Patent Application
20210319965
The present invention relates to an enabling switch for enabling operation of an operation target by an operation part.
Conventionally, switches are known that transition from an OFF state to an ON state and further from the ON state to the OFF state in accordance with the amount of press of their movable member. Such switches are used as “enabling switches” of operation parts that serve as terminals through which operators do input when operating robots or machines. When doing input, an operator maintains a switch in an ON state. When the switch has entered an OFF state, input from the operator is interrupted and is not transmitted to an operation target such as a robot. Thus, in cases such as where the operator has moved his or her hands off the operation part or where the operator has strongly grasped the operation part in surprise or other emotional states, input to the operation part is not transmitted to the operation target, and the safety of the operator is ensured. Examples of such enabling switches include switches disclosed in Japanese Patent Application Laid-Open No. 2001-35300, Japanese Patent Application Laid-Open No. 2002-42606, International Publication No. WO/2002/061779, and Japanese Patent Application Laid-Open No. 2005-56635.
Like the aforementioned switches, the switch disclosed in Japanese Patent Application Laid-Open No. 2002-75121 performs a three-position (OFF-ON-OFF) operation. Initial switching from an OFF-state operation to an ON-state operation is actuated by snap action of switch actuating means, and the next switching from the ON-sate operation to the OFF-state operation is also actuated by snap action of the switch actuating means. This provides the operator an operating feel at the time of state switching.
Incidentally, in the switch disclosed in Japanese Patent Application Laid-Open No. 2002-75121, when a plunger serving as a movable member is pressed to make a transition from an OFF state to an ON state, a pressing force or a load increases gradually relative to the amount of press. Thus, the switch provides only a small tactile click feel when transitioning from the OFF state to the ON state, and consequently even after the switch has transitioned to the ON state, the operator continues to press the movable member gradually. As a result, even if the load is increased relative to the amount of press immediately before a further transition from the ON state to the OFF state, this increase may not be felt clearly by the operator.
When the pressing force or the load increases gradually relative to the amount of press, the operator can easily press the movable member slowly. However, there is a usage pattern of an enabling switch in which the enabling switch includes two contacts in order to improve reliability of the enabling switch, and if there is a large difference in switching timing between the two contacts, the operation part determines that the enabling switch is faulty.
In the case of this usage pattern, when the movable member is pressed slowly in a slightly inclined position, the difference in switching timing between the two contacts will increase and may be misdetected as an error.
The present invention has been made in view of the problem described above, and it is an object of the present invention to provide an enabling switch that enables an operator to clearly feel an increase in load relative to the amount of press at a stage before the switch is further pressed from an ON state and transitions to an OFF state.
It is also an object of the present invention to provide an enabling switch that includes two contacts and enables reducing a difference in switching timing between the two contacts.
The present invention is directed to an enabling switch provided in an operation part and for enabling operation of an operation target by an operation part.
An enabling switch according to a preferable aspect of the present invention includes a holder, a movable member that is pressed toward the holder, a contact, and a contact mechanism that causes the contact to transition from an open state to a closed state and further from the closed state to the open state in accordance with a press of the movable member toward the holder.
Here, a position of the movable member relative to the holder in a state in which the movable member is not pressed is given as a first position, a position of the movable member relative to the holder in a state in which the movable member is most pressed is given as a third position, and a rising start position of a maximum rise of a load required to press the movable member is given as a second position, the rising start position being between the first position and the third position, and the maximum rise being a rise in which the load rises and reaches its maximum with an increase in a rate of increase of the load relative to an amount of press.
When the movable member is pressed, the contact transitions from the open state to the closed state in an ON switching position that is between the first position and the second position, and the contact transitions from the closed state to the open state in an OFF switching position that is between the second position and the third position. A minor peak in which the load once rises and then decreases when the movable member is pressed appears between the first position and the second position. The ON switching position is between a falling start position of the minor peak and the second position. A maximum load during the minor peak is greater than or equal to a load in the ON switching position and less than or equal to a load in the OFF switching position.
According to the present invention, it is possible to provide an enabling switch that enables an operator to clearly feel an increase in load relative to the amount of press at a stage before the switch is further pressed from an ON state and transitions to an OFF state.
Preferably, the maximum load during the minor peak is less than a load in a position immediately before the OFF switching position and greater than a load in the second position.
In a preferable embodiment, the contact is closed when two terminals included in the contact gradually approach and come in contact with each other as the movable member is pressed in close proximity to the ON switching position toward the holder.
In a preferable embodiment, the enabling switch further includes a first engaging part, and a second engaging part that moves relative to the first engaging part in accordance with movement of the movable member. When the movable member is pressed toward the holder, engagement of the first engaging part and the second engaging part is released during the minor peak of the load.
In another preferable embodiment, the enabling switch further includes a second contact, and the contact is a first contact.
The contact mechanism causes the first contact and the second contact to transition from an open state to a close state and further from the closed state to the open state as the movable member is pressed toward the holder. The ON switching position is a first ON switching position, and the OFF switching position is a first OFF switching position.
When the movable member is pressed, the second contact transitions from the open state to the closed state in a second ON switching position that is between the first position and the second position, and the second contact transitions from the closed state to the open state in a second OFF switching position that is between the second position and the third position. The first ON switching position and the second ON switching position are the same or in close proximity to each other, and the first OFF switching position and the second OFF switching position are the same or in close proximity to each other,
The second ON switching position is between a falling start position of the minor peak and the second position. The maximum load during the minor peak is greater than or equal to a greater one of a load in the first ON switching position and a load in the second ON switching position and less than a smaller one of a load in the first OFF switching position and a load in the second OFF switching position.
According to the present invention, it is possible to provide an enabling switch that enables reducing a difference in switching timing between the two contacts.
Preferably, the maximum load during the minor peak is less than a load in a position immediately before the second OFF switching position and greater than a load in the second position.
In a preferable embodiment, the enabling switch further includes a first engaging part, and a second engaging part that moves relative to the first engaging part in accordance with movement of the movable member. When the movable member is pressed toward the holder, engagement of the first engaging part and the second engaging part is released during the minor peak of the load.
