WO2017145532A1 - 油圧舵取装置及び船舶 - Google Patents

油圧舵取装置及び船舶 Download PDF

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Publication number
WO2017145532A1
WO2017145532A1 PCT/JP2017/000433 JP2017000433W WO2017145532A1 WO 2017145532 A1 WO2017145532 A1 WO 2017145532A1 JP 2017000433 W JP2017000433 W JP 2017000433W WO 2017145532 A1 WO2017145532 A1 WO 2017145532A1
Authority
WO
WIPO (PCT)
Prior art keywords
hydraulic
pair
pressure
relief valve
bypass oil
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.)
Ceased
Application number
PCT/JP2017/000433
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English (en)
French (fr)
Japanese (ja)
Inventor
修司 土橋
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries 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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to KR1020187023419A priority Critical patent/KR102041064B1/ko
Priority to CN201780011897.XA priority patent/CN108778925B/zh
Publication of WO2017145532A1 publication Critical patent/WO2017145532A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/26—Steering engines
    • B63H25/28—Steering engines of fluid type
    • B63H25/30—Steering engines of fluid type hydraulic
    • 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
    • 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
    • F15B13/024—Pressure relief valves
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/149—Fluid interconnections, e.g. fluid connectors, passages

Definitions

  • the present disclosure relates to a hydraulic steering apparatus and a ship.
  • a hydraulic steering apparatus such as a rapson slide type is known as a steering apparatus for operating a rudder of a ship.
  • the hydraulic steering system can apply a large rotational force to the rudder shaft connected to the rudder plate, but when an obstacle such as ice floe or driftwood contacts the rudder plate and receives an impact, the hydraulic system Large surge pressure may occur and cause damage to peripheral devices.
  • Patent Document 1 discloses that by providing an energy absorbing device such as an accumulator in such a hydraulic circuit, it is possible to more effectively absorb the surge pressure generated when the steering plate receives an impact force. .
  • At least one embodiment of the present invention has been made in view of the above-described circumstances, and a hydraulic steering capable of coping with a large surge pressure while suppressing the design change of the hydraulic circuit for supplying the hydraulic oil to the hydraulic cylinder to a small extent. It aims at providing an apparatus and a ship.
  • the hydraulic steering apparatus includes a ram on which a rudder handle for pivotally mounting a rudder shaft is rotatably attached, and both ends of the ram A pair of hydraulic cylinders fitted in and disposed opposite to each other, and a bypass oil passage configured to be able to communicate between the operating chambers of the pair of hydraulic cylinders based on the pressure of the hydraulic oil in the pair of hydraulic cylinders And.
  • the bypass oil passage configured to be able to communicate between the operation chambers of the pair of hydraulic cylinders based on the pressure of the hydraulic oil.
  • the bypass oil passage is provided on the communication passage formed between the working chambers of the pair of hydraulic cylinders, and on the communication passage, And a first relief valve configured to operate based on the pressure of the hydraulic fluid flowing therethrough.
  • the communication passage is formed inside the ram.
  • the communication passage constituting the bypass oil passage is formed inside the ram, which is more compact than the case where the bypass oil passage is formed using piping etc. outside the ram, for example.
  • the above-described hydraulic steering apparatus can be realized with any configuration.
  • such a configuration can be realized by changing the design of limited components centering on the ram, as compared with the conventional device having no bypass oil passage, which is also advantageous for reducing the production cost.
  • the first relief valve is attached so as to be exposed to the outside of the ram.
  • the first relief which is expected to have a relatively high maintenance frequency due to the movable part among the components of the bypass oil passage, is exposed to the outside of the ram Attached to
  • the worker when performing maintenance, the worker can easily access the first relief valve, and maintenance work such as replacement and repair can be smoothly performed.
  • the hydraulic circuit further includes a hydraulic circuit for supplying the hydraulic fluid to the pair of hydraulic cylinders, and the communication path has a diameter larger than that of the hydraulic circuit. It is done.
  • the communication passage that constitutes the bypass oil passage by forming the communication passage that constitutes the bypass oil passage to be larger in diameter than the hydraulic circuit, when the working chambers are communicated with each other by the bypass oil passage, Accordingly, it is possible to increase the flow rate of the hydraulic oil flowing based on the hydraulic steering apparatus capable of coping with larger surge pressure. Conversely, it is possible to cope with a large surge pressure by increasing the diameter of the communication passage without changing the specification of the hydraulic circuit for supplying the hydraulic oil to the hydraulic cylinder. In this case, it is possible to avoid the complication and enlargement of the entire device by enlarging the diameter of the hydraulic circuit to cope with a large surge pressure, and the present device can be realized with a relatively compact configuration.
