Patent Application
20200011030
The present invention relates to a hydraulic work machine such as a hydraulic excavator.
In a hydraulic work machine, hydraulic fluid delivered from a hydraulic pump is supplied to an actuator through a directional control valve and a work device acts. The directional control valve acts by an operation pressure according to an operation amount of an operation device and controls the flow rate and the direction of the hydraulic fluid to be supplied to the actuator. The action velocity and direction of the work device are controlled by the flow rate and the direction of the hydraulic fluid supplied to the actuator.
In a hydraulic circuit of a general hydraulic work machine, a plurality of directional control valves are connected in parallel to one hydraulic pump. The directional control valves are connected to individually different actuators and shunt a flow of hydraulic fluid supplied from the hydraulic pump, and supply the hydraulic fluid to the actuators. Such a configuration as just described makes it possible to allow the plurality of actuators to act with the single hydraulic pump and allow the directional control valves to control the action velocity of the actuators.
Patent Document 1 discloses a locus controller for a construction machine capable of controlling the locus of the work device distal end of a hydraulic construction machine to a target locus. This locus controller calculates the position and the posture of each of the members configuring the work device and corrects the operation pressure to be outputted from the operation device such that the work device distal end acts along the target locus.
In a conventional hydraulic system, hydraulic fluid supplied from a single hydraulic pump is shunted by a directional control valve to cause a plurality of actuators to act. The shunt rate to each actuator varies depending upon the rate of the opening of the directional control valve and the rate of the load applied to the actuator. Therefore, in the case where the excavation load fluctuates during excavation, the shunt rates to the actuators vary, the velocity balance between the actuators is lost and the deviation between the locus of the work device distal end and the target locus becomes great.
Description is given taking a case in which a work device is driven to act by a boom cylinder and an arm cylinder to perform excavation as an example. As the excavation load increases, the load on the arm cylinder increases. As the load increases, the shunt rate to the arm cylinder decreases and the expansion velocity of the arm cylinder decreases, and thereupon, the deviation between the locus of the work device distal end and the target locus increases. At this time, in the hydraulic system described in Patent Document 1, the operation pressure is corrected such that, when the load to the arm cylinder increases, the meter-in opening of the directional control valve for controlling the arm cylinder is increased to increase the shunt rate to the arm cylinder. This makes it possible to maintain, also when the excavation load increases, the velocity balance between the arm cylinder and the boom cylinder and to allow the bucket distal end to move along the target locus.
However, if the excavation load decreases suddenly by such an event that the excavation target becomes soft or the bucket distal end comes out of the surface of the excavation target, then a large amount of hydraulic fluid is supplied to the arm cylinder through the meter-in opening of the expanded arm directional control valve, resulting in the possibility that the arm may be suddenly accelerated in the crowding direction. As a result, in the case where the bucket distal end is deviated by a great amount from the target locus or the advancing direction of the bucket distal end and the target locus cross with each other, the bucket will excavate deeper than the target locus.
The present invention has been made in view of such a problem as described above, and it is an object of the present invention to provide a hydraulic work machine that can improve the finishing accuracy in a horizontally leveling work, a slope face shaping work and so forth by preventing sudden acceleration of the arm when the excavation load decreases suddenly.
In order to attain the object described above, according to the present invention, there is provided a hydraulic work machine including a work device including a boom and an arm, a boom cylinder that drives the boom, an arm cylinder that drives the arm, a hydraulic operating fluid tank, a first hydraulic pump, a first boom directional control valve that controls a flow rate and a direction of hydraulic fluid to be supplied from the first hydraulic pump to the boom cylinder, a first arm directional control valve that controls a flow rate and a direction of hydraulic fluid to be supplied from the first hydraulic pump to the arm cylinder, a boom operation device that gives instructions on an operation amount of the first boom directional control valve, an arm operation device that gives instructions on an operation amount of the first arm directional control valve, a boom load pressure sensor that detects a load pressure of the boom cylinder, an armload pressure sensor that detects a load pressure of the arm cylinder, and a controller configured to correct and increase an operation amount of the first arm directional control valve, the operation amount being instructed by the arm operation device, such that a meter-in opening of the arm cylinder increases in response to the increase of a deviation of the load pressure of the arm cylinder with respect to the load pressure of the boom cylinder, wherein the hydraulic work machine further comprises an arm velocity-control valve device capable of adjusting a meter-out opening of the arm cylinder independently of the first arm directional control valve, and the controller controls, when correcting and increasing the operation amount instructed by the arm operation device, the arm velocity-control valve device to decrease the meter-out opening of the arm cylinder in response to the increase of the load pressure of the arm cylinder.