Preferably, in the above-described preferable embodiment, the movable member is transversely elongated and pressed toward the holder in a direction perpendicular to a direction of elongation of the movable member. The contact mechanism includes a rotatable member that is long in the direction of elongation of the movable member and rotatable about a rotation axis parallel to the direction of elongation. The rotatable member is rotatably mounted directly or indirectly on either one of the movable member and the holder. The movable member is pressed toward the holder when the rotatable member is rotated with a press of the movable member while rotatable sliding contact parts that are located in opposite ends of the rotatable member in a longitudinal direction are in sliding contact with fixed sliding contact parts that are directly or indirectly fixed to the other of the movable member and the holder. The fixed sliding contact parts include the first engaging part, and the rotatable sliding contact parts serve as the second engaging part.
Preferably, the enabling switch further includes an elastic body that exerts a force between the first engaging part and the second engaging part. When the movable member is pressed toward the holder, the second engaging part moves against the force exerted from the elastic body during the minor peak of the load so as to release engagement of the first engaging part and the second engaging part.
Preferably, the maximum load during the minor peak is less than a load in a position immediately before the second OFF switching position and greater than a load in the second position.
In a preferable embodiment, the elastic body is directly or indirectly fixed to either one of the movable member and the holder. The second engaging part is directly or indirectly mounted on the elastic body. The first engaging part is directly or indirectly fixed to the other of the movable member and the holder.
In either of the above-described enabling switches, it is preferable that the minor peak rises almost vertically.
More preferably, a position of the maximum load during the minor peak is closer to the first position than to a midpoint position between the first position and the second position.
These and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.
In
The enabling switch 1 includes, in the holder 11, two contacts 13 and a contact mechanism 20 that causes the contacts 13 to transition to an open or closed state. Each contact 13 is a combination of an upper terminal 131 and a lower terminal 132. In the open state of each contact 13, the upper terminal 131 and the lower terminal 132 are spaced from each other. In the closed state of each contact 13, the upper terminal 131 and the lower terminal 132 are in contact with each other. In the open state of the contacts 13, the enabling switch 1 is in an OFF state, and in the closed state of the contacts 13, the enabling switch 1 is in an ON state.
The movable member 12 has an upwardly recessed hole 122. The hole 122 has an inclined face 123 that is inclined upward toward the inside in the lateral direction in
In the initial state illustrated in
The upper terminals 131 are provided on metal plates 171 that are in contact with the lower abutment part 144. A coil spring 151 is arranged between the metal plates 171 and the supporter 141. The coil spring 151 serves to press the metal plate 171 down against the lower abutment part 144. A force of contact between the upper terminals 131 and the lower terminals 132 is adjusted using the resilience of the coil spring 151 and long metal plates 172. The lower terminals 132 are provided on the upper ends of the long metal plates 172. The lower ends of the metal plates 172 are fixed to the bottom face of the holder 11. The metal plates 172 are curved and function as flat springs.
As will described later, the OFF switching mechanism 14 and the metal plates 171 and 172 configure the contact mechanism 20 that causes the contacts 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11. Since, as will be described later, a lower portion 124 of the movable member 12 serves to maintain the contacts 13 in the open state during a period of time when the movable member 12 returns from its most pressed position to its original position, the lower portion 124 may also be regarded as part of the contact mechanism 20. The enabling switch 1 includes the two contacts 13, and when these contacts are distinguished respectively as a “first contact 13” and a “second contact 13,” the contact mechanism 20 causes the first contact 13 and the second contact 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11.
In the holder 11, two resistance mechanisms 16 are provided laterally to the movable member 12. The resistance mechanisms 16 are provided in holes of the holder 11 that are recessed outward in the lateral direction. The resistance mechanisms 16 each include an engaging part 161 and a coil spring 162. More correctly, portions of the holder 11 that are located in close proximity to the engaging parts 161 and the coil springs 162 also form part of the resistance mechanisms 16. The coil springs 162 press the engaging parts 161 toward the inside of the holder 11 in the lateral direction, i.e., toward the movable member 12. In the initial state illustrated in
Next is a description of a preferable change in load that is a force required to press the enabling switch 1 with a press of the movable member 12.
In
A position 302 is the position in which the movable member 12 is pressed to some extent and can be held stably while the operator feels some sort of resistance. Thus, the enabling switch 1 is stably held in an ON state. Hereinafter, the position 302 is referred to as a “second position.” The second position 302 is a rising start position of a maximum rise 343 of the load required to press the movable member 12, the rising start position being between the first position 301 and the third position 303, and the maximum rise being a rise in which the load rises and reaches its maximum in accordance with an increase in the rate of increase of the load relative to the amount of press.
A position 311 is an “ON switching position” in which the contacts 13 transition from an open state to a closed state with a press and the enabling switch 1 transitions from an OFF state to an ON state. A position 312 is an “OFF switching position” in which the contacts 13 transition from the closed state to the open state and the enabling switch 1 transitions from the ON state to the OFF state. Accordingly, in the enabling switch 1, with a press of the movable member 12, the contacts 13 transition from an open state to a closed state in the ON switching position 311 between the first position 301 and the second position 302, and the contacts 13 transition from the closed state to the open state in the OFF switching position 312 between the second position 302 and the third position 303.
More correctly, the enabling switch 1 includes the two contacts 13, and when these contacts are distinguished respectively as a “first contact 13” and a “second contact 13,” with a press of the movable member 12, the first contact 13 transitions from an open state to a closed state in a first ON switching position that is between the first position 301 and the second position 302, the first contact 13 transitions from the closed to the open state in a first OFF switching position that is between the second position 302 and the third position 303, the second contact 13 transitions from an open state to a closed state in a second ON switching position that is between the first position 301 and the second position 302, and the second contact 13 transitions from the closed state to the open state in a second OFF switching position that is between the second position 302 and the third position 303.
In the case of the first contact 13, the position 311 in
In the enabling switch 1, a minor peak 341 in which the load once rises and then decreases with a press of the movable member 12 appears between the first position 301 and the second position 302. In
As another technique, for example, the position in which a gradient of the load with increasing amount of press exceeds a given positive value may be specified as the rising start position 321, the position in which the gradient falls below the given value may be specified as the rising end position 322, the position in which the gradient falls below a given negative value may be specified as the falling start position 323, and the position in which the gradient exceeds the given value may be specified as the falling end position 324.