  • the hydraulic circuit includes a second relief valve configured to operate based on the pressure of the hydraulic fluid flowing through the hydraulic circuit, The first relief valve is configured to operate at a higher pressure than the second relief valve.
  • the first relief valve included in the bypass oil passage operates at a higher pressure than the second relief valve included in the hydraulic circuit. Therefore, the second relief valve in the hydraulic circuit is not operated for the relatively small surge pressure without the first relief valve operating (that is, the bypass oil passage does not allow the working chambers of the hydraulic cylinders to communicate with each other). The response is made only by the operation of On the other hand, the relatively high surge pressure is dealt with by operating the first relief valve in addition to the second relief valve.
  • the first relief valve operates in a necessary range according to the magnitude of the surge pressure, the number of times of operation of the first relief valve can be suppressed to be small without waste. As a result, the exhaustion of the bypass oil passage is suppressed, and a steering device suitable for long-life design can be realized.
  • the pair of hydraulic cylinders are arranged in the front-rear direction of the rudder shaft, and the bypass oil passage is provided independently.
  • a pair of hydraulic cylinders provided with bypass oil passages between the working chambers are respectively provided in the longitudinal direction of the rudder shaft. Since each bypass oil passage is provided independently of each other, even if a failure occurs in one bypass oil passage, the other bypass oil passage achieves the above-mentioned function, so that the reliability is further improved.
  • a hydraulic steering system can be realized.
  • a ship includes a hydraulic steering apparatus according to the configuration of (1) in order to solve the above-mentioned problems.
  • FIG. 1 is an overall configuration view of a hydraulic steering apparatus according to at least one embodiment of the present invention.
  • FIG. 2 is a hydraulic circuit diagram of the hydraulic steering system of FIG. 1; It is a sectional view showing an example of composition of the ram neighborhood of a hydraulic steering gear concerning a 2nd embodiment. It is a modification of FIG.
  • the expression expressing a shape such as a quadrilateral shape or a cylindrical shape not only represents a shape such as a rectangular shape or a cylindrical shape in a geometrically strict sense, but also an uneven portion The shape including a chamfer etc. shall also be expressed.
  • the expressions “comprising”, “having”, “having”, “including” or “having” one component are not exclusive expressions excluding the presence of other components.
  • FIG. 1 is an overall configuration diagram of a hydraulic steering apparatus 1 according to at least one embodiment of the present invention
  • FIG. 2 is a hydraulic circuit diagram of the hydraulic steering apparatus 1 of FIG.
  • the hydraulic steering apparatus 1 is a Rapson slide type steering apparatus which drives a rudder (not shown) of a ship through a rudder shaft 2 connected to the rudder.
  • a steering wheel (tiler) 4 provided with the steering shaft 2 is rotatably attached to the rams 8 and 9 via ram pins 6 and 7 provided on the front and rear sides of the steering shaft 2, respectively.
  • the ram 8 is fitted in a pair of hydraulic cylinders 10a and 10b, both ends of which are disposed opposite to each other in the left and right steering direction, and the ram 9 is disposed in a pair of hydraulics arranged such that both ends are opposed to each other in the left and right steering direction. It is inserted into the cylinders 10c and 10d.
  • the hydraulic cylinders 10a and 10b have working chambers 12a and 12b defined by the tip of the ram 8 and the cylinder inner wall.
  • a pump unit 16 is connected to the working chambers 12a and 12b via hydraulic circuits 14a and 14b.
  • the pump unit 16 includes an electric motor 18 that can be driven by electric power supplied from inside the ship, and a hydraulic pump 20 connected to the electric motor 18.
  • the valve unit 22 functions as a direction switching valve for distributing hydraulic oil supplied from the pump unit 16 to the hydraulic circuits 14a and 14b. Is provided.
  • the valve unit 22 is configured to include a relief valve 24 provided between the hydraulic circuits 14 a and 14 b passing through the valve unit 22.
  • the relief valve 24 is configured to operate based on the pressure of the hydraulic fluid flowing through the hydraulic circuits 14a and 14b. In the present embodiment, in particular, by operating when the differential pressure between the hydraulic circuits 14a and 14b exceeds the predetermined value P1 set in advance, the hydraulic oil from the high pressure side to the low pressure side of the hydraulic circuits 14a and 14b Is configured to suppress an increase in pressure of the hydraulic oil.
