ACTUATOR AND ROBOT

Abstract

This actuator comprises a stationary element, a movable element, and a hollow opening, the hollow opening being a wire body. The wire body comprises at least one pair of first wire bodies with a first diameter and one pair of second wire bodies with a second diameter smaller than the first diameter. Each wire body in the pair of first wire bodies is either a single wire or a twisted pair. The pair of second wire bodies is a twisted pair.

Description

AREA OF INVENTION

[0001] The present invention relates to an actuator and a robot. GENERAL STATE OF THE ART

[0002] Industrial robots, and in particular articulated robots or articulated-arm robots, have at least one joint at which two segments are connected. An actuator for driving the segments is provided in such a joint, and at least one power line is required to drive the actuator. In addition, signal lines, air hoses, coaxial cables, high-speed communication signal lines, etc., are required to drive an end effector or sensor located at the tip of the industrial robot. In this description, these power lines, air hoses, coaxial cables, and various signal lines are sometimes collectively referred to as the "filamentary body."

[0003] In Japanese patent application no. 2017-159397, an actuator comprises a stationary element and a movable element that rotate relative to each other. The strand-shaped body penetrates the interior of the actuator and is attached to the stationary element and the movable element, respectively, by a first fastening element and a second fastening element. LITERATURE LIST PATENT LITERATURE

[0004] PTL 1: Japanese Patent Publication No. 2017-159397 BRIEF DESCRIPTION OF THE INVENTIONAL PROBLEM

[0005] Stranded bodies can contain twisted pairs of wires, where pairs of conductor wires covered by insulation are twisted together to make the stranded body less susceptible to noise. If the diameters of the conductor wires forming a twisted pair are large, as in power lines, the insulation around the conductor wires can expand and contract significantly when the robot is driven, causing the insulation to break sooner than expected. Furthermore, stresses acting on the stranded body at points where the insulation breaks are transmitted directly to the conductor wire, and as a result, it is only a matter of time before the conductor wire breaks.

[0006] Therefore, an actuator is desired that can extend the service life of the strand-shaped body. SOLUTION TO THE PROBLEM

[0007] According to a first aspect of the present disclosure, an actuator is provided comprising a stationary element, a movable element rotating with respect to the stationary element, a hollow opening penetrating the actuator, a strand-shaped body extending through an interior of the hollow opening, a first fastening part for attaching a section of the strand-shaped body, and a second fastening part for attaching another section of the strand-shaped body, wherein the strand-shaped body comprises at least one pair of first strand-shaped bodies having a first diameter and a pair of second strand-shaped bodies having a second diameter smaller than the first diameter, each of the pair of first strand-shaped bodies being a single wire, and the pair of second strand-shaped bodies being a twisted pair of wires.

[0008] The tasks, features and advantages of the present disclosure will become even clearer through the following description of embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a perspective view of a robot with an actuator based on a first embodiment. Fig. Figure 2 is an axial sectional view of the actuator based on the first embodiment. Fig. Figure 3 is an enlarged view of a section of a strand-shaped body of the first embodiment. Fig. Figure 4 is an enlarged view of a section of a strand-shaped body of a second embodiment. Fig. Figure 5A is an axial sectional view of an actuator of a first modification example. Fig. 5B is an axial sectional view of an actuator of a second modification example. Fig. Figure 6A is a radial sectional view of an extruded body of an example. Fig. 6B is a radial sectional view of a strand-shaped body from another example. DESCRIPTION OF EXECUTION FORMS

[0009] With reference to the accompanying drawings, embodiments of the present disclosure will be described below. Common reference numerals have been assigned to corresponding structural elements in the drawings.

[0010] Fig. Figure 1 is a perspective view of a robot with an actuator based on a first embodiment. Several joints of a robot 1, for example, a vertical articulated robot, each have actuators 5a to 5f. The actuators 5a to 5f can be integrated into a machine other than the robot 1, for example, a machine tool. Although one actuator 5 will be described below, it can be assumed that the actuators 5a to 5f, which are shown in Figure 1, are also included. Fig. 1 shows similar structures.