Similarly, a rising start position (second position 302), a rising end position 332, a falling start position 333, and a falling end position 334 of a peak between the second position 302 and the third position 303 may be determined using various techniques as long as these positions indicate approximately their respective meanings. The rising end position 332 and the falling start position 333 may be the same. Hereinafter, the peak from the position 302 to the position 334 is referred to as a “major peak 342.”
In the enabling switch 1 illustrated in
Accordingly, when the movable member 12 starts to be pressed, the movable member 12 is pressed abruptly after a slightly resistive tactile click feel and transitions to the second position 302. That is, during normal operation, the movable member 12 cannot be stopped partway after the minor peak 341 and speedily transitions to the second position 302 with a feel that the movable member 12 strikes something. As a result, the operator is able to clearly feel that the movable member 12 has reached the second position 302. In other words, the operator is able to clearly feed an increase in load relative to the amount of press at a stage before the switch is further pressed from the ON state in the second position 302 and transitions to the OFF state in the third position 303.
From the above-described viewpoint, the ON switching position 311 is not limited to the position illustrated in
The rising start position 321 of the minor peak 341 may be almost or exactly the same as the first position 301. Even in this case, the operator is able to receive a resistive feel when the movable member 12 is pressed. In particular, when the minor peak 341 rises almost vertically, i.e., when the positions 321 and 322 are almost the same, the operator is able to more clearly receive a resistive feel. Of course, even if the rising start position 321 of the minor peak 341 is apart from the first position 301, it is preferable that the minor peak 341 rises almost vertically.
Moreover, in order for the operator to clearly feel the transition to the second position 302 after having received a resistive feel with a press of the movable member 12, it is preferable that the minor peak 341 and the second position 302 are apart enough from each other. Specifically, the position of the maximum load during the minor peak 341 is preferably closer to the first position 301 than to a midpoint position between the first position 301 and the second position 302. This is because, if the minor peak 341 is close to the second position 302, the minor peak 341 may be misdetected as the major peak 342.
In the enabling switch 1 having the characteristics illustrated in
Although the change in load from the falling of the minor peak 341 to the second position 302 is indicated by the straight line in
Next is a description of how the enabling switch 1 illustrated in
When the movable member 12 starts to be pressed from the first position 301, the coil springs 121 and the coil spring 145 are compressed, and as illustrated in
The inclined faces 126 are inclined upward toward the outside in the lateral direction. The inclined faces 163 are inclined downward toward the inside in the lateral direction. Thus, if the load applied to the movable member 12 increases, the engaging parts 161 start to move outward in the lateral direction against the force exerted from the coil springs 162 as illustrated in
When the edges of the inclined faces 126 have matched with the edges of the inclined faces 163, the engagement of the engaging parts 161 and the engaging parts125 is released, and the movable member 12 moves downward such that the outer side face of the movable member 12 are rubbing against the tips of the engaging parts 161. At this time, the load decreases abruptly. That is, the movable member speedily reaches the position 324 from the position 323. In the case of the enabling switch 1 in
When a downward force is applied to the movable member 12 in the state illustrated in
Thus, if the load applied to the movable member 12 increases, the force that is exerted to move the OFF switching mechanism 14 upward relative to the movable member 12 increases, and the engaging parts 142 start to move inward in the lateral direction against the force exerted from the coil springs 143. This state is the state of transition from the position 302 to the position 333 via the position 332. When the edges of the inclined faces 123 have matched with the edges of the inclined faces 147, the OFF switching mechanism 14 is speedily moved upward by the coil spring 145 such that the tips of the engaging parts 142 are rubbing against the inner side face of the hole 122. At this time, the load decreases abruptly. Then, the state illustrated on the left side in
If the OFF switching mechanism 14 moves upward as illustrated in
If the movable member 12 is further pressed, as illustrated in
When the operator has moved his or her finger off the enabling switch 1 in the state illustrated in
As described above, in the enabling switch 1, the presence of the minor peak 341 prevents operation from being stopped partway in any position between the minor peak 341 and the second position 302 during normal operation and enables the operator to clearly feel that the movable member 12 has reached the second position 302. Although in the enabling switch 1, the two contacts 13 are connected in series and provided as one set of double-pole contacts, two or more sets of double-pole contacts may be provided in a direction perpendicular to the plane of the drawing. In this case, even if the movable member 12 is inclined, it is possible, by making a speedy transition from the minor peak 341 to the second position 302, to considerably shorten the duration of time that two sets of double-pole contacts remain in different states. That is, the difference in switching timing between the two sets of double-pole contacts can be reduced. As a result, it is possible to prevent misdetection of an error caused by the fact that the two contacts 13 remain in different states for a given period of time or more.
In the enabling switch 1, as the movable member 12 is pressed in close proximity to the ON switching position 311 toward the holder 11, the two terminals 131 and 132 included in the contacts 13 gradually approach and come in contact with each other, and thereby the contacts 13 are closed. In this case, it is possible, by making a speedy transition from the minor peak 341 to the second position 302, to suppress discharge occurring when the contacts 13 become closed and to suppress welding of the contacts 13.
The resistance mechanisms 16 in the enabling switch 1 may be modified in various ways. A combination of an engaging part 161 and a coil spring 162 may be provided in various places as long as each place is located between the movable member 12 and the holder 11. For example, as illustrated in the partial enlarged view in
The resistance mechanisms 16 may be provided in the OFF switching mechanism 14.
As described above, the engagement structure of the resistance mechanisms 16 may be modified in various ways. When the engaging parts 161 are regarded as first engaging parts and portions (in the case of
Note that the first engaging parts do not necessarily have to receive a force from elastic bodies such as springs, and for example the first engaging parts and the second engaging parts may be engaged with each other by gravity or a magnetic force when the movable member 12 is located in the position 321.
When the first engaging parts receive a force from elastic bodies, for example, flat springs or flexible portions of a resin may be used as the elastic bodies other than coil springs. The elastic bodies may use various techniques to exert a force for the engagement between the first engaging parts and the second engaging parts. When expressed in general terms, the elastic bodies are directly or indirectly fixed to either one of the movable member 12 and the holder 11. The second engaging parts are directly or indirectly mounted on the elastic bodies, and the first engaging parts are directly or indirectly fixed to the other of the movable member 12 and the holder 11. Then, with a press of the movable member 12, the second engaging parts move against the force exerted from the elastic bodies to release the engagement. In this way, the minor peak 341 is obtained
In the enabling switch 1, the minor peak 341 may be obtained without using any engaging part. For example, a rubber pad that is recessed abruptly by being pressed may be provided between the movable member 12 and the coil springs 121. The minor peak 341 may also be obtained by causing one of a pair of magnets that repel or attract each other to pass through an area located in close proximity to the other magnet.