  • the hydraulic cylinders 10c and 10d have working chambers 12c and 12d defined by the tip of the ram 9 and the cylinder inner wall.
  • a pump unit 17 is connected to the working chambers 12c and 12d via hydraulic circuits 14c and 14d.
  • the pump unit 17 includes an electric motor 19 that can be driven by electric power supplied from inside the ship, and a hydraulic pump 21 connected to the electric motor 19.
  • a valve unit 23 functioning as a direction switching valve for distributing hydraulic oil supplied from the pump unit 17 to the hydraulic circuits 14c and 14d. Is provided.
  • the valve unit 23 is configured to include a relief valve 25 provided between the hydraulic circuits 14 c and 14 d passing through the valve unit 23.
  • the relief valve 25 is configured to operate based on the pressure of the hydraulic fluid flowing through the hydraulic circuits 14c and 14d. In the present embodiment, in particular, by operating when the differential pressure between the hydraulic circuits 14c and 14d exceeds the predetermined value P1 set in advance, the hydraulic oil from the high pressure side to the low pressure side of the hydraulic circuits 14c and 14d Is configured to suppress an increase in pressure of the hydraulic oil.
  • the valve units 22 and 23 include a bypass line 26 connecting the hydraulic circuits 14a and 14d and a bypass line 27 connecting the hydraulic circuits 14b and 14c.
  • the hydraulic oil from pump units 16 and 17 is configured to be able to be supplied to each hydraulic cylinder 10 via bypass lines 26 and 27, for example, when only one of pump units 16 and 17 operates. Also, hydraulic oil is supplied to each hydraulic cylinder 10 via the bypass lines 26 and 27. The hydraulic oil can be supplied to each hydraulic cylinder 10 also by operating both of the pump units 16 and 17.
  • a pair of hydraulic cylinders 10a and 10b corresponding to the ram 8 has a bypass oil passage 28 configured to be able to communicate between the working chambers 12a and 12b based on the pressure of the hydraulic oil in the pair of hydraulic cylinders 10a and 10b. It is provided.
  • the bypass oil passage 28 is configured to include the communication passage 30 communicating between the working chambers 12 a and 12 b and the relief valve 32 provided on the communication passage 30.
  • the relief valve 32 operates to release the hydraulic oil from the high pressure side to the low pressure side of the operating chambers 12a and 12b by operating when the pressure of the hydraulic oil passing therethrough exceeds a preset predetermined value P2.
  • P2 preset predetermined value
  • a pair of hydraulic cylinders 10c and 10d corresponding to the ram 9 has a bypass oil passage 29 configured to allow communication between the working chambers 12c and 12d based on the pressure of the hydraulic oil in the pair of hydraulic cylinders 10c and 10d. It is provided.
  • the bypass oil passage 29 is configured to include the communication passage 31 communicating the working chambers 12c and 12d, and the relief valve 33 provided on the communication passage 31.
  • the relief valve 33 operates to release the hydraulic oil from the high pressure side to the low pressure side of the operating chambers 12c and 12d by operating when the pressure of the hydraulic oil passing therethrough exceeds a predetermined value P2 set in advance. Thus, the pressure increase of the hydraulic oil is suppressed.
  • the hydraulic steering apparatus 1 is provided with such bypass oil passages 28 and 29 so that, when a large surge pressure is generated in the hydraulic oil due to a collision of an obstacle or the like, the operation chamber via the bypass oil passages 28 and 29 By communicating the hydraulic fluid, hydraulic fluid flows from the high pressure side to the low pressure side of the pair of hydraulic cylinders, the surge pressure is mitigated (absorbed), and equipment damage due to the occurrence of the surge pressure is effectively prevented. Be done.
  • the hydraulic steering apparatus 1 includes relief valves 24 and 25 in the valve units 22 and 23 as described above in addition to the bypass oil passages 28 and 29 as a surge pressure reducing mechanism.
  • the pressure of the relief valves 32 and 33 is higher than that of the relief valves 24 and 25. (I.e., the relationship of P1 ⁇ P2 is established to hold). Therefore, relief valves 32 and 33 do not operate for relatively small surge pressure (P ⁇ P2) (that is, operation chambers 12 of hydraulic cylinder 10 are not communicated by bypass oil passages 28 and 29).
  • the surge pressure is relieved only by the operation of the relief valves 24 and 25 in the hydraulic circuit 14).
  • relatively high surge pressure P2 ⁇ P
  • the relief valves 32 and 33 are also actuated to alleviate the surge pressure.
  • the relief valves 32 and 33 operate within the necessary range according to the magnitude of the surge pressure, the number of times of operating the relief valves 32 and 33 can be reduced without waste. That is, although the relief valves 24 and 25 of the valve units 22 and 23 alone can cope with a large surge pressure that is difficult to cope with, the number of times of operating the bypass oil passages 28 and 29 does not become unnecessarily large. As a result, the exhaustion of the bypass oil passages 28 and 29 is suppressed, and excellent reliability can be ensured over a long period of time.