[0011] Fig. Figure 2 is an axial sectional view of the actuator based on the first embodiment. The actuator 5 consists mainly of a stationary element 21 and a movable element 22 that rotates relative to the stationary element 21. Specifically, the stationary element 21 has a motor 10, for example, a servo motor consisting of a stator and a rotor, and a reduction gear 20 connected to a motor shaft 13 of the motor 10. The movable element 22 has an output shaft 23 of the reduction gear 20 and a force sensor S coupled to the output shaft 23. As will be described later, the movable element 22 can be configured to have only the output shaft 23 of the reduction gear 20.

[0012] In the present disclosure, it is defined that the reduction gear 20 is arranged in front of the motor 10 and the motor 10 is arranged behind the reduction gear 20. In principle, the "radial direction" in the present disclosure means the radial direction of the actuator 5, etc., and the "axial direction" means the axial direction of the actuator 5, etc.

[0013] The motor shaft 13 of the motor 10 is connected to the reduction gear 20. The tip of the output shaft 23 of the reduction gear 20 is connected via the force sensor S to a link 2 (not shown). The actuator 5 controls the positioning of the link 2 (not shown) by rotating within a predetermined operating range relative to the actuator 5. The reduction ratio of the reduction gear 20 is, for example, 1:50.

[0014] The motor shaft 13, for example, is a hollow shaft. An extension piece 23a, for example, a tube, is connected to the output shaft 23 of the reduction gear 20, and this extension piece 23a extends through the hollow motor shaft 13 to the motor 10. The extension piece 23a is a protective element for the extruded body L, provided to protect the extruded body L from direct contact with the motor shaft 13, which rotates at high speed. The output shaft 23 of the reduction gear 20 and the extension piece 23a can be formed as a single unit. In other words, the extension piece 23a can be a section of the output shaft 23. Therefore, the “extension piece 23a” can subsequently be referred to as the “output piece 23”.

[0015] The force sensor S consists of a torque sensor for detecting the force acting around the axis of the actuator 5. As is well known, the force sensor S has a strain detection unit that connects two concentrically arranged sensor components. When a force acts around the axis of the actuator 5, the rigid strain detection unit deforms elastically in such a direction that it expands slightly, so that the force acting around the axis can be detected via the extent of the strain detection unit's deformation. The force sensor S can be a strain gauge, a capacitance sensor, a magnetic sensor, an optical encoder sensor, or the like.

[0016] As shown in the drawing, the force sensor S, the reduction gear 20, and the motor 10, which are coaxially connected, have a common hollow opening 29. Preferably, the hollow opening 29 of the force sensor S, the reduction gear 20, and the motor 10 has substantially the same inner diameter. As a result, the extension part 23a, for example, a tubular element, can be easily arranged. In other words, the actuator 5 has a hollow opening 29 formed in the axial direction that penetrates the entire actuator 5. The hollow opening 29, which is in Fig. As shown in Figure 5, the inner circumferential surface of the motor 10, the inner circumferential surface of the reduction gear 20, and the inner circumferential surface of the force sensor S are formed. Therefore, the hollow opening 29 contains the extension part 23a and the motor shaft 13, which is located outside the extension part 23a. As shown in the drawing, the extension part 23a extends over substantially the entire length of the actuator 5. Preferably, the extension part 23a is shorter than the entire length of the actuator 5. At least one continuous body L, such as a power line, a signal line, an air hose, a coaxial cable, or a signal line for high-speed communication, runs through the interior of the extension part 23a.The strand-shaped body L is a movable strand-shaped body that is resistant to twisting and bending movements, and refers to a condition in which the different types of cables mentioned above are laid parallel in a bundle.

[0017] As in Fig. As shown in Figure 2, one section of the strand-shaped body L is attached to the stationary body 21 by a first fastening element 31. The other section of the strand-shaped body L is attached to the movable element 22 by a second fastening element 32.

[0018] In Fig. In the first case, the first mounting part 31 is attached to the rear end face of the motor 10, and the second mounting part 32 is attached to a section on the front end face close to the inner circumference of the sensor S, without affecting the detection of the sensor S. However, if the actuator 5 is, for example, an actuator 5d attached to the robot 1, the first mounting part 31 can be attached to an arm element 62 on a (non-rotating) arm mounting side, and the second mounting part 32 can be attached to another arm element 31 on the rotating side of the arm adjacent to the arm element 62. It is assumed below that the first mounting part 31 is attached to the rear end face of the stationary element 21, the stationary element 21 is connected to the arm element 61, the second mounting part 32 is attached to the front end face of the movable element 22, and the movable element 22 is connected to the arm element 61.Regarding the position of the actuator to be attached, the force sensor S can be connected to the arm element 62 on the stationary (non-rotating) side of the arm, and the stationary element 21 can be connected to the arm element 62 on the rotating side of the arm.