The enabling switch 1 described above with reference to
Although the enabling switch 1 includes one set of double-pole contacts, two or more sets of double-pole contacts may be provided as described previously. The one set of double-pole contacts including the four terminals may be one single-pole contact including two terminals. The number of single-pole contacts may be one or two or more. The movable member 12 may be a lever that is rotated by being pressed. In the case where the movable member 12 is of a rotary type, the amount of press of the movable member 12 corresponds to the angle of rotation, and the position of the movable member 12 corresponds to a rotational position or the position of a specific portion of the movable member 12.
The characteristics of the enabling switch 1 illustrated in
The operation part including the enabling switch 1 is not limited to a teach pendant, and can be used as various operation parts such as operation parts of heavy equipment such as a hoist, operation parts of vehicles, and operation parts of motor-driven wheelchairs.
In
The enabling switch 1 includes, in the holder 11, two contacts 13, a contact mechanism 20 that causes the contacts 13 to transition to an open or closed state, and two auxiliary switches 21. Each contact 13 is a combination of a lower fixed terminal 131 and a movable terminal 132. More correctly, there is also an upper fixed terminal, and connection terminal groups 134 that each include three connection terminals connected respectively to the upper fixed terminal, the lower fixed terminal 131, and the movable terminal 132 are located below the holder 11. In the open state of each contact 13, the lower fixed terminal 131 and the movable terminal 132 are spaced from each other. In the closed state of each contact 13, the lower fixed terminal 131 and the movable terminal 132 are in contact with each other. In the open state of the contacts 13, the enabling switch 1 is in an OFF state, and in the closed state of the contacts 13, the enabling switch 1 is in an ON state.
The movable member 12 is transversely elongated in the right-left direction in
In the initial state illustrated in
The movable terminals 132 are connected to snap mechanisms 133. As will be described later, when the press members 245 are pressed to a predetermined position, the movable terminals 132 are speedily moved toward the lower fixed terminals 131 by springs of the snap mechanisms 133, and the movable terminals 132 and the lower fixed terminals 131 come in contact with each other. That is, the contacts 13 become closed.
As will be described later, the OFF switching mechanism 14 and the snap mechanisms 133 configure the contact mechanism 20 that causes the contacts 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11. The enabling switch 1 includes the two contacts 13, and when these contacts are distinguished respectively as a “first contact 13” and a “second contact 13,” the contact mechanism 20 causes the first contact 13 and the second contact 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11. The first contact 13 and the second contact 13 are arranged in the direction of elongation of the movable member 12.
The contact mechanism 20 further includes a resistance mechanism 16 that is provided below the OFF switching mechanism 14. The resistance mechanism 16 includes a rotatable member 261 that is long in the direction of elongation of the movable member 12. The rotatable member 261 is formed by folding down the opposite ends of a metal rod at 90 degrees twice so that the opposite ends face inward. Note that the rotatable member 261 may also be formed by folding down the opposite ends of a metal rod at 90 degrees and then further folding down the opposite ends such that opposite end portions face outward. As illustrated in
The rotatable member 261 is rotatably mounted directly on the movable member 12 such that the upper portion of the rotatable member 261 is engaged with the lower member 12a of the movable member 12. Part of the members 262 located below the rotatable member 261 is also included in the resistance mechanism 16. The members 262 has recesses 264 in which lower portions 263 of the rotatable member 261 are fitted. In the initial state illustrated in
Next is a description of a preferable change in load that is required to press the enabling switch 1 with a press of the movable member 12.
In
A position 302 is the position in which the movable member 12 is pressed to some extent and can be held stably while the operator feels some sort of resistance. Thus, the enabling switch 1 is stably held in an ON state. Hereinafter, the position 302 is referred to as a “second position.” The second position 302 is a rising start position of a maximum rise 343 of the load required to press the movable member 12, the rising start positon being between the first position 301 and the third position 303, and the maximum rise being a rise in which the load rises and reaches its maximum in accordance with an increase in the rate of increase of the load relative to the amount of press.
A position 311 is an “ON switching position” in which the contacts 13 transition from an open state to a closed state with a press and the enabling switch 1 transitions from an OFF state to an ON state. A position 312 is an “OFF switching position” in which the contacts 13 transition from the closed state to the open state and the enabling switch 1 transitions from the ON state to the OFF state. Accordingly, in the enabling switch 1, with a press of the movable member 12, the contacts 13 transition from an open state to a closed state in the ON switching position 311 between the first position 301 and the second position 302, and the contacts 13 transition from the closed state to the open state in the OFF switching position 312 between the second position 302 and the third position 303.
More specifically, the enabling switch 1 includes the two contacts 13, and when these contacts are distinguished respectively as a “first contact 13” and a “second contact 13,” with a press of the movable member 12, the first contact 13 transitions from an open state to a closed state in a first ON switching position that is between the first position 301 and the second position 302, the first contact 13 transitions from the closed state to the open state in a first OFF switching position that is between the second position 302 and the third position 303, the second contact 13 transitions from an open state to a closed state in a second ON switching position that is between the first position 301 and the second position 302, and the second contact 13 transitions from the closed state to the open state in a second OFF switching position that is between the second position 302 and the third position 303.
In the case of the first contact 13, the position 311 in
In the enabling switch 1, a minor peak 341 in which the load once rises and then decreases with a press of the movable member 12 appears between the first position 301 and the second position 302. In
As another technique, for example, the position in which a gradient of the load with increasing amount of press exceeds a given positive value may be specified as the rising start position 321, the position in which the gradient falls below the given value may be specified as the rising end position 322, the position in which the gradient falls below a given negative value may be specified as the falling start position 323, and the position in which the gradient exceeds the given value may be specified as the falling end position 324.
Similarly, a rising start position (second position 302), a rising end position 332, a falling start position 333, and a falling end position 334 of a peak between the second position 302 and the third position 303 may be determined using various techniques as long as these positions indicate approximately their respective meaning. The rising end position 332 and the falling start position 333 may be the same. Hereinafter, the peak from the position 302 to the position 334 is referred to as a “major peak 342.”