  • the communication passages 30, 31 constituting the bypass oil passages 28, 29 may be configured to be larger in diameter than the hydraulic circuits 14a, 14b, 14c, 14d.
  • the communication passages 30, 31 constituting the bypass oil passages 28, 29 have a diameter larger than that of the hydraulic circuits 14a, 14b, 14c, 14d, when the working chambers 12 are communicated with each other by the bypass oil passages 28, 29.
  • the hydraulic steering system 1 can be realized that can increase the flow rate of hydraulic fluid flowing based on the differential pressure between the working chambers 12, and can cope with larger surge pressures.
  • the degree of relief of the surge pressure obtained when the bypass oil passages 28 and 29 operate depends on the volumes of the communication passages 30 and 31 and the relief valves 32 and 33 that constitute the bypass oil passages 28 and 29. Therefore, it is preferable to adjust the length and diameter of the communication passages 30, 31 and the capacity of the relief valves 32, 33 according to the degree of relaxation of the required surge pressure, for example.
  • the lengths of the bypass oil passages 28 and 29 can be kept short, which is effective in suppressing an increase in apparatus size.
  • this can be realized by additionally providing the bypass oil passages 28 and 29 with respect to the existing device, so that the specification change with respect to the conventional configuration including the hydraulic circuit 14 can be reduced. Therefore, compared with the case where the diameter of the hydraulic circuit 14 is increased to cope with a large surge pressure or when a new configuration is added to the hydraulic circuit 14, it is possible to prevent the entire apparatus from becoming complicated and enlarged, and relatively It can be realized with a compact configuration.
  • bypass oil passages 28, 29 are provided independently of each other so as to correspond to the two rams 8, 9 respectively. Therefore, even if a failure occurs in one bypass oil passage, the surge pressure can be alleviated by the other bypass oil passage without a large amount, so that excellent reliability can be obtained.
  • independent bypass oil passages are provided between the working chambers (between the working chambers 12a and 12b or between the working chambers 12c and 12d) corresponding to the common ram, but they are different from each other
  • An independent bypass oil passage is provided between working chambers (for example, between working chambers 12a and 12c or between working chambers 12b and 12d) of hydraulic cylinders that are positively adjacent among the working chambers corresponding to the rams. It is also good.
  • FIG. 3 is a cross-sectional view showing a configuration example in the vicinity of the rams 8 and 9 of the hydraulic steering system according to the second embodiment
  • FIG. 4 is a modified example of FIG.
  • symbol common to the structure corresponding to the said embodiment shall be attached
  • the communication passages 30, 31 constituting the bypass oil passages 28, 29 are formed as pipes, but in the present embodiment, the insides of the rams 8, 9 are hollow.
  • the communication passages 30, 31 extend in the rams 8, 9 along the longitudinal direction from the working chambers 12 on both sides along the longitudinal direction, and have an opening 35 provided toward the outside near the center. It is formed.
  • relief valves 32, 33 constituting the bypass oil passages 28, 29 are disposed so as to close the opening 35 from the outside.
  • bypass oil passages 28 and 29 having such a configuration are mostly accommodated inside the rams 8 and 9, the bypass oil passages 28 and 29 are constituted by piping around the outside of the rams 8 and 9 as in FIG.
  • the apparatus configuration can be made compact as compared with the case where
  • the relief valves 32 and 33 in the bypass oil passages 28 and 29 are locations that require maintenance work because they are movable parts, maintenance by being exposed to the outside in this way Workers can easily access during work.
  • FIG. 4 is a modification of FIG. 3, in addition to the communication passages 30, 31, the relief valves 32, 33 are also disposed inside the rams 8, 9, so that the bypass oil passages 28, 29 can be You may comprise so that it may accommodate in the inside of 8, 9.
  • the accessibility of the relief valves 32 and 33 from the outside is inferior to that of the embodiment of FIG. 3, but the simple form of extending the communication passages 30 and 31 in the longitudinal direction of the rams 8 and 9
  • there is a merit in layout, such as design can be made without the need to consider interference with the rudder 4.
  • the present disclosure is applicable to hydraulic steering devices and ships.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
PCT/JP2017/000433 2016-02-22 2017-01-10 油圧舵取装置及び船舶 Ceased WO2017145532A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020187023419A KR102041064B1 (ko) 2016-02-22 2017-01-10 유압 조타 장치 및 선박
CN201780011897.XA CN108778925B (zh) 2016-02-22 2017-01-10 液压操舵装置及船舶

