-type wave gear device 1 includes an annular rigid internal gear 2, a cup-shaped flexible external gear 3 disposed concentrically on the inner side, and an elliptical profile fitted on the inner side.
- the wave generator 4 is provided.
- the external gear 3 includes a cylindrical body portion 31, an annular diaphragm 32 continuous at one end thereof, a disk-shaped boss 33 formed integrally with the central portion of the diaphragm 32, and the body portion 31. External teeth 35 formed on the outer peripheral surface of the opening 34 are provided.
- the external gear forming portion 36 of the external gear 3 is bent in an elliptical shape by the wave generator 4, and external teeth 35 located at both ends in the longitudinal direction mesh with the internal teeth 25 of the internal gear 2. .
- the wave generator 4 includes a rigid plug 42 having an elliptical outer peripheral surface 41 and a roller bearing 43 attached to the outer peripheral surface 41 of the plug 42.
- the roller bearing 43 includes an inner ring 44 fitted to the outer peripheral surface 41 of the wave generator 4, an outer ring 45 supporting the inner peripheral surface 36 a of the outer tooth forming portion 36 of the external gear 3, and these inner ring 44 and outer ring 45.
- a large number of rollers 46 mounted in a rollable state are provided.
- the rollers 46 are held at equiangular intervals in the circumferential direction by a cylindrical retainer 47.
- FIG. 2 (a) is a schematic front view of the wave generator 4
- FIG. 2 (b) is a schematic longitudinal sectional view when cut at the long axis position
- FIG. 2 (c) is at the short axis position. It is a schematic longitudinal cross-sectional view at the time of cut
- the outer peripheral surface 41 of the plug 42 is set so that the peripheral lengths of the elliptical contour lines on the cross sections perpendicular to each axis in the direction of the central axis 42a are the same.
- the outer peripheral surface 41 includes a long-axis-side outer peripheral surface portion 41a including the long-axis position L1, a short-axis-side outer peripheral surface portion 41b including the short-axis position L2, and an outer peripheral surface portion formed therebetween. 41c.
- the long-axis-side outer peripheral surface portion 41a is a tapered surface having a first taper angle ⁇ 1 that is tapered in the first direction along the central axis 42a of the plug 42. That is, the outer diameter gradually decreases from the opening 34 side of the external gear 3 toward the diaphragm 32 (see FIG. 1B).
- the short-axis-side outer peripheral surface portion 41b is an inversely tapered surface having a second taper angle ⁇ 2 tapered in the second direction, which is the direction opposite to the first direction, along the central axis line 42a. That is, the outer diameter gradually decreases from the diaphragm 32 side toward the opening 34 side. Normally, the absolute values of ⁇ 1 and ⁇ 2 are the same.
- the taper angle of the outer peripheral surface portion 41c between the long-axis-side outer peripheral surface portion 41a and the short-axis-side outer peripheral surface portion 41b is smoothly switched from the first taper angle ⁇ 1 to the second taper angle ⁇ 2.
- the outer peripheral surface 41 of the plug 42 having this shape can be designed by the following procedure, for example. First, the major axis dimension, minor axis dimension, and circumferential length of the roller bearing 43 at the center position in the axial direction are confirmed from the set elliptical amount of the wave gear device 1. Next, the cornering angle of the inner peripheral surface of the external tooth forming portion 36 of the external gear 3 according to the set elliptical amount of the wave gear device 1 is confirmed. Next, the major axis dimension on the cross section perpendicular to each axis in the direction of the central axis 42 a on the outer peripheral surface 41 of the plug 42 is determined based on the Corning angle. Then, the minor axis dimension is determined without changing the circumference of the elliptical shape on the cross section perpendicular to each axis.
- the taper angle at each position is an angle corresponding to the coning angle at each position in the circumferential direction of the external tooth forming portion 36 when the external tooth forming portion 36 of the external gear 3 is bent into an elliptical shape.
- the outer peripheral surface 41 of the plug 42 is a three-dimensional tapered surface corresponding to the coning shape of the inner peripheral surface of the external tooth forming portion 36 of the external gear 3. Therefore, the outer peripheral surface of the outer ring 45 of the roller bearing of the wave generator 4 can support the outer tooth forming portion 36 in a state where it does not come into contact with the inner peripheral surface of the outer tooth forming portion 36.
