Patent Application
20190039227
The present invention relates to an electrically powered tool with a motor driven by an AC voltage supplied from a commercial power supply, particularly, to an improvement in rotation control of a motor.
An electrically powered tool for rectifying an AC voltage supplied from a commercial power supply to drive a brushless motor is known. In a brushless motor, a rotational position of a rotor is detected using a magnetic sensor and then controlled by a controller to supply a drive current from an inverter circuit to a predetermined winding of the motor. A technique of Patent Literature 1 is known as an example of an electrically powered tool (a grinder) using such a brushless motor. In Patent Literature 1, a brushless motor is accommodated coaxially with a cylindrical housing. A stator having a coil is disposed on an outer circumferential side of the motor, and a rotor core which is rotated by a rotating shaft and holds a permanent magnet is provided on an inner circumferential side thereof. The rotating shaft is pivotally supported by bearings on a front side and a rear side of the motor, and a cylindrical sensor magnet for detecting the rotational position of the rotor is provided behind the rear side bearing. A controller for controlling the motor and a power supply circuit are accommodated inside the rear side of the housing. Also, an inverter circuit for supplying a rotating magnetic field (three-phase alternating current) to the coil of the motor is mounted.
Generally, an electric device with a motor driven by a commercial power supply includes a rectifier circuit for rectifying an AC voltage supplied from a commercial power supply to a pulsating DC voltage, and a smoothing circuit including a smoothing capacitor for smoothing the pulsating DC voltage. At this time, since a capacity of the smoothing capacitor is set to be relatively large, the pulsating DC voltage is often smoothed to a sufficiently smoothed DC voltage. However, in such a circuit, there is a characteristic that current flows from the rectifier circuit to the smoothing capacitor only during a period when the DC voltage output from the rectifier circuit is higher than a voltage generated in the smoothing capacitor.
When the capacity of the smoothing capacitor is set to be large, the period during which the current flows from the rectifier circuit to the smoothing capacitor tends to be shortened. As a result, a current including a harmonic component flows through the commercial power supply, and a load on power transmission equipment increases, which is not preferable. Further, the commercial power supplied from the power transmission equipment is connected to the electrically powered tool via a distribution board located in a home, but since there is an upper limit on a magnitude of the current which can flow in the distribution board, it is also important that the current not exceed this upper limit. In addition, since a power factor deteriorates as the harmonic component contained in the current increases, a large current flows to the commercial power supply only when a small current flows through the motor of the electrically powered tool, and thus it is important to improve the power factor.
Patent Literature 2 discloses an electrically powered tool having a rectifier circuit which rectifies an AC voltage supplied from a commercial power supply to a pulsating DC voltage and a smoothing capacitor which slightly smoothes the pulsating DC voltage. In this technique, a period during which the current flows from the rectifier circuit to the smoothing capacitor is lengthened by setting a capacity of the smoothing capacitor to be relatively small, and thus the harmonic component contained in the current flowing in the commercial power supply is reduced. Furthermore, accommodating space is saved by setting the capacity of the smoothing capacitor to be relatively small, and the rectifier circuit and the smoothing capacitor can be built in the electrically powered tool.
Japanese Patent Application Publication No. 2010-269409
Japanese Patent Application Publication No. 2012-196725
Japanese Patent Application Publication No. 2013-202774
In the electrically powered tool described in Patent Literature 2, since the capacity of the smoothing capacitor is relatively small, a voltage supplied from the smoothing capacitor to the motor largely pulsates to synchronize with a frequency of the commercial power supply. Accordingly, when the motor rotates, a current flows from the smoothing capacitor toward the motor during a period in which the voltage output from the smoothing capacitor toward the motor is larger than an induced electromotive voltage generated by rotation of the motor, but no current flows from the smoothing capacitor toward the motor during a period in which the voltage output from the smoothing capacitor toward the motor is equal to or lower than the induced electromotive voltage generated by the rotation of the motor. Accordingly, a torque generated from the motor greatly pulsates, and this pulsation may cause difficulty in controlling the electrically powered tool.