According to the present invention configured in such a manner as described above, when the operation amount instructed by the arm operation device is corrected to increase such that the meter-in opening of the first arm directional control valve increases in response to the increase of the deviation of the load pressure of the arm cylinder with respect to the load pressure of the boom cylinder (or excavation load), the meter-out opening of the arm cylinder decreases in response to the increase of the load pressure of the arm cylinder. Consequently, when the excavation load decreases suddenly, the back pressure of the arm cylinder increases and the flow rate of hydraulic fluid to be supplied to the arm cylinder is suppressed. Therefore, sudden acceleration of the arm is prevented, and the finishing accuracy in a horizontally leveling work, a slope face shaping work and so forth can be improved.
According to the present invention, by preventing sudden acceleration of the arm when the excavation load decreases suddenly, the finishing accuracy in a horizontally leveling work, a slope face shaping work and so forth can be improved.
In the following, a hydraulic work machine according to an embodiment of the present invention is described with reference to the drawings, taking a hydraulic excavator as an example. It is to be noted that, in the figures, like elements are denoted by like reference characters and overlapping description is suitably omitted.
Referring to
The work device 15 is attached in a manner capable of rotating in upward and downward directions to a front portion of the upper swing structure 10. An operation room is provided on the upper swing structure 10, and operation devices such as a traveling right operation lever device 1a, a traveling left operation lever device 1b, a right operation lever device 1c and a left operation lever device 1d for giving instructions on an action and a swinging action of the work device 15, respectively, a mode setting switch 32 (depicted in
The work device 15 is an articulated structure including a boom 11, an arm 12 and a bucket 8. The boom 11 rotates in upward and downward directions with respect to the upper swing structure 10 by expansion and contraction of a boom cylinder 5; the arm 12 rotates in upward, downward and forward, rearward directions with respect to the boom 11 by expansion and contraction of an arm cylinder 6; and the bucket 8 rotates in upward, downward and forward, rearward directions with respect to the arm 12 by expansion and contraction of a bucket cylinder 7.
Further, in order to compute the position of the work device 15, a boom angle sensor 13a for detecting the angle of the boom 11 is provided in the proximity of the connecting portion between the upper swing structure 10 and the boom 11; an arm angle sensor 13b for detecting the angle of the arm 12 is provided in the proximity of the connecting portion between the boom 11 and the arm 12; and a bucket angle sensor 13c for detecting the angle of the bucket 8 is provided in the proximity of the connecting portion between the arm 12 and the bucket 8. Angle signals outputted from the angle sensors 13a, 13b and 13c are inputted to a main controller 100 hereinafter described.
The control valve 20 controls the flow (the flow rate and the direction) of the hydraulic fluid to be supplied from the hydraulic pump device 2 to the hydraulic actuators such as the boom cylinder 5, the arm cylinder 6, the bucket cylinder 7, the left and right travelling hydraulic motors 3 described hereinabove.
Referring to
The control valve 20 is configured from two pump lines including the first pump line L1 and the second pump line L2. In the first pump line L1, a first boom directional control valve 21 and an arm crowding velocity-control directional control valve 22 as an arm velocity-control valve device are provided, and the hydraulic fluid delivered from the first hydraulic pump 2a is supplied to the boom cylinder 5 through the first boom directional control valve 21 and is supplied to the arm cylinder 6 through the arm crowding velocity-control directional control valve 22. Similarly, in the second pump line L2, an arm directional control valve 23 and a second boom directional control valve 24 are provided, and the hydraulic fluid delivered from the second hydraulic pump 2b is supplied to the arm cylinder 6 through the arm directional control valve 23 and is supplied to the boom cylinder 5 through the second boom directional control valve 24. It is to be noted that the first boom directional control valve 21 and the arm crowding velocity-control directional control valve 22 are configured in such a way as to be capable of shunting by a parallel circuit L1a, and the arm directional control valve 23 and the second boom directional control valve 24 are configured in such a way as to be capable of shunting by a parallel circuit L2a.