[0019] Fig. Figure 3 is an enlarged view of a section of the strand-like body of the first embodiment. Fig. In 3, the strand-like body L has a pair of first strand-like bodies L1, L1' and a pair of second strand-like bodies L2, L2'. On the right side of Fig. Figure 3 shows a radial cross-section of the pair of second strand bodies L2, L2'. The second strand bodies L2, L2' are electrical cables, each having conductor wires P2, P2' and insulation S2, S2' surrounding the conductor wires P2, P2'. It should be noted that on the right side of Fig. 4, which will be described later, the first strand-shaped bodies L1, L1' each have conductor cables P1, P1' and insulations S1, S1' surrounding the conductor wires P1, P1'.

[0020] The pair of first stranded bodies L1, L1' has first cross-sectional areas m1 that are equal to each other, and the pair of second stranded bodies L2, L2' has second cross-sectional areas m2 that are also equal to each other. The conductor cross-sectional areas of the conductor wires of the pair of first stranded bodies L1, L1' are equal to each other, and the conductor cross-sectional areas of the conductor wires of the pair of second stranded bodies L2, L2' are equal to each other. The first cross-sectional area m1 of the pair of first stranded bodies L1, L1' is larger than the second cross-sectional area m2 of the pair of second stranded bodies L2, L2'. Furthermore, the conductor cross-sectional area of ​​the conductor wires of the pair of first stranded bodies L1, L1' is larger than the conductor cross-sectional area of ​​the conductor wires of the pair of second stranded bodies L2, L2'.In one example, the conductor cross-sectional area of ​​the pair of first stranded bodies L1, L1' is 1.25 square millimeters, and the conductor cross-sectional area of ​​the conductor wire of the pair of second stranded bodies L2, L2' is 0.2 square millimeters. It should also be noted that, in general, the outer diameter of the insulation and the outer diameter of the conductor wire are proportional to each other in electrical wires.

[0021] The pair of first strand-like bodies L1, L1' can be power lines for supplying current to the stationary element 21 of the actuator 5, for example, the motor 10, or power lines for driving a tool attached to the robot's wrist. The pair of second strand-like bodies L2, L2' can be signal lines for sending control signals to the actuator 5 and for receiving signals from the sensor S and the encoder E.

[0022] In general, the stresses acting on the insulation when twisted pairs of wires are twisted in a direction in which the twisting loosens are low, but the stresses acting on the insulation tend to increase when they are twisted in a direction in which the twisting tightens.

[0023] In contrast, the pair of first strand-like bodies L1, L1' are as in Fig. Figure 3 shows independent single wires extending approximately parallel to each other and not twisted, and the pair of second strand bodies L2, L2' shows a twisted wire pair. Since the pair of first strand bodies L1, L1' does not become entangled even when the movable element 22 of the actuator 5 rotates relative to the stationary element 21, the pair of first strand bodies L1, L1' is less susceptible to the longitudinal stresses that would occur in the insulation due to an entangled pair of first strand bodies L1, L1'. There is no longitudinal expansion or contraction due to entanglement of the insulation S1, S1' of the pair of first strand bodies L1, L1' when the actuator 5 is driven.

[0024] Therefore, even with prolonged use of the stranded body L, it is unlikely that the insulation S1, S1' of the pair of first stranded bodies L1, L1' will break. Since the insulation is unlikely to break, the risk of breakage of the conductor wires P1, P1' of the first stranded bodies L1, L1' is also extremely low. If the insulation does break, it will no longer be able to withstand the stresses acting on the wire materials, and all stresses will act directly on the conductor wires. Thus, after the insulation breaks, it is only a matter of time before the conductor wires break.