On the other hand, in the electrically powered tool described in FIGS. 9 and 10 of Patent Literature 3, a duty ratio of PWM control is set to be small in a period when the voltage output from the rectifier circuit is in the vicinity of a maximum value, such that the voltage output from the smoothing capacitor toward the motor decreases, and the duty ratio of the PWM control is set to be large in a period when the voltage output from the rectifier circuit is in the vicinity of a minimum value, such that the voltage output from the smoothing capacitor toward the motor increases. In this way, the pulsation of the torque generated from the motor is minimized by reducing the pulsation of the voltage output from the smoothing capacitor toward the motor. However, frequent switching of the duty ratio of the PWM control is a heavy burden on a microcomputer (hereinafter referred to as “microcomputer”) which performs the PWM control, and thus it is necessary to use an expensive microcomputer with high processing speed.
In a process of examining these problems, the inventors found that, by alternately generating a period in which no current flows in the motor and a period in which a current flows in the motor, the torque generated from the motor may pulsate and noise may be generated from a power transmission mechanism that transmits a driving force of the motor to a tip tool. Specifically, in the case in which the torque generated from the motor pulsates in a state in which no load is applied to the motor, since the motor tries to rotate at the pulsating rotation speed while the tip tool tries to maintain a constant rotation speed by inertia, gears constituting the power transmission mechanism interposed between the tip tool and the motor repeatedly collide and disengage, thereby generating a rotation sound, a striking sound, or the like which is different from usual.
The present invention has been made in view of the above background, and an object of the present invention is to provide an electrically powered tool which minimizes noise generated from a power transmission mechanism during no-load rotation. Another object of the present invention is to provide an electrically powered tool capable of minimizing a harmonic component contained in a current flowing through a commercial power supply.
Representative features of the invention disclosed in the present application will be described as below. According to one feature of the present invention, there is provided an electrically powered tool including a rectifier circuit configured to rectify an AC voltage supplied from a commercial power supply to a pulsating DC voltage, a smoothing circuit having a smoothing capacitor configured to reduce a pulsation state of the pulsating DC voltage, a circuit configured to supply the smoothed DC voltage to a motor, and a power transmission mechanism configured to transmit a driving force of the motor to a tip tool using a plurality of gears, wherein a current continuously flows to the motor when the motor is driven in a state in which no load is applied to the tip tool, and a current intermittently flows to the motor when the motor is driven in a state in which a load is applied to the tip tool. Further, a switching element provided between the smoothing circuit and the motor and configured to control a voltage supplied to the motor, and a controller configured to control rotation of the motor by driving the switching element may be provided, and the controller may reduce PWM duty of the switching element so that, in a case in which the motor is rotated in a state in which no load is applied to the tip tool, the smoothed DC current supplied to the switching element pulsates at a frequency twice a frequency of input commercial power supply and there is no current zero section when the pulsating direct current is minimized. Since the motor is configured so that the current continuously flows when the motor is driven in the state in which no load is applied to the tip tool, a torque generated from the motor is stabilized, and thus noise generated from the power transmission mechanism can be minimized. Further, since the motor is configured such that the current intermittently passes through the motor when the motor is driven in the state in which a load is applied to the tip tool, it is possible to reduce harmonic components contained in the current flowing through the commercial power supply.
According to another feature of the present invention, an inverter circuit may be formed using a plurality of switching elements, the inverter circuit may be provided between the smoothing circuit and the motor, and the controller may maintain an effective value of a minimum value of the direct current which repeatedly fluctuates between a maximum value and the minimum value to be synchronized with a fluctuation of the AC voltage at zero or more via controlling the PWM duty of the inverter circuit during no-load rotation of the motor. Further, a rotation speed setting unit connected to the controller to set a rotation speed of the motor may be provided, and regardless of a rotation speed set by the rotation speed setting unit, the effective value of the minimum value of the direct current may be maintained at zero or more during no-load rotation. Furthermore, a capacity of the smoothing capacitor may be set to be small such that there is a section in which the minimum value of the effective value of the direct current at the time of a load in which work on a workpiece is performed by the tip tool becomes zero. When the motor is driven in the state in which a load is applied to the tip tool, a large current tends to flow, and the harmonic components contained in the current tend to be larger. However, in such a case, the capacity of the smoothing capacitor can be set to be small such that a current intermittently flows to the motor, and the harmonic components contained in the current can be minimized.