Further, relief valves 26 and 27 are provided for the first pump line L1 and the second pump line L2, respectively. The relief valve 26 (27) is opened to release the hydraulic fluid of the first pump line L1 (L2) to a hydraulic operating fluid tank 16 when the pressure of the first pump line L1 (L2) reaches a relief pressure set in advance.
The first boom directional control valve 21 and the second boom directional control valve 24 are driven in a boom raising direction (in the rightward direction in
The solenoid proportional valves 21a, 21b, 22a, 23a and 23b output to the directional control valves 21 to 24 signal pressures generated by reducing pilot hydraulic fluid supplied from a pilot hydraulic fluid source 29 as a primary pressure in response to command current from the main controller 100.
The right operation lever device 1c outputs a voltage signal according to an operation amount and an operation direction of its operation lever as a boom operation signal to the main controller 100. Similarly, the left operation lever device 1d outputs a voltage signal according to an operation amount and an operation direction of its operation lever as an arm operation signal to the main controller 100. In particular, the right operation lever device 1c configures a boom operation device and the left operation lever device 1d configures an arm operation device.
The main controller 100 receives, as inputs thereto, a semiautomatic control validity flag from the mode setting switch 32, target face information from an information controller 200, a boom angle signal from the boom angle sensor 13a, an arm angle signal from the arm angle sensor 13b, a boom bottom pressure from a boom bottom pressure sensor 5b as a boom load pressure sensor and an arm bottom pressure from an arm bottom pressure sensor 6b as an arm load pressure sensor and outputs command signals for controlling the solenoid proportional valves 21a to 23b in response to the input signals. It is to be noted that the arm bottom pressure sensor 6b is excavation load detection means described in the claims. Further, description of calculation performed by the information controller 200 is omitted because the calculation has no direct connection with the present invention.
It is to be noted that the mode setting switch 32 is arranged in the operation room and makes it possible to select whether to validate semiautomatic control in a work of the hydraulic excavator 300, and selects true: semiautomatic control valid or false: semiautomatic control invalid.
Referring to
The target pilot pressure calculation section 110 receives, as inputs thereto, a boom operation amount signal from the right operation lever device 1c and an arm operation amount signal from the left operation lever device 1d, and calculates and outputs to the main spool control section 140a boom raising target pilot pressure, a boom lowering target pilot pressure, an arm crowding target pilot pressure and an arm dumping target pilot pressure in response to the input signals. It is to be noted that, as the boom operation amount increases in the boom raising direction, the boom raising target pilot pressure is increased, and as the boom operation amount increases in the boom lowering direction, the boom lowering target pilot pressure is increased. Similarly, as the arm operation amount increases in the arm crowding direction, the arm crowding target pilot pressure is increased, and as the arm operation amount increases in the arm dumping direction, the arm dumping target pilot pressure is increased.
The work device position acquisition section 120 receives, as inputs thereto, a boom angle signal from the boom angle sensor 13a and an arm angle signal from the arm angle sensor 13b, calculates the distal end position of the bucket 8 using the boom angle and the arm angle as well as geometric information of the boom 11 and the arm 12 set in advance, and outputs the distal end position of the bucket 8 as a work device position to the target face distance acquisition section 130. Here, the work device position is calculated as one point, for example, in a coordinate system fixed to a hydraulic work machine. However, the work device position is not limited to this and may be calculated as a group of plural points taking the shape of the work device 15 into consideration.
The target face distance acquisition section 130 receives, as inputs thereto, target face information from the information controller 200 and the work device position from the work device position acquisition section 120, calculates the distance between the work device 15 and the construction target face (hereinafter referred to as target face distance), and outputs the target face distance to the main spool control section 140 and the arm crowding velocity-control control section 150. Here, the target face information is given, for example, as two points of a two-dimensional plane coordinate system fixed to a hydraulic work machine. However, although the target face information is not limited to this and may be given as three points that configure a plane in a global three-dimensional coordinate system, in this case, it is necessary to perform coordinate transformation to a coordinate system same as that of the work device position. Further, in the case where the work device position is calculated as a point group, the target face distance may be calculated using a point nearest to the target face information.