In the enabling switch 1 illustrated in
Accordingly, when the movable member 12 starts to be pressed, the movable member 12 is pressed abruptly after a slightly resistive tactile click feel and transitions to the second position 302. That is, during normal operation, the movable member 12 cannot be stopped partway after the minor peak 341 and speedily transitions to the second position 302 with a feel that the movable member 12 strikes something. As a result, the operator is able to clearly feel that the movable member 12 has reached the second position 302. In other words, the operator is able to clearly feel an increase in load relative to the amount of press at a stage before the switch is further pressed from the ON state in the second position 302 and transitions to the OFF state in the third position 303.
From the above-described viewpoint, the ON switching position 311 is not limited to the position illustrated in
The rising start position 321 of the minor peak 341 may be almost or exactly the same as the first position 301. Even in this case, the operator is able to receive a resistive feel when the movable member 12 is pressed. In particular, when the minor peak 341 rises almost vertically, i.e., when the positions 321 and 322 are almost the same, the operator is able to more clearly receive a resistive feel. Of course, even if the rising start position 321 of the minor peak 341 is apart from the first position 301, it is preferable that the minor peak 341 raises almost vertically.
Moreover, in order for the operator to clearly feel the transition to the second position 302 after having received a resistive feel with a press of the movable member 12, it is preferable that the minor peak 341 and the second position 302 are apart enough from each other. Specifically, the position of the maximum load during the minor peak 341 is preferably closer to the first position 301 than to a midpoint position between the first position 301 and the second position 302. This is because, if the minor peak 341 is close to the second position 302, the minor peak 341 may be misdetected as the major peak 342.
In the enabling switch 1 having the characteristics illustrated in
Although the change in load from the falling of the minor peak 341 to the second position 302 is indicated by the straight line in
Next is a description of how the enabling switch 1 illustrated in
When the movable member 12 starts to be pressed from the first position 301, the coil springs 121 are compressed, and as illustrated in
If the load applied to the movable member 12 increases, the rotatable sliding contact parts 263 start to move in a direction away from the recesses 264 as illustrated in
When the rotatable sliding contact parts 263 have come off the recesses 264, the load decreases abruptly. That is, the movable member speedily reaches the position 324 from the position 323. In the case of the enabling switch 1 illustrated in
When the movable member 12 has further moved downward, the lower end of the abutment member 242 comes in contact with the upper face of a base member 111, which is one part of the holder 11, as illustrated in
When a downward force is applied to the movable member 12 in the state illustrated in
Thus, when the load applied to the movable member 12 is increased so that an upward force is exerted from the abutment member 242 on the sliders 243, the sliders 243 start to move outward in the lateral direction against the force exerted from the horizontal coil springs 244. At this time, the vertical coil springs 241 shrink. This state is the state of transition from the position 302 to the position 333 via the position 332.
When the edges of the inclined faces 246 have matched with the edges of the inclined faces 247, the movable member 12 moves downward such that the outer side faces of the upper end of the central positon of the abutment member 242 are rubbing against the tips of the sliders 243. At this time, the load decreases abruptly. Accordingly, the movable member speedily reaches the position 334 from the position 333. In the case of the enabling switch 1 illustrated in
As illustrated in
When the operator has moved his or her finger off the enabling switch 1 in the state illustrated in
In the state illustrated in
As described above, in the enabling switch 1, the presence of the minor peak 341 prevents operation from being stopped partway in any position between the minor peak 341 and the second position 302 during normal operation and enables the operator to clearly feel that the movable member 12 has reached the second position 302. In the case where the two contacts 13 are provided in order to improve reliability as in the enabling switch 1, even if the movable member 12 is inclined, it is possible, by making a speedy transition from the minor peak 341 to the second position 302, to considerably shorten the duration of time that the two contacts 13 remain in different states. That is, the difference in switching timing between the two contacts 13 can be reduced. As a result, it is possible to prevent misdetection of an error caused by the fact that the two contacts 13 remain in different states for a given period of time or more.
The difference in operation timing between the two contacts 13 appears markedly when the edge of the movable member 12 is pressed and accordingly the movable member 12 is inclined. Thus, it is conceivable that the minor peak 341 does not necessarily have to be present when the center of the movable member 12 is pressed. As described above, in the enabling switch 1, the minor peak 341 of the load is obtained by engaging the rotatable sliding contact parts 263 of the rotatable member 261 with the recesses 264 of the fixed sliding contact parts 262. The rotatable sliding contact parts 263 are present only in the opposite end portions of the rotatable member 261 in the longitudinal direction.
In view of this, a configuration is also possible in which the recesses 264 are made considerably shallow so that when the center of the movable part 261 is pressed, the rotatable sliding contact parts 263 move to slide over the recesses 264, and when the edge of the rotatable member 261 is pressed, the rotatable sliding contact parts 263 existing at the ends of the rotatable member 261 are strongly fitted into the recesses 264 so as to obtain the minor peak 341 of the load. In this way, it is possible to eliminate the minor peak 341 or obtain only a small minor peak 341 when the center of the rotatable member 261 is pressed and to obtain a large minor peak 341 when the edge of the rotatable member 261 is pressed.
The resistance mechanism 16 in the enabling switch 1 may be modified in various ways. For example, the rotation axis J1 of the rotatable member 261 may be provided in close proximity to the fixed sliding contact parts 262, and the lower member 12a may have recesses. That is, the rotatable member 261 may be rotated about its lower portion. Instead of the recesses, protrusions (including steps) may be provided. The rotatable member 261 may be rotatably mounted directly or indirectly on either one of the movable member 12 and the holder 11, and the fixed sliding contact parts 262 may be directly or indirectly fixed to the other of the movable member 12 and the holder 11. By rotating the rotatable member 261 such that the rotatable sliding contact parts 263 and the fixed sliding contact parts 262 are in sliding contact with each other, it is possible to press the movable member 12 into the holder 11 while maintaining the posture of the movable member 12.