[0025] Furthermore, since the pair of second strand bodies L2, L2' has a small diameter, it is not subjected to as great a stress as the first strand bodies L1, L1' when the robot 1 is driven, and the insulation S2, S2' of the pair of second strand bodies L2, L2' does not break easily, nor do the conductor wires P2, P2' break. Thus, in the first embodiment, the service life of the strand body L, which comprises the pair of first strand bodies L1, L1' and the pair of second strand bodies L2, L2', can be extended. Even if the insulation does not break, the conductor wire itself will gradually loosen due to torsional fatigue caused by repeated torsional movement; however, a service life sufficient for the entire operating life of the robot can be ensured.

[0026] Fig. Figure 4 is an enlarged view of a portion of a strand-like body of a second embodiment. Fig. 4. The strand-shaped body L comprises a pair of first strand-shaped bodies L1, L1' and a pair of second strand-shaped bodies L2, L2'. The pair of first strand-shaped bodies L1, L1' and the pair of second strand-shaped bodies L2, L2' each have the same cross-sectional areas m1, m2 and the same conductor cross-sectional areas of the conductor wires as described above. Furthermore, both the pair of first strand-shaped bodies L1, L1' and the pair of second strand-shaped bodies L2, L2' are twisted wire pairs.

[0027] The twist of the pair of first strand-like bodies L1, L1' is looser than the twist of the pair of second strand-like bodies L2, L2'. In the radial sectional view, shown on the right side of Fig. As shown in Figure 4, circles circumscribing the pair of first strand-shaped bodies L1, L1' and the pair of second strand-shaped bodies L2, L2' are indicated by dashed lines. These circumscribing circles correspond to the outer diameters of the pair of strand-shaped bodies as a twisted wire pair, and specifically to the twisted outer diameter.

[0028] As on the right side of Fig. As shown in Figure 4, the twisted outer diameter of the pair of first strand-like bodies L1, L1' D1 and the twisted outer diameter of the pair of second strand-like bodies L2, L2' D2 are given. Furthermore, the twist pitch of the pair of first strand-like bodies L1, L1' G1 and the twist pitch of the pair of second strand-like bodies L2, L2' G2 are given. It should be noted that the "twist pitch" in this disclosure corresponds to the axial length of the twisted wire pair required for one of the strand-like body sections forming the twisted wire pair to change its phase in the radial cross-section of the twisted wire pair by more than 180°.

[0029] In the second embodiment, the ratio R1 (= G1 / D1) of the twist pitch G1 of the pair of first strand-like bodies L1, L1' to the twisted outer diameter D1 of the pair of first strand-like bodies L1, L1' is greater than the ratio R2 (= G2 / D2) of the twist pitch G2 of the pair of second strand-like bodies L2, L2' to the twisted outer diameter D2 of the pair of second strand-like bodies L2, L2'. In other words, the pair of first strand-like bodies L1, L1' in the second embodiment is twisted more loosely than the pair of second strand-like bodies L2, L2'.

[0030] In one example, the twisted outer diameter D1 is 4.4 mm, the twisted outer diameter D2 is 2.2 mm, the twist pitch G1 is 50 mm, and the twist pitch G2 is 10 mm. Therefore, the ratio R1 is approximately 11.4, which is greater than the ratio R2, which is approximately 4.5.

[0031] Since the twisting of the pair of first strand bodies L1, L1' is relatively loose, even if the movable element 22 of the actuator 5 rotates relative to the stationary element 21 in a direction that increases the twisting of L1, L1', it is unlikely that the insulation of the pair of first strand bodies L1, L1' will be subjected to a stress sufficient to cause premature insulation failure. Thus, as described above, it is unlikely that the insulation S1, S1' of the pair of first strand bodies L1, L1' will break, and therefore it is unlikely that the conductor wires P1, P1' of the first strand bodies L1, L1' will break prematurely.Since the pair of second strand bodies L2, L2' has a small diameter, no large stresses are exerted when the robot 1 is driven, and the insulation S2, S2' of the pair of second strand bodies L2, L2' does not break, and consequently, the conductor wires P2, P2' do not break. Therefore, in the second embodiment, the service life of the strand body L, which comprises the pair of first strand bodies L1, L1' and the pair of second strand bodies L2, L2', can be extended.

[0032] Since the pair of first strand-like bodies L1, L1' in the second embodiment is a twisted wire pair, the process for laying the pair of first strand-like bodies L1, L1' can be carried out more easily and in a shorter time than the process for laying the pair of first strand-like bodies L1, L1' as two single wires in the first embodiment.