According to yet another feature of the present invention, a controller configured to control a rotation speed of the motor may be provided in the electrically powered tool, the controller may control the motor at a constant speed to maintain a set rotation speed, and a duty ratio at the time of no-load rotation set by the controller may be set not to become zero even in the vicinity of a minimum value of the smoothed DC voltage. Further, a rotation speed setting unit configured to set a target rotation speed of the motor may be provided, the controller may control the motor at a constant speed to maintain the target rotation speed set by the rotation speed setting unit, and the duty ratio at the time of the no-load rotation set by the controller may be configured not to become zero in the vicinity of the minimum value of the smoothed DC voltage at any target rotation speed set by the rotation speed setting unit.
According to still another feature of the present invention, in the electrically powered tool, the setting unit may be set to a first setting value (a setting value which is the highest speed of the speed setting dial or a state in which a trigger switch for speed adjustment is fully drawn) at which the voltage supplied to the motor becomes a maximum value, and when the motor is driven in a state in which a load is not applied to the tip tool, a maximum value and a minimum value may be repeatedly generated so that the smoothed DC voltage is synchronized with a fluctuation of the AC voltage, and a duty ratio of PWM control may be limited to a first duty ratio smaller than 100% over both a period in which the smoothed DC voltage is in the vicinity of the maximum value and in a period in which the smoothed DC voltage is in the vicinity of the minimum value. In this way, when the setting unit is set to the first value at which the voltage supplied to the motor is a maximum value and the motor is driven in the state in which a load is not applied to the tip tool, since the duty ratio of PWM control is limited to the first duty ratio smaller than 100% over both the period in which the smoothed DC voltage is in the vicinity of the maximum value and in the period in which the smoothed DC voltage is in the vicinity of the minimum value, the current flowing from the smoothing capacitor toward the motor is suppressed and the voltage of the smoothing capacitor is hard to be lowered. Since the voltage of the smoothing capacitor is not easily lowered, a period during which the voltage output from the smoothing capacitor toward the motor is lower than an induced electromotive voltage generated by the rotation of the motor becomes shorter, and the current easily flows continuously to the motor. Therefore, the torque generated from the motor is stabilized, and the noise generated from the power transmission mechanism can be minimized. Further, since it is unnecessary to frequently switch the duty ratio, it can be realized by an inexpensive microcomputer of which a processing speed is not high, and thus an inexpensive electrically powered tool can be provided.
According to the present invention, it is possible to provide an electrically powered tool which minimizes noise generated from a power transmission mechanism and minimizes a harmonic component contained in a current flowing through a commercial power supply.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Further, in the following drawings, parts having the same function are designated by the same reference numerals, and repeated description will be omitted. Further, in the specification, it is assumed that the front, back, left, right, upward and downward directions are directions illustrated in the drawings.
As the rotating shaft 6 is disposed so that the motor 5 is along a central axis direction (forward and backward direction) of the motor housing 2, and a controller detects a rotational position of a rotor core 7 with a rotational position detecting element 69 formed of a Hall IC and controls an inverter circuit 80 including a plurality of switching elements Q1 to Q6 (refer to
The rotating shaft 6 is rotatably held by two bearings 14a and 14b. A cooling fan 15 is provided between the bearing 14b and the motor 5 when seen in an axial direction of the rotating shaft 6. The cooling fan 15 is, for example, a centrifugal fan formed of a plastic that rotates in synchronization with the rotating shaft 6 when the motor 5 rotates and generates a wind flow (cooling air) for cooling the motor 5, a control circuit, and so on in a direction indicated by a plurality of black arrows inside the housing. The cooling air is suctioned from an intake port 3a provided in upper and lower surfaces of the rear cover 3 in the vicinity of a rear end of the circuit board 60, flows around the case 40 accommodating the circuit board 60 from a rear side to a front side, passes through an opening (not illustrated) provided in a bearing holder portion 20 of the motor housing 2, and flows into an accommodation space of the motor 5. The cooling air which has flowed into the accommodation space of the motor 5 is suctioned by the cooling fan 15 through a gap (refer to a black arrow in the drawing) between the motor housing 2 and an outer circumferential side of the stator core 9 or an inner space of the stator core 9, passes through a through-hole of a fan cover 16, and is discharged from a through-hole 21b of the gear case 21 to a front side or discharged forward from a through-hole 21c on a lower side of the fan cover 16. In the embodiment, the circuit board 60, a sensor magnet 18, the bearing 14a, the motor 5, the cooling fan 15, and the bearing 14b are arranged in series (on a straight line) in the axial direction from a rear side (windward side) to the front side when seen on an axis line of the rotating shaft 6 of the motor 5. Additionally, the intake port 3a serving as an air window for suctioning external air is disposed on a rear side of elements having large heat generation around the circuit board 60, particularly, a rectifier circuit 71 and the switching elements Q1 to Q6 (refer to