The resistance mechanism 16 may have a structure other than the rotatable member 261. For example, the resistance mechanism 16 may include engaging parts and coil springs arranged between the holder 11 and the engaging parts. In this case, the minor peak 341 is obtained by engaging the engaging parts, which receive a force from the coil springs, with the movable member 12 and pressing the movable member 12 to move the engaging parts against the force exerted from the coil springs and to release the engagement. The resistance mechanism 16 may include engaging parts and coil springs that are arranged between the movable member 12 and the engaging parts. In this case, the minor peak 341 is obtained by engaging the engaging parts, which receive a force from the coil springs, with the holder 11 and then pressing the movable member 12 to release the engagement. It is of course possible to provide the resistance mechanism 16 indirectly between the holder 11 and the movable member 12.
As described above, the engagement structure of the resistance mechanism 16 may be modified in various ways. When one engaging parts (in the case of
Note that the first engaging parts do not necessarily have to receive a force from elastic bodies such as springs. As illustrated by way of example in
When the first engaging parts receive a force from elastic bodies, for example, flat springs or flexible portions of a resin may be used as the elastic bodies other than coil springs. The elastic bodies may use various techniques to exert a force for the engagement between the first engaging parts and the second engaging parts. When expressed in general terms, the elastic bodies are directly or indirectly fixed to either one of the movable member 12 and the holder 11. The second engaging parts are directly or indirectly mounted on the elastic bodies, and the first engaging parts are directly or indirectly fixed to the other of the movable member 12 and the holder 11. Then, with a press of the movable member 12, the second engaging parts move against the force exerted from the elastic bodies to release the engagement. In this way, the minor peak 341 is obtained.
In the enabling switch 1, the minor peak 341 may be obtained without using any engaging part. For example, a rubber pad that is recessed abruptly by being pressed may be provided between the movable member 12 and the coil springs 121. The minor peak 341 may also be obtained by causing one of a pair of magnets that repel or attract each other to pass through an area located in close proximity to the other magnet.
The enabling switch 1 described above with reference to
In the enabling switch 1, the number of contacts may be three or more. The movable member 12 may be a lever that is rotated by being pressed. In the case where the movable member 12 is of a rotary type, the amount of press of the movable member 12 corresponds to the angle of rotation.
The characteristics of the enabling switch 1 illustrated in
While the above-described enabling switch 1 uses snap action to open and close the contacts 13, the enabling switch 1 may close the contacts by causing the two terminals included in each contact 13 to gradually approach and come into contact with each other as the movable member 12 is pressed in close proximity to the ON switching position 311 toward the holder 11. In this case, it is possible, by making a speedy transition from the minor peak 341 to the second position 302, to suppress discharge occurring when the contacts 13 become closed and to suppress welding of the contacts 13.
The operation part including the enabling switch 1 is not limited to a teach pendant, and can be used as various operation parts such as operation parts of heavy equipment such as a hoist, operation parts of vehicles, and operation parts of motor-driven wheelchairs.
In
The enabling switch 1 includes, in the holder 11, two contacts 13 (see
The movable member 12 is covered with a soft resin cover 124a. The movable member 12 is pressed from above the cover 124a. Thus, the cover 124a is supposed to bend during the press of the movable member 12, but in the following drawings, such a bend of the cover 124a shall be ignored. Inside the movable member 12, an OFF switching mechanism 14 is arranged. The OFF switching mechanism 14 includes a vertical coil spring 241, an abutment member 242 that houses the vertical coil spring 241, a slider 243, a horizontal coil spring 244, and a press member 245. A lower member 12a of the movable member 12 has a hole, and the abutment member 242 is fitted in the hole of the lower member 12a. The slider 243 and the horizontal coil spring 244 are arranged in the space between the upper portion of the movable member 12 and the lower member 12a.
In the initial state illustrated in
The movable terminal 132 is connected to a snap mechanism 133. As will be described later, when the press member 245 is pressed to a predetermined position, the movable terminal 132 is speedily moved toward the lower fixed terminal 131 by a spring of the snap mechanism 133, and the movable terminal 132 and the lower fixed terminal 131 come in contact with each other. That is, the contact 13 becomes closed.
As will be described later, the OFF switching mechanism 14 and the snap mechanism 133 configure the contact mechanism 20 that causes the contacts 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11. The enabling switch 1 includes the two contacts 13, and when these contacts are distinguished respectively as a “first contact 13” and a “second contact 13,” the contact mechanism 20 causes the first contact 13 and the second contact 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11.
The contact mechanism 20 further includes a resistance mechanism 16 that is provided in close proximity to the coil spring 121. The resistance mechanism 16 is provided in a hole of the holder 11 that is open in the right direction in
Next is a description of a preferable change in load, i.e., a force required to press the enabling switch 1 with a press of the movable member 12.
In
A position 302 is the position in which the movable member 12 is pressed to some extent and can be stably held while the operator feels some sort of resistance. Thus, the enabling switch 1 is stably held in an ON state. Hereinafter, the position 302 is referred to as a “second position.” The second position 302 is a rising start position of a maximum rise 343 of the load required to press the movable member 12, the rising start position being between the first position 301 and the third position 303, and the maximum rise being a rise in which the load rises and reaches its maximum in accordance with an increase in the rate of increase of the load relative to the amount of press.
A position 311 is an “ON switching position” in which the contacts 13 transition from an open state to a closed state with a press and the enabling switch 1 transitions from an OFF state to an ON state. A position 312 is an “OFF switching position” in which the contacts 13 transition from the closed state to the open state and the enabling switch 1 transitions from the ON state to the OFF state. Accordingly, in the enabling switch 1, with a press of the movable member 12, the contacts 13 transition from an open state to a closed state in the ON switching position 311 between the first position 301 and the second position 302, and the contacts 13 transition from the closed state to the open state in the OFF switching position 312 between the second position 302 and the third position 303.
More specifically, the enabling switch 1 includes the two contacts 13, and when these contacts are distinguished respectively as a “first contact 13” and a “second contact 13,” with a press of the movable member 12, the first contact 13 transitions from an open state to a closed state in a first ON switching position that is between the first position 301 and the second position 302, the first contact 13 transitions from the closed state to the open state in a first OFF switching position that is between the second position 302 and the third position 303, the second contact 13 transitions from an open state to a closed state in a second ON switching position that is between the first position 301 and the second position 302, and the second contact 13 transitions from the closed state to the open state in a second OFF switching position that is between the second position 302 and the third position 303.