[0033] Fig. Figure 6A is a radial sectional view of an extruded body, as shown in the example. Fig. As shown in Figure 6A, the pair of first strand bodies L1, L1' and the pair of second strand bodies L2, L2' are surrounded by a braided shield Lb formed by conductors, and the braided shield Lb is further surrounded by a covering La formed by an insulator. In other words, the strand body is an example of a composite cable that can have the covering La and the braided shield Lb.

[0034] Fig. Figure 6B is a radial sectional view of a strand-shaped body from another example. In Fig. Figure 6B shows that the strand-shaped body L has the covering La and a braided shield Lb, similar to those described above, and represents an example of a composite cable in which several pairs of first strand-shaped bodies L1, L1' and several pairs of second strand-shaped bodies L2, L2' are arranged in the braided shield Lb. It will be understood that the strand-shaped body L, which is in Fig. 6A and Fig. 6B is shown, is contained within the scope of the present disclosure and has the same effects as those described above.

[0035] In the prior art, a strand-shaped body, comprising at least one power conductor and at least one signal conductor, runs through an actuator of a robot. To change the specifications of an AC power source for driving a robot, such as 100 V AC or 200 V AC, to a DC power source, such as 48 V DC, the current flowing in the power conductor is significantly higher than before the specification change. Therefore, it becomes necessary to make the diameter of the conductor wire of the power conductor larger than before the specification change. Generally, the bending strength of electrical wires decreases with increasing diameter. Therefore, in evaluating the reliability of twisted pairs of wires, it has been found that the insulation of thick twisted pairs of wires tends to break early, and the conductor wire tends to break completely within a short time thereafter.

[0036] However, in the present disclosure, as a countermeasure to the problem described above, each of the pair of first strand bodies L1, L1' is a single wire, or the pair of first strand bodies L1, L1' is twisted more loosely than the pair of second strand bodies L2, L2'. Therefore, in the present disclosure, the insulations S1, S1' of the first strand bodies L1, L1' will not break within a short time even if the current flowing through the first strand bodies L1, L1' as current conductors is extremely large, and therefore the conductor wires P1, P1' of the first strand bodies L1, L1' will not break prematurely. The pair of second strand bodies L2, L2' is also designed as described above.

[0037] Typically, the conductor wires P1, P1' of the pair of first strand bodies L1, L1' and / or the conductor wires P2, P2' of the pair of second strand bodies L2, L2' consist of soft copper wires. These conductor wires P1, P1', P2, P2' can also be made of a conductor wire material with excellent fatigue strength, such as a copper alloy. In this case, the bending strength can be improved compared to a conductor wire made of soft copper wire.

[0038] Fig. Figure 5A is an axial sectional view of an actuator based on a first modified example. The actuator 5-2, which is shown in Fig. Figure 5A shows no sensor S. Specifically, the movable element 22 of the actuator 5-2 only has the output part 23. The second mounting part 32 is attached to the end face of the extension part 23a, specifically to the end of the hollow opening 29. The stationary element 21 includes the reduction gear 20 and the motor 10.

[0039] Furthermore, Fig. Figure 5B shows an axial sectional view of an actuator based on a second modified example. The actuator 5-3, which is shown in Fig. Figure 5B shows an encoder E at the rear end of the motor 10. The encoder E detects the number of revolutions of the motor shaft 13 and the number of revolutions of the extension part 23a by a known method. Thus, the stationary element 21 comprises the reduction gear 20, the motor 10, and the encoder E. Therefore, in Fig. 5B The first mounting part 31 is attached to the rear end of the encoder E. The movable element 22 includes the output part 23 and the sensor S. Although not shown, a driver with a hollow structure may also be attached to the right side (the rear end) of the encoder E.

[0040] In this way, the stationary element 21 and the movable element 22 of the actuator are not dependent on the structure that is in Fig. 2 is shown, but the scope of the present disclosure also includes cases in which the stationary element 21 has the encoder E, and cases in which the movable element 22 does not have the sensor S.