The gear case 21 is formed by integral molding of a metal, for example, aluminum, accommodates a pair of bevel gear mechanisms 22 and 23, and rotatably holds the spindle 24 which is an output shaft. The spindle 24 is disposed to extend in a direction (here, vertical direction) substantially orthogonal to the axial direction (here, forward and backward direction) of the rotating shaft of the motor 5, a first bevel gear 22 is provided at a front end portion of the rotating shaft 6, and the first bevel gear 22 engages with a second bevel gear 23 installed at an upper end of the spindle 24. Since a diameter of the second bevel gear 23 is large and the number of gears is greater than that of the first bevel gear 22, these power transmission mechanisms act as deceleration units. An upper end side of the spindle 24 is pivotally supported on the gear case 21 to be rotatable by a metal 25, and an approximately central portion thereof is supported by a bearing 26 formed of a ball bearing. The bearing 26 is fixed to the gear case 21 via a spindle cover 27.
An installation base 28 is provided at a distal end of the spindle 24, and a tip tool such as the grinding stone 30 is mounted by a washer nut 31. The grinding stone 30 is, for example, a resinoid flexible grinding stone, a flexible grinding stone, a resinoid grinding stone, a sanding disk, or the like which has a diameter of 100 mm and is capable of performing surface polishing and curved surface polishing of metals, synthetic resins, marble, concrete and so on by selecting a type of abrasive grain to be used. A radially outer side and an upper side of the grinding stone 30 on a rear side thereof are covered with a wheel guard 32. Further, the tip tool which is installed at the electrically powered tool 1 is not limited to only the grinding stone 30, but other tools such as a bevel wire brush, a nonwoven fabric brush, a diamond wheel and so on may be installed.
The sensor magnet 18, which is a magnetic body having different magnetic poles in a rotation direction, is installed at a rear end of the rotating shaft 6 of the motor 5. The sensor magnet 18 is a thin cylindrical permanent magnet installed to detect the rotational position of the rotor core 7, and NSNS poles are sequentially formed at intervals of 90 degrees in a circumferential direction. A substantially semicircular sensor board 68 disposed in a direction perpendicular to the rotating shaft 6 is provided on an inner side of the case 40 located on a rear side of the sensor magnet 18, and a rotational position detecting element 69 which detects a position of the sensor magnet 18 is provided on the sensor board 68. The rotational position detecting element 69 detects the rotational position of the rotor core 7 by detecting a change in a magnetic field of the sensor magnet 18 which is rotating and three rotational position detecting elements 69 are provided in the rotation direction at predetermined angular intervals, here, at intervals of 60°.
The controller (to be described later) for controlling the rotation of the motor 5, the inverter circuit 80 for driving the motor 5 and a power supply circuit 70 for converting an alternating current supplied from the outside through a power cord 3b into a direct current are accommodated inside the rear cover 3 formed in a substantially cylindrical shape. In the embodiment, these circuits are mounted on the common circuit board 60. The circuit board 60 is disposed to be parallel to a longitudinal central axis (which is coaxial with the rotating shaft 6 of the motor 5) of the electrically powered tool 1. Here, a front surface and a back surface of the board are disposed to extend in the forward and backward direction and the leftward and rightward direction. The circuit board 60 is disposed inside a substantially rectangular parallelepiped container-shaped case 40 of which one surface is formed as an opening, and the case 40 is screwed to the bearing holder portion 20 of the motor housing 2 by screws 42c and 42d. Further, a rear end side of the case 40 is fixed to the rear cover 3 by a screw 42e. An inside of the case 40 is totally solidified with a hardening resin which hardens a liquid resin (not illustrated). Here, when the grinding stone 30 of the electrically powered tool 1 is on a lower side (in a direction of
In the inverter circuit 80, it is necessary to apply a large drive current to the coil 13, and thus, for example, large capacity output transistors such as a field effect transistor (FET) and an insulated gate bipolar transistor (IGBT) are used as the switching elements Q1 to Q6. A metal plate for cooling is further installed on a heat sink plate of the switching elements Q1 to Q6. A power supply circuit is provided on a rear side of the switching elements Q1 to Q6. The power supply circuit 70 of the embodiment is configured to include a rectifier circuit for converting a commercial power supply (AC) supplied from the outside into DC. The power supply circuit 70 is mounted on a position close to the power cord 3b wired to extend outward from a rear end surface of the rear cover 3, that is, on a rear side of the case 40 according to efficiency of wiring.