- the inner ring 44 of the roller bearing can be formed integrally with the plug 42 of the wave generator 4.
- the three-dimensional tapered outer peripheral surface 41 of the plug 42 becomes the inner ring side raceway surface, and each roller 46 is directly supported by the inner ring side raceway surface.
- the outer ring 45 of the roller bearing can be integrally formed on the inner peripheral surface portion of the outer tooth forming portion 36 of the external gear 3.
- the inner peripheral surface 36a of the outer tooth forming portion 36 functions as an outer ring raceway surface.
- the present invention is applied to a cup-type wave gear device.
- the present invention can be similarly applied to a top hat type wave gear device.
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
Description
図1(a)はカップ型の波動歯車装置の概略正面図であり、図1(b)はその概略縦断面図である。カップ型の波動歯車装置1は、環状の剛性の内歯歯車2と、この内側に同心状に配置されたカップ形状の可撓性の外歯歯車3と、この内側にはめ込まれた楕円形輪郭の波動発生器4とを備えている。
図2(a)は波動発生器4の概略正面図であり、図2(b)はその長軸位置で切断した場合の概略縦断面図であり、図2(c)はその短軸位置で切断した場合の概略縦断面図である。なお、図2(b)、(c)においては、プラグ42の外周面41の形状を誇張して示してある。
Claims (6)
- カップ状あるいはシルクハット状の可撓性の外歯歯車を楕円状に撓めて剛性の内歯歯車に部分的にかみ合わせる、波動歯車装置の波動発生器であって、
楕円状の外周面を備えた剛性のプラグと、
前記プラグの前記外周面に装着されたローラーベアリングと、
を有しており、
前記プラグの前記外周面は、
前記外周面の長軸位置では、前記プラグの中心軸線に沿った第1方向にテーパの付いたテーパ面であり、
前記外周面の短軸位置では、前記中心軸線に沿った前記第1方向とは逆の方向である第2方向にテーパについた逆テーパ面である
ことを特徴とする波動歯車装置の波動発生器。 - 前記プラグの前記外周面は、前記中心軸線の方向の各軸直角断面上における楕円状輪郭線の周長が同一である請求項1に記載の波動歯車装置の波動発生器。
- 前記プラグの前記外周面には、その周方向の各位置において異なるテーパ角が付いており、
前記テーパ角は、前記外歯歯車の外歯形成部分における歯幅方向の所定の位置を予め定めた設定楕円形状に撓めた場合に、前記外歯形成部分における円周方向の各位置におけるコーニング角に対応する角度である請求項1に記載の波動歯車装置の波動発生器。 - 前記プラグに、前記ローラーベアリングの内輪が一体形成されており、
前記外周面は内輪軌道面である請求項1に記載の波動歯車装置の波動発生器。 - 剛性の内歯歯車と、
カップ形状あるいはシルクハット形状をした可撓性の外歯歯車と、
前記外歯歯車を楕円状に撓めて前記内歯歯車にかみ合わせ、これら両歯車のかみ合い位置を周方向に移動させる波動発生器と、
を有しており、
前記波動発生器は、請求項1ないし4のうちのいずれか一つの項に記載の波動発生器であることを特徴とする波動歯車装置。 - 前記外歯歯車の外歯形成部分に、前記波動発生器の前記ローラーベアリングの外輪が一体形成されている請求項5に記載の波動歯車装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14906198.8A EP3222878B1 (en) | 2014-11-21 | 2014-11-21 | Wave generator and wave gear device |
US15/519,677 US10557539B2 (en) | 2014-11-21 | 2014-11-21 | Wave generator and strain wave gearing |
PCT/JP2014/080959 WO2016079876A1 (ja) | 2014-11-21 | 2014-11-21 | 波動発生器および波動歯車装置 |
CN201480082494.0A CN107076268B (zh) | 2014-11-21 | 2014-11-21 | 波动发生器及波动齿轮装置 |
KR1020177009878A KR101838929B1 (ko) | 2014-11-21 | 2014-11-21 | 파동발생기 및 파동기어장치 |
JP2016559776A JP6261761B2 (ja) | 2014-11-21 | 2014-11-21 | 波動発生器および波動歯車装置 |
TW104137162A TWI654385B (zh) | 2014-11-21 | 2015-11-11 | 諧波產生器及諧波齒輪裝置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/080959 WO2016079876A1 (ja) | 2014-11-21 | 2014-11-21 | 波動発生器および波動歯車装置 |
Publications (1)
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WO2016079876A1 true WO2016079876A1 (ja) | 2016-05-26 |