[0041] It should be noted that the strand-shaped body L can comprise the pair of first strand-shaped bodies L1, L1', the pair of second strand-shaped bodies L2, L2', and a pair of third strand-shaped bodies L3, L3' (not shown). The thickness of the third strand-shaped bodies L3, L3' lies between the thicknesses of the first strand-shaped bodies L1, L1' and the second strand-shaped bodies L2, L2'.

[0042] The pair of third strand-like bodies L3, L3' can be a twisted wire pair or consist of several individual wires. Furthermore, the pair of third strand-like bodies L3, L3' can have a loose twist pitch or a normal twist pitch. Such a case is also included within the scope of the present disclosure.

[0043] As an effect of at least one of the embodiments described above, an actuator can be provided that ensures a long service life of the strand-shaped body L.

[0044] It should be noted that the term "actuator," as used herein, refers to a drive mechanism housed within a robot arm, etc. The actuator may be integrated into a unit with a housing element such as a robot arm, or the actuator itself may be a unit that can be separated from the housing element such as a robot arm.

[0045] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Within the scope of the core of the invention, or within the scope of the idea and intent of the present invention derived from the content described in the claims and their equivalents, various additions, substitutions, modifications, and partial omissions may be made in these embodiments. For example, in the embodiments described above, the sequence of individual activities and the sequence of individual processes are shown as examples and are not limited to them. The same applies if numerical values ​​or formulas have been used in the description of the embodiments described above.Furthermore, the scope of the present disclosure includes suitable combinations of some of the embodiments described above.

[0046] In connection with the embodiments and modifications described above, the following remarks are further disclosed. Note 1

[0047] An actuator indicates a fixed element, a movable element that rotates relative to the stationary element, a hollow opening that penetrates the actuator, a strand-like body that runs through the interior of the hollow opening, a first fastening part for attaching a section of the strand-shaped body, and a second fastening part for attaching another section of the strand-shaped body on, whereby the strand-shaped body comprises at least one pair of first strand-shaped bodies with a first diameter and one pair of second strand-shaped bodies with a second diameter that is smaller than the first diameter, Each of the pair of first strand-like bodies is a single wire, and The pair of second strand-shaped bodies is a twisted pair of wires. Note 2

[0048] An actuator indicates a fixed element, a movable element that rotates relative to the stationary element, a hollow opening that penetrates the actuator, a strand-like body that runs through the interior of the hollow opening, a first fastening part for attaching a section of the strand-shaped body, and a second fastening part for attaching another section of the strand-shaped body on, whereby the strand-shaped body at least a pair of first strand-shaped bodies with a first diameter and a pair of second strand-shaped bodies with a second has a diameter that is smaller than the first diameter, the pair of first strand-shaped bodies is a twisted pair of wires, the pair of second strand-shaped bodies is a twisted pair of wires, and a ratio of a twist pitch of the pair of first strand-shaped bodies to a twisted outer diameter of the pair of first strand-shaped bodies is defined such that it is greater than a ratio of a twist pitch of the pair of second strand-shaped bodies to a twisted outer diameter of the pair of second strand-shaped bodies. Note 3

[0049] In the actuator according to note 1 or 2, the pair of first strand-shaped bodies are power lines for supplying current. Note 4

[0050] In the actuator described in note 3, direct current flows through the power lines. Note 5

[0051] In the actuator according to one of Notes 1 to 4, the strand-shaped body further comprises a screen mesh surrounding the pair of first strand-shaped bodies and the pair of second strand-shaped bodies, and a covering surrounding the screen mesh and consisting of an insulator. Note 6

[0052] In the actuator according to one of the notes 1 to 5, the conductor wires of the pair of first strand bodies and the conductor wires of the pair of second strand bodies are made of a copper alloy. Note 7

[0053] A robot has the actuator according to one of the notes 1 to 6. DESCRIPTION OF REFERENCE MARKS 1 robot 5, 5-2 to 5-3 actuator 10 Motor 13 Motor shaft 20 reduction gearboxes 21 fixed element 22 movable element 23 Initial part 23a Extension part 29 hollow opening 31 first fastening part 32 second fastening part E Encoder L strand-shaped body L1, L1' pair of first strand-like bodies L2, L2' pair of second strand-like bodies P1, P1', P2, P2' Conductor wire S force sensor S1, S1', S2, S2' Insulation QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2017-159397

[0003] JP 2017-159397

[0004]

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