The main spool control section 140 receives, as inputs thereto, a semiautomatic control validity flag from the mode setting switch 32, a boom raising target pilot pressure, a boom lowering target pilot pressure, an arm crowding target pilot pressure and an arm dumping target pilot pressure from the target pilot pressure calculation section 110, an arm bottom pressure from the arm bottom pressure sensor 6b, a boom bottom pressure from the boom bottom pressure sensor 5b and a target face distance from the target face distance acquisition section 130. Then, in the case where the semiautomatic control validity flag is true, the target pilot pressures are corrected in response to a deviation of the arm bottom pressure from the boom bottom pressure and the target face distance, and a boom raising solenoid valve driving signal, a boom lowering solenoid valve driving signal, an arm crowding solenoid valve driving signal and an arm dumping solenoid valve driving signal according to the respective post-correction target pilot pressures are outputted to the solenoid proportional valves 21a, 21b, 23a and 23b, respectively. Details of the calculation performed by the main spool control section 140 are hereinafter described.
The arm crowding velocity-control control section 150 receives, as inputs thereto, a semiautomatic control validity flag from the mode setting switch 32, an arm crowding control pilot pressure from the main spool control section 140, a target face distance from the target face distance acquisition section 130, a boom bottom pressure from the boom bottom pressure sensor 5b, an arm bottom pressure from the arm bottom pressure sensor 6b and an arm crowding target pilot pressure from the main spool control section 140, corrects the arm crowding target pilot pressure in response to the boom bottom pressure and the arm bottom pressure, and outputs to the solenoid proportional valve 22a an arm crowding velocity-control solenoid valve driving signal according to the post-correction arm crowding target pilot pressure. Details of the calculation performed by the arm crowding velocity-control control section 150 are hereinafter described.
Referring to
The solenoid valve driving signal generating section 141a refers to a table set in advance to generate a solenoid valve driving signal according to a boom raising target pilot pressure and outputs the solenoid valve driving signal to the solenoid proportional valve 21a. Similarly, the solenoid valve driving signal generating sections 141b, 141c and 141d generate solenoid valve driving signals according to a boom lowering target pilot pressure, an arm crowding target pilot pressure and an arm dumping target pilot pressure and output the solenoid valve driving signals to the solenoid proportional valves 21b, 23a and 23b, respectively.
The selecting section 142a selects, in the case where the semiautomatic control validity flag is false, the boom raising target pilot pressure from the target pilot pressure calculation section 110 and outputs the boom raising target pilot pressure to the solenoid valve driving signal generating section 141a. On the other hand, in the case where the semiautomatic control validity flag is true, the selecting section 142a selects the post-correction boom raising target pilot pressure from the maximum value selecting section 144 and outputs the post-correction boom raising target pilot pressure to the solenoid valve driving signal generating section 141a.
Similarly, in the case where the semiautomatic control validity flag is false, the selecting section 142c selects the arm crowding target pilot pressure from the target pilot pressure calculation section 110 and outputs the arm crowding target pilot pressure to the solenoid valve driving signal generating section 141c and the arm crowding velocity-control control section 150. On the other hand, in the case where the semiautomatic control validity flag is true, the selecting section 142c selects the post-correction arm crowding target pilot pressure from the multiplying section 146 and outputs the post-correction arm crowding target pilot pressure to the solenoid valve driving signal generating section 141c and further outputs to the arm crowding velocity-control control section 150 the post-correction arm crowding target pilot pressure as an arm crowding velocity-control pilot pressure.
The boom raising correction pilot pressure calculating section 143 refers to a table set in advance to calculate a boom raising correction pilot pressure according to a target face distance and outputs the boom raising correction pilot pressure to the maximum value selecting section 144. The maximum value selecting section 144 selects a maximum value from the inputs of the boom raising target pilot pressure and the boom raising correction pilot pressure and outputs the selected maximum value to the selecting section 142a. The table referred to by the boom raising correction pilot pressure calculating section 143 is set such that, as the target face distance increases in the negative direction, namely, as the work device 15 enters the target face more deeply, the boom raising correction pilot pressure increases. This makes it possible to perform a boom raising action in response to the target face distance and restrict entering of the work device 15 to the target face.