A switch 64 for turning on or off the motor 5 is provided in the vicinity of the inverter circuit 80. In a circle in the drawing, a part of the switch 64 is illustrated in a perspective view. The switch 64 has a plunger 64a and a metal leaf spring 64b for pressing the plunger 64a, and as a contact portion 4b which moves in conjunction with a switch operating portion described later in
The inverter circuit 80 is disposed so that sets of three switching elements Q1 to Q3 and Q4 to Q6 are arranged in lines in the axial direction. In the switching elements Q1 to Q6, semiconductor elements are enclosed in a substantially rectangular parallelepiped package formed of a ceramic or the like, three metal terminals extend from a lower side of the package, and a heat sink plate formed of metal is embedded in a back side of the package. The heat sink plate has a planar shape, and the switching elements Q1 to Q6 are arranged so that a spreading direction of the plane is parallel or orthogonal to a longitudinal direction (forward and backward direction in
The microcomputer (microcomputer) 101 constituting the controller for further controlling the rotation of the motor 5 is mounted on the circuit board 60. The microcomputer 101 activates and stops the motor 5 and controls a rotation speed thereof by driving the inverter circuit 80. A constant voltage power supply circuit to be described later is further mounted on the circuit board 60. These elements can be mounted in an arbitrary space on the circuit board 60. In the embodiment, the microcomputer 101 is mounted on a rear side of the switch 64. The sensor board 68 on which three rotational position detecting elements 69 (refer to
Next, a circuit configuration of a drive control system of the motor 5 will be described with reference to
An input side of the rectifier circuit 71 is connected to, for example, a commercial AC power supply 35, full-wave rectifies an input AC and outputs it to the smoothing circuit 75. The smoothing circuit 75 smoothes a pulsating flow included in the current rectified by the rectifier circuit 71 as much as possible and outputs it to the inverter circuit 80. When the electrically powered tool 1 is a disc grinder, a large output is required as compared with other electrically powered tools (for example, an impact driver, or the like), and thus a voltage value input to the smoothing circuit 75 from the power supply circuit 70 is also high. For example, when the input voltage is 230 V AC, a peak thereof is about 324 V.
The inverter circuit 80 is configured to include six switching elements Q1 to Q6 connected in a three-phase bridge type. Here, the switching elements Q1 to Q6 are insulated gate bipolar transistors (IGBTs), but metal oxide semiconductor field effect transistors (MOSFETs) may also be used.
The rotor having the permanent magnet 8 rotates inside the stator core 9 of the motor 5. The sensor magnet 18 for position detection is connected to the rotating shaft 6 of the rotor, and the controller 100 detects the rotational position of the motor 5 by detecting a position of the sensor magnet 18 with the rotational position detecting element 69 such as a Hall IC or the like.
The controller 100 is a means for controlling on/off and rotation of the motor and is configured to include the microcomputer 101 (refer to
The switching elements Q1 to Q6 perform the switching operation on the basis of the driving signals H1 to H6 input from the controller 100 and supply the DC voltages supplied from the commercial AC power supply 35 via the rectifier circuit 71 and the smoothing circuit 75 to the motor 5 as three-phase (U-phase, V-phase and W-phase) voltages Vu, Vv and Vw. A magnitude of the current supplied to the motor 5 is detected by the controller 100 detecting a voltage value at both ends of a current detecting resistor 102 connected between the smoothing circuit 75 and the inverter circuit 80. A predetermined current threshold value according to setting rotation of the motor 5 is preset in the controller 100, and when the detected current value exceeds the threshold value, the driving of the motor 5 is stopped, and thus the switching operation of the inverter circuit 80 is stopped. Accordingly, occurrence of burning or the like due to an overcurrent flowing to the motor 5 is prevented.