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PCT/JP2014/080959 WO2016079876A1 (ja) | 2014-11-21 | 2014-11-21 | 波動発生器および波動歯車装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10557539B2 (ja) |
EP (1) | EP3222878B1 (ja) |
JP (1) | JP6261761B2 (ja) |
KR (1) | KR101838929B1 (ja) |
CN (1) | CN107076268B (ja) |
TW (1) | TWI654385B (ja) |
WO (1) | WO2016079876A1 (ja) |
Cited By (4)
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CN107084194A (zh) * | 2017-06-21 | 2017-08-22 | 宁波慈兴轴承有限公司 | 谐波减速器柔性轴承 |
WO2019003902A1 (ja) * | 2017-06-30 | 2019-01-03 | 日本電産シンポ株式会社 | 駆動装置 |
EP3492775A4 (en) * | 2016-07-30 | 2020-03-18 | Harmonic Drive Systems Inc. | WAVE GENERATOR AND CORRUGATED GEAR DEVICE |
WO2020234945A1 (ja) * | 2019-05-17 | 2020-11-26 | 株式会社ハーモニック・ドライブ・システムズ | コロ軸受式波動発生器を備えた波動歯車装置 |
Families Citing this family (6)
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US10253864B2 (en) * | 2017-07-03 | 2019-04-09 | Optimal Actuation Inc. | Bearing wave generator assembly |
JPWO2019111409A1 (ja) * | 2017-12-08 | 2020-01-16 | 株式会社ハーモニック・ドライブ・システムズ | カップ型の波動歯車装置 |
EP3885608A4 (en) * | 2018-11-22 | 2022-04-13 | Harmonic Drive Systems Inc. | STRESS WAVE GEAR DEVICE |
CN111853474B (zh) * | 2019-04-25 | 2022-02-08 | 三星电子株式会社 | 显示装置 |
KR102345641B1 (ko) * | 2020-06-15 | 2021-12-31 | 씨앤엠로보틱스 주식회사 | 마찰 파동 감속기 |
DE102020118797A1 (de) * | 2020-07-16 | 2022-01-20 | Schaeffler Technologies AG & Co. KG | Wellgetriebe für einen Roboter sowie Roboter mit einem Wellgetriebe |
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2014
- 2014-11-21 JP JP2016559776A patent/JP6261761B2/ja active Active
- 2014-11-21 EP EP14906198.8A patent/EP3222878B1/en active Active
- 2014-11-21 US US15/519,677 patent/US10557539B2/en active Active
- 2014-11-21 WO PCT/JP2014/080959 patent/WO2016079876A1/ja active Application Filing
- 2014-11-21 CN CN201480082494.0A patent/CN107076268B/zh active Active
- 2014-11-21 KR KR1020177009878A patent/KR101838929B1/ko active IP Right Grant
-
2015
- 2015-11-11 TW TW104137162A patent/TWI654385B/zh active
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KR20210009361A (ko) | 2019-05-17 | 2021-01-26 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 롤러베어링식 파동발생기를 구비한 파동기어장치 |
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Also Published As
Publication number | Publication date |
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EP3222878B1 (en) | 2020-05-27 |
CN107076268A (zh) | 2017-08-18 |
KR101838929B1 (ko) | 2018-03-15 |
US20170254403A1 (en) | 2017-09-07 |
EP3222878A4 (en) | 2018-12-05 |
TW201625864A (zh) | 2016-07-16 |
CN107076268B (zh) | 2019-06-04 |
EP3222878A1 (en) | 2017-09-27 |
JPWO2016079876A1 (ja) | 2017-07-27 |
JP6261761B2 (ja) | 2018-01-17 |
US10557539B2 (en) | 2020-02-11 |
TWI654385B (zh) | 2019-03-21 |
KR20170052682A (ko) | 2017-05-12 |
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