The arm crowding correction pilot pressure gain calculating section 145 refers to a table set in advance to calculate an arm crowding correction pilot pressure gain according to a target face distance and outputs the arm crowding correction pilot pressure gain to the multiplying section 146. The subtracting section 148 calculates and outputs to the multiplying section 146 the difference between an arm bottom pressure and a boom bottom pressure. The arm crowding shunt correction pilot pressure gain calculating section 147 refers to a table set in advance to calculate and output to the multiplying section 146 an arm crowding shunt correction pilot pressure gain according to a deviation of the arm bottom pressure from the boom bottom pressure. The multiplying section 146 multiplies the arm crowding target pilot pressure, arm crowding correction pilot pressure gain and the arm crowding shunt correction pilot pressure gain to correct the arm crowding target pilot pressure and outputs the corrected arm crowding target pilot pressure to the selecting section 142c.
The table referred to by the arm crowding correction pilot pressure gain calculating section 145 is set such that, as the target face distance increases in the negative direction, namely, as the work device 15 enters the target face more deeply, the arm crowding correction pilot pressure gain decreases. This makes it possible to decrease the arm crowding velocity in response to the decrease of the target face distance and restrict entering of the work device 15 to the target face.
The table referred to by the arm crowding shunt correction pilot pressure gain calculating section 147 is set such that, as the deviation of the arm bottom pressure from the boom bottom pressure increases, namely, as the excavation load increases, the arm crowding shunt correction pilot pressure gain increases. Since this increases, in the case where the exaction load is great, the meter-in opening of the arm cylinder 6, it is possible to prevent the shunt rate to the arm cylinder 6 from decreasing and maintain the velocity balance of the arm cylinder 6 and the boom cylinder 5.
Referring to
The solenoid valve driving signal generating section 151 refers to a table set in advance to generate an arm crowding velocity-control solenoid valve driving signal according to the arm crowding control pilot pressure and outputs the arm crowding velocity-control solenoid valve driving signal to the solenoid proportional valve 22a.
The selecting section 152 selects, in the case where the semiautomatic control validity flag is false, the arm crowding velocity-control pilot pressure and outputs the arm crowding velocity-control pilot pressure to the solenoid valve driving signal generating section 151. On the other hand, in the case where the semiautomatic control validity flag is true, the selecting section 152 selects a post-correction arm crowding velocity-control pilot pressure from the minimum value selecting section 158 hereinafter described and outputs the post-correction arm crowding velocity-control pilot pressure to the solenoid valve driving signal generating section 151.
The pilot pressure upper limit value calculating section 154 refers to a table set in advance to calculate a pilot pressure upper limit value according to the arm bottom pressure and outputs the pilot pressure upper limit value to the maximum value selecting section 157. The pilot pressure lower limit value calculating section 156 refers to a table set in advance to calculate a pilot pressure lower limit value according to the target face distance and outputs the pilot pressure lower limit value to the maximum value selecting section 157. The maximum value selecting section 157 selects a maximum value from the inputs of the pilot pressure upper limit value and a pilot pressure lower limit value from the pilot pressure lower limit value calculating section 156 hereinafter described to correct the pilot pressure upper limit value and outputs the corrected pilot pressure upper limit value to the minimum value selecting section 158. The minimum value selecting section 158 corrects the arm crowding velocity-control pilot pressure by selecting a minimum value from the inputs of the arm crowding control pilot pressure and the pilot pressure upper limit value and outputs the corrected arm crowding velocity-control pilot pressure to the selecting section 152.
The table referred to by the pilot pressure upper limit value calculating section 154 is set such that, as the arm bottom pressure increases, the pilot pressure upper limit value decreases. In particular, it is detected that the arm bottom pressure has increased, namely, that the excavation load has increased, and the arm crowding velocity-control pilot pressure generated by the solenoid proportional valve 22a is limited to limit the meter-out opening of the arm crowding velocity-control directional control valve 22. Since this limits the return flow rate from the arm cylinder 6, sudden acceleration of the arm 12 in the case where the excavation load decreases suddenly is prevented. It is to be noted that, since the control of the arm directional control valve 23 by the main spool control section 140 is executed independently of the control of the arm crowding velocity-control directional control valve 22 by the arm crowding velocity-control control section 150, even in the case where the arm crowding velocity-control pilot pressure is limited, the velocity balance of the arm cylinder 6 and the boom cylinder 5 can be maintained.