In the case of the first contact 13, the position 311 in
In the enabling switch 1, a minor peak 341 in which the load once rises and then decreases with a press of the movable member 12 appears between the first position 301 and the second position 302. In
As another technique, for example, the position in which a gradient of the load with increasing amount of press exceeds a given positive value may be specified as the rising start position 321, the position in which the gradient falls below the given value, au be specified as the rising end position 322, the position in which the gradient falls below a given negative value may be specified as the falling start position 323, and the position in which the gradient exceeds the given value may be specified as the falling end position 324.
Similarly, a rising start position (second position 302), a rising end position 332, a falling start position 333, and a falling end position 334 of a peak between the second position 302 and the third position 303 may be determined using various techniques as long as these positions indicate approximately their respective meaning. The rising end position 332 and the falling start position 333 may be the same. Hereinafter, the peak from the position 302 to the position 334 is referred to as a “major peak 342.”
In the enabling switch 1 illustrated in
Accordingly, when the movable member 12 starts to be pressed, the movable member 12 is pressed abruptly after a slightly resistive tactile click feel and transitions to the second position 302. That is, during normal operation, the movable member 12 cannot be stopped partway after the minor peak 341 and speedily transitions to the second position 302 with a feel that the movable member 12 strikes something. As a result, the operator is able to clearly feel that the movable member 12 has reached the second position 302. In other words, the operator is able to clearly feel an increase in load relative to the amount of press at a stage before the switch is further pressed from the ON state in the second position 302 and transitions to the OFF state in the third position 303.
From the above-described viewpoint, the ON switching position 311 is not limited to the position illustrated in
The rising start position 321 of the minor peak 341 may be almost or exactly the same as the first position 301. Even in this case, the operator is able to receive a resistive feel when the movable member 12 is pressed. In particular, when the minor peak 341 rises almost vertically, i.e., when the positions 321 and 322 are almost the same, the operator is able to more clearly receive a resistive feel. Of course, even if the rising start position 321 of the minor peak 341 is apart from the first position 301, it is preferable that the minor peak 341 rises almost vertically.
Moreover, in order for the operator to clearly feel the transition to the second position 302 after having received a resistive feel with a press of the movable member 12, it is preferable that the minor peak 341 and the second position 302 are apart enough from each other. Specifically, the position of the maximum load during the minor peak 341 is preferably closer to the first position 301 than to a midpoint position between the first position 301 and the second position 302. This is because, if the minor peak 341 is close to the second position 302, the minor peak 341 may be misdetected as the major peak 342.
In the enabling switch 1 having the characteristics illustrated in
Although the change in load from the falling of the minor peak 341 to the second position 302 is indicated by the straight line in
Next is a description of how the enabling switch 1 illustrated in
When the movable member 12 starts to be pressed from the first position 301, the movable member 12 is rotated counterclockwise with the coil spring 121 compressed, and the inclined face 126 presses the inclined face 163 while moving in the lower right direction. Accordingly, the engaging part 161 moves to the left against the force exerted from the coil spring 162 as illustrated in
While the inclined face 163 and the inclined face 126 are in sliding contact with each other, the load increases and the movable member 12 reaches the position 322 and moves toward the position 323. When the edge of the inclined face 163 has matched with the edge of the inclined face 126, the engagement of the engaging part 161 and the engaging part 125 is released, and the load decreases considerably. That is, the movable member 12 moves from the position 323 to the position 324. In the case of the enabling switch 1 in
In the enabling switch 1, almost simultaneously with or immediately after the decrease in load, the rear end portion 243a of the slider 243 and the upper end of the press member 245 come in contact with each other as illustrated in
When the movable member 12 has further moved downward, the lower end of the abutment member 242 comes in contact with the upper face of a lower abutment member 113, which is one part of the holder 11, as illustrated in
When a downward force is applied to the movable member 12 in the state illustrated in
Thus, when the load applied to the movable member 12 is increased so that an upward force is exerted from the abutment member 242 on the slider 243, the slider 243 starts to move in the right direction against the force exerted from the horizontal coil spring 244 as illustrated in
When the slider 243 has moved in the right direction, the abutment of the rear end portion 243a of the slider 243 and the press member 245 in the up-down direction is released. As a result, the press member 245 moves upward under the force received from the snap mechanism 133, and the contacts 13 transition from the closed state to the open state.
When the edge of the inclined face 246 has matched with the edge of the inclined face 247, the movable member 12 moves downward such that the right-side portion 242b of the abutment member 242 and the left-side portion 243b of the tip portion of the slider 243 are in sliding contact with each other. At this time, the load decreases abruptly. Accordingly, the movable member speedily reaches the position 334 from the position 333. In the case of the enabling switch 1 in
When the movable member 12 is most pressed as illustrated in
When the operator has moved his or her finger off the enabling switch 1 in the state illustrated in
As described above, in the enabling switch 1, the presence of the minor peak 341 prevents operation from being stopped partway in any position between the minor peak 341 and the second position 302 during normal operation, and enables the operator to clearly feel that the movable member 12 has reached the second position 302. In the case where the two contacts 13 are provided in order to improve reliability as in the enabling switch 1, even if the movable member 12 is inclined, it is possible, by making a speedy transition from the minor peak 341 to the second position 302, to considerably shorten the duration of time that the two contacts 13 remain in different states. That is, the difference in switching timing between the two contacts 13 can be reduced. As a result, it is possible to prevent misdetection of an error caused by the fact that the two contacts 13 remain in different states for a given period of time or more.
The enabling switch 1 includes a holder 11 and a movable member 12. In the operation of the enabling switch 1, the movable member 12 is pressed downward in
The enabling switch 1 includes, in the holder 11, two contacts 13 (see
Inside and below the movable member 12, an OFF switching mechanism 14 is arranged. The OFF switching mechanism 14 includes the vertical coil spring 241, an abutment member 242 that houses the vertical coil spring 241, a slider 243, two horizontal coil springs 244 (see
In the initial state illustrated in
The movable terminal 132 is connected to a snap mechanism 133. As will be described later, when the press member 245 has been pressed to a predetermined position, the movable terminals 132 are speedily moved toward the lower fixed terminals 131 by a spring of the snap mechanism 133, and the movable terminals 132 and the lower fixed terminals 131 are brought into contact with each other. That is, the contacts 13 become closed.