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016030918A JP6660205B2 (ja) 2016-02-22 2016-02-22 油圧舵取装置及び船舶
JP2016-030918 2016-02-22

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WO2017145532A1 true WO2017145532A1 (ja) 2017-08-31

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PCT/JP2017/000433 Ceased WO2017145532A1 (ja) 2016-02-22 2017-01-10 油圧舵取装置及び船舶

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JP (1) JP6660205B2 (enExample)
KR (1) KR102041064B1 (enExample)
CN (1) CN108778925B (enExample)
WO (1) WO2017145532A1 (enExample)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110143271B (zh) * 2019-03-29 2021-04-30 武汉船用机械有限责任公司 泵控液压舵机
JP7423213B2 (ja) 2019-07-25 2024-01-29 株式会社 商船三井 舶用舵取機
CN115523203B (zh) * 2022-09-14 2023-09-15 南京航海仪器二厂有限公司 一种转叶舵机转舵油缸故障隔离阀组及转叶舵机

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58133999A (ja) * 1982-02-01 1983-08-09 Mitsubishi Heavy Ind Ltd 単ラム型油圧式舵取装置
JPS6033718B2 (ja) * 1981-06-27 1985-08-05 石川島播磨重工業株式会社 船舶の操舵装置
JPS62110100U (enExample) * 1985-12-28 1987-07-14

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Publication number Priority date Publication date Assignee Title
JPS60182397A (ja) 1984-02-28 1985-09-17 Toshiba Corp 電動送風機の異常検出装置
JPS62110100A (ja) * 1985-11-08 1987-05-21 住友電気工業株式会社 スライド構造体
JPH0674078B2 (ja) * 1987-02-02 1994-09-21 三菱重工業株式会社 油圧駆動回路
JP5232870B2 (ja) * 2008-11-06 2013-07-10 三菱重工業株式会社 舵取機
JP2012136148A (ja) * 2010-12-27 2012-07-19 Kawasaki Heavy Ind Ltd 舶用操舵装置及び舶用操舵方法
KR101433835B1 (ko) * 2011-09-15 2014-08-26 훌루테크 주식회사 선박용 유압조타장치
JP6025497B2 (ja) * 2012-10-18 2016-11-16 三菱重工業株式会社 舵取機及びこれを備えた船舶
CN203372387U (zh) * 2013-07-19 2014-01-01 杨耕新 船舶操舵装置
DE102014002034A1 (de) * 2014-02-13 2015-08-13 Macgregor Hatlapa Gmbh & Co. Kg Ruderantriebssystem und Verfahren

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6033718B2 (ja) * 1981-06-27 1985-08-05 石川島播磨重工業株式会社 船舶の操舵装置
JPS58133999A (ja) * 1982-02-01 1983-08-09 Mitsubishi Heavy Ind Ltd 単ラム型油圧式舵取装置
JPS62110100U (enExample) * 1985-12-28 1987-07-14

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Publication number Publication date
KR20180102645A (ko) 2018-09-17
JP6660205B2 (ja) 2020-03-11
CN108778925A (zh) 2018-11-09
JP2017149181A (ja) 2017-08-31
CN108778925B (zh) 2020-06-12
KR102041064B1 (ko) 2019-11-05

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