The table referred to by the pilot pressure lower limit value calculating section 156 is set such that, as the target face distance increases, the pilot pressure lower limit value increases. Since this decreases the reduction width of the meter-out opening of the arm crowding velocity-control directional control valve 22 as the distance of the distal end of the bucket 8 from the target face increases, the pressure loss caused by a meter-out throttle of the arm crowding velocity-control directional control valve 22 can be reduced.
Referring to
Advantages obtained by the present embodiment configured in such a manner as described above are described in comparison with prior art.
Referring to
On the other hand, with the hydraulic excavator 300 according to the present embodiment, when the operation amount of the arm directional control valve 23 is corrected to increase in response to the increase of the deviation of the arm bottom pressure with respect to the boom bottom pressure (or excavation load), the meter-out opening of the arm crowding velocity-control directional control valve 33 is throttled. Consequently, the velocity balance of the arm cylinder 6 and the boom cylinder 5 in a state in which the excavation load increases is maintained, and when the excavation load decreases suddenly, the back pressure of the arm cylinder 6 increases and the flow rate of the hydraulic fluid to be supplied to the arm cylinder 6 is suppressed. As a result, since sudden acceleration of the arm 12 immediately after the distal end of the bucket 8 passes the protuberance P is suppressed, the distal end of the bucket 8 can be prevented from being deviated by a great amount from the target locus as depicted in
According to the present embodiment configured in such a manner as described above, by preventing sudden acceleration of the arm 12 when the excavation load decreases suddenly in the hydraulic excavator 300 of a two-pump type, the finishing accuracy in a horizontally leveling work, a slope face shaping work and so forth can be improved.
Referring to
Pressure signals of the pump delivery pressure sensors 2c and 2d are inputted to the main controller 100. The delivery pressure of the first hydraulic pump 2a changes in an interlocking relationship with the boom bottom pressure while the delivery pressure of the second hydraulic pump 2b changes in an interlocking relationship with the arm bottom pressure. Therefore, the main controller 100 can substitute the delivery pressure of the first hydraulic pump 2a for the boom bottom pressure and can substitute the delivery pressure of the second hydraulic pump 2b for the arm bottom pressure. In other words, the first pump delivery pressure sensor 2c configures a boom load pressure sensor, and the second pump delivery pressure sensor 2d configures an arm load pressure sensor.
Also with the present embodiment configured in such a manner as described above, similar advantages to those by the first embodiment can be obtained.
Further, since the boom load pressure sensor 2c and the arm load pressure sensor 2d in the present embodiment are arranged in the machine chamber of the upper swing structure 10 similarly to the hydraulic pumps 2a and 2b, they can be attached more readily than the boom load pressure sensor 5b and the arm load pressure sensor 6b (depicted in
Further, since the installation environment of the boom load pressure sensor 2c and the arm load pressure sensor 2d in the present embodiment is not so severe as that of the boom load pressure sensor 5b and the arm load pressure sensor 6b (depicted in
Referring to
In the control valve 20A, the boom directional control valve 21 and the arm directional control valve 23 are connected to the first pump line L1, and the hydraulic fluid delivered from the first hydraulic pump 2a is supplied to the boom cylinder 5 and the arm cylinder 6. The first boom directional control valve 21 and the arm directional control valve 23 are connected in parallel to the first hydraulic pump 2a and configured in such a way as to be capable of shunting.
Referring to
With the present embodiment configured in such a manner as described above, by preventing sudden acceleration of the arm 12 when the excavation load decreases suddenly in the one-pump type hydraulic excavator, the finishing accuracy in a horizontally leveling work, a slope face shaping work and so forth can be improved.
Further, since the reduction width of the opening of the arm crowding velocity-control on-off valve 25 decreases as the distance of the distal end of the bucket 8 from the target face increases, pressure loss caused by a throttle of the arm crowding velocity-control on-off valve 25 can be reduced.
Although the embodiments of the present invention have been described in detail, the present invention is not limited to the embodiments described above and includes various modifications. For example, the embodiments described above are detailed explanations for describing the present invention such that it can be recognized readily and are not necessarily limited to the configurations that include all components described in connection with the embodiments described above. Also it is possible to add part of the components of a certain embodiment to the components of a different embodiment, and also it is possible to delete some of the components of a certain embodiment or to replace part of the components of a certain embodiment, with part of the components of a different embodiment.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2017-161634 | Aug 2017 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2018/029861 | 8/9/2018 | WO | 00 |