As will be described later, the OFF switching mechanism 14 and the snap mechanism 133 configure the contact mechanism 20 that causes the contacts 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11. The enabling switch 1 includes the two contacts 13, and when these contacts are distinguished respectively as a “first contact 13” and a “second contact 13,” the contact mechanism 20 causes the first contact 13 and the second contact 13 to transition from an open state to a closed state and further from the closed state to the open state as the movable member 12 is pressed toward the holder 11.
The contact mechanism 20 further includes a resistance mechanism 16 provided in close proximity to the lower portion of the lower member 12a. The resistance mechanism 16 is provide in a hole of a central member 114 that is open in the right direction, the central member being part of the holder 11. The resistance mechanism 16 includes an engaging part 161 and a coil spring 162. More specifically, a portion of the central member 114 that is located in close proximity to the engaging part 161 and the coil spring 162 also forms part of the resistance mechanism 16. The coil spring 162 presses the engaging part 161 in the right direction in
Next is a description of how the enabling switch 1 illustrated in
When the movable member 12 starts to be pressed from the first position 301, the coil spring 121 is compressed, and as illustrated in
When the load applied to the movable member 12 is increased, the engaging part 161 starts to move in the left direction against the force exerted from the coil spring 162. This state is the state of transition from the position 321 to the position 322. When the edge of the inclined face 163 has matched with the edge of the inclined face 126, the engagement of the engaging part 161 and the engaging part 125 is released, and the load decreases considerably. That is, the movable member 12 speedily moves from the position 323 to the position 324. In the case of the enabling switch 1 illustrated in
In the enabling switch 1, almost simultaneously with or immediately after the decrease in load, the rear end portion 243a of the slider 243 and the upper end of the press member 245 come in contact with each other (see
When the movable member 12 has further moved down, the lower face of a stepped portion 242a of the abutment member 242 comes in contact with the upper face of the central member 114 as illustrated in
When a downward force is applied to the movable member 12 in the state illustrated in
Accordingly, when the load applied to the movable member 12 is increased so as to exert an upward force from the abutment member 242 on the slider 243, the slider 243 starts to move in the right direction against the force exerted from the horizontal coil spring 244 (see
When the slider 243 has moved in the right direction, the abutment of the rear end portion 243a of the slider 243 and the press member 245 in the up-down direction is released. As a result, as illustrated in
When the edge of the inclined face 246 has matched with the edge of the inclined face 247, the movable member 12 moves downward such that the right side face of the upper portion of the abutment member 242 is rubbing against the left side face of the right-side tip portion of the slider 243 as illustrated in
When the movable member 12 is most pressed as illustrated in
When the operator has moved his or her finger off the enabling switch 1 in the state illustrated in
As described above, in the enabling switch 1 illustrated in
The enabling switch 1 illustrated in
In
The resistance mechanism 16 of the enabling switch 1 may be modified in various ways. In the above-described embodiment, the resistance mechanism 16 includes the engaging part 161 and the coil spring 162 arranged between the holder 11 and the engaging part 161, and the minor peak 341 is obtained by engaging the engaging part 161, which receives a force from the coil spring 162, with the movable member 12 and then pressing the movable member 12 to release the engagement. In contrast, the resistance mechanism 16 may include an engaging part and a coil spring that is arranged between the movable member 12 and the engaging part. In this case, the minor peak 341 is obtained by engaging the engaging part, which receives a force from the coil spring, with the holder 11 and then pressing the movable member 12 to release the engagement. It is of course possible to provide the resistance mechanism 16 indirectly between the holder 11 and the movable member 12.
As described above, the engagement structure of the resistance mechanism 16 may be modified in various ways. When one engaging part (in the case of
Note that the first engaging part does not necessarily have to receive a force from an elastic body such as a spring. The first engaging part and the second engaging part may be engaged with each other by gravity or a magnetic force when the movable member 12 is located in the position 321.
When the first engaging part receives a force from an elastic body, for example, a flat spring or a flexible portion of a resin may be used as the elastic body other than a coil spring. The elastic body may use various techniques to exert a force for the engagement between the first engaging part and the second engaging part. When expressed in general terms, the elastic body is directly or indirectly fixed to either one of the movable member 12 and the holder 11. The second engaging part is directly or indirectly mounted on the elastic body, and the first engaging part is directly or indirectly fixed to the other of the movable member 12 and the holder 11. Then, with a press of the movable member 12, the second engaging part moves against the force exerted from the elastic body to release the engagement. In this way, the minor peak 341 is obtained.
In the enabling switch 1, the minor peak 341 may be obtained without using any engaging part. For example, a rubber pad that is recessed abruptly by being pressed may be provided between the movable member 12 and the coil springs 121. The minor peak 341 may also be obtained by causing one of a pair of magnets that repel or attract each other to pass through an area located in close proximity to the other magnet.
The enabling switches 1 described above with reference to
The number of contacts in the enabling switch 1 may be three or more.
The characteristics of the enabling switch 1 illustrated in
While the above-described enabling switch 1 uses snap action to open and close the contacts 13, the enabling switch 1 may close the contacts by causing the two terminals included in each contact 13 to gradually approach and come into contact with each other as the movable member 12 is pressed in close proximity to the ON switching position 311 toward the holder 11. In this case, it is possible, by making a speedy transition from the minor peak 341 to the second position 302, to suppress discharge occurring when the contacts 13 become closed and to suppress welding of the contacts 13.
The operation part including the enabling switch 1 is not limited to a teach pendant, and can be used as various operation parts such as operation parts of heavy equipment such as a hoist, operation parts of vehicles, and operation parts of motor-driven wheelchairs.
The configurations of the above-described preferred embodiments and variations may be appropriately combined as long as there are no mutual inconsistencies.
While the invention has been shown and described in detail, the foregoing description is in all aspects illustrative and not restrictive. It is therefore to be understood that numerous modifications and variations can be devised without departing from the scope of the invention.
The present invention is applicable as an enabling switch of an operation part for use in operation of various operation targets such as industrial robots, hoists, and wheelchairs.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2018-183375 | Sep 2018 | JP | national |
| 2018-183376 | Sep 2018 | JP | national |
| 2018-183377 | Sep 2018 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2019/037245 | 9/24/2019 | WO | 00 |