The constant voltage power supply circuit 90 is a power supply circuit which is directly connected to the output side of the rectifier circuit 71 and supplies a direct current of a stabilized reference voltage (low voltage) to the controller 100 configured with the microcomputer or the like. The constant voltage power supply circuit 90 includes a diode 96, an electrolytic capacitor 94 for smoothing, an IPD circuit 91, a capacitor 93 and a regulator 92. Each part of the constant voltage power supply circuit 90 is mounted on the circuit board 60, although this is not illustrated in
In (1) of
At the time of the medium load, since the duty ratio is set higher and becomes, for example, 85%, peak positions (arrows 140e and 140g) of the line connecting the peak positions of the waveform of the current value 140 become high. Meanwhile, since there is a time TA during which no current flows at arrows 140f and 140h as the minimum values, the current flows intermittently to the motor 5. Here, the term “intermittently” refers not to the intermittent state within a period of one cycle of the second frequency switched for the PWM control but to a state at the first frequency as viewed from the line connecting the peak positions of the waveform. At the time of the high load, since the duty ratio is set higher and becomes 100%, there is no OFF period of the PWM control. At this time, a peak value of the current value 140 increases as indicated by arrows 140i and 140k, and a time TB during which the current does not flow is elongated as indicated by an arrow 140j.
In the embodiment, the PWM duty of the switching element is reduced so that the smoothed direct current supplied to the switching element pulsates at a frequency twice the frequency of the input commercial power and there is no current zero section when the pulsating direct current is the minimum. As a result, even in the vicinity of the minimum values 140b and 140d in the no-load operation, there is no section in which the current becomes zero, that is, a zero current section for one cycle or more of the PWM control frequency (second frequency), and an effective value of the current can be maintained above zero. Since the driving force of the motor 5 is not lost due to such control, it is possible to continue the rotation while maintaining the contact state without repeating separation and contact between gears, and thus it is possible to prevent generation of the sound due to hitting of the gears. Further, at the time of the medium load or the high load, there are sections (times TA and TB) in which the current becomes zero like the minimum values 140f, 140h and 140j, but when the motor 5 is driven in a state in which a load is applied to the tip tool, the noise generated between the tip tool and a material to be processed commonly becomes larger than the noise generated from the power transmission mechanism, and at this time, a worker does not feel a great discomfort for the noise generated from the power transmission mechanism.
Returning to
As described in the flowchart of
The duty ratios 161 to 166 in the no-load operation, that is, the case in which the grinding stone 30 is rotated in a state in which it is not in contact with anything, are as indicated by the black circles, and when work is started by pressing the grinding stone 30 against a workpiece from that state, the load increases, and thus the controller 100 increases the duty ratios 161 to 166 to keep the setting rotation speed 192 (refer to
In the embodiment, the duty ratios 161 to 166 at the time of the no-load rotation are set to be lower than the first threshold (first duty ratio) D1 in any of the dials 1 to 6. When the duty ratio at the time of the no-load rotation is lower than the first threshold value D1, a section in which the current becomes zero in the vicinity of the minimum value of the current value (for example, a section like time TA and TB in (4) of
Dotted circles 181 to 186 in
Although the present invention has been described on the basis of embodiments, the present invention is not limited to the above-described embodiments, and various modified examples are possible without departing from the spirit of the invention. For example, in the above-described embodiments, a disc grinder is used as an example of the electric power tool, but the present invention is not limited to the disc grinder, and it can be applied to any tool having a gear in the power transmission mechanism using a motor of which rotation is controlled by a switching element as a power source. Further, a type of the tool is not limited to only the grinding stone, and it can be similarly applied to any tool having the no-load rotation state in which the motor is rotated without pressing the tool against an object, such as a drill using a drill blade, a circular saw using a saw tooth, an electric chain saw, a grass cutter using a mowing blade, a hedge trimmer using a reciprocating blade, and so on. In addition, the setting unit for setting the rotation speed of the motor 5 is not limited to only the speed setting dial, but a trigger mechanism using a variable switch of which rotation speed of a motor varies according to a pulling amount may be used.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2016-042903 | Mar 2016 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2017/005914 | 2/17/2017 | WO | 00 |
