JP2019018116A - Microparticulate material capture device - Google Patents
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Abstract
【課題】シンプルな構成で消費エネルギーが少なく、室内に流入する空気流から、微小粒子状物質を有効且つ確実に吸着排除することができる微小粒子状物質捕捉装置を提供することを課題とする。【解決手段】3層の絶縁導線層1〜3と、前記3層の絶縁導線層1〜3のうちの2つの外側絶縁導線層1,3に負電荷を供給すると共に、前記3層の絶縁導線層1〜3のうちの中央絶縁導線層2に正電荷を供給する2つの電圧発生器4,5を備え、前記3層の絶縁導線層1〜3は、適宜間隔を置いて平行に配置され、隣接する層内の絶縁導線同士が互いに他からオフセットされて成る。【選択図】図1An object of the present invention is to provide a microparticulate matter trapping device that has a simple configuration, consumes less energy, and can effectively and reliably adsorb and remove microparticulate matter from an air flow that flows into a room. A negative charge is supplied to three insulated conductor layers 1 to 3 and two outer insulated conductor layers 1 and 3 of the three insulated conductor layers 1 to 3, and the three layers of insulation are provided. It comprises two voltage generators 4, 5 supplying a positive charge to a central insulated conductor layer 2 of the conductor layers 1-3, said three insulated conductor layers 1-3 being arranged in parallel and spaced accordingly. and insulated conductors in adjacent layers are offset from each other. [Selection drawing] Fig. 1
Description
本発明は、微小粒子状物質捕捉装置に関するものであり、より詳細には、例えば、健康問題を引き起こす可能性がある煙の中の微小粒子状物質を、静電気を利用して捕捉する微小粒子状物質捕捉装置に関するものである。 The present invention relates to a microparticulate matter trapping device, and more particularly, for example, a microparticulate matter that traps microparticulate matter in smoke that may cause health problems using static electricity. The present invention relates to a substance capturing device.
煙は、木材等の有機物を燃焼させた時に生ずる気体と微細粒子の複雑な混合物で構成されている。煙による最大の健康障害は、微細粒子に由来する。これらの微細な粒子は、目や呼吸系に入る可能性があり、そこで、焼けるような目の痛み、鼻水の出る鼻、また、気管支炎等の疾病といった健康問題を引き起こす可能性がある。微細粒子はまた、慢性心不全や肺疾患を悪化させる可能性があり、早期死亡に繋がると言われている。そのため、住居における空中の微小粒子状物質を排除することによって、空気汚染物質に敏感な人々の生活の質を改善することが求められる。 Smoke is composed of a complex mixture of gas and fine particles produced when burning organic materials such as wood. The biggest health hazard from smoke comes from fine particles. These fine particles can enter the eyes and respiratory system, where they can cause health problems such as burning eye pain, runny nose, and diseases such as bronchitis. Fine particles can also exacerbate chronic heart failure and lung disease, and are said to lead to early death. Therefore, there is a need to improve the quality of life of people who are sensitive to air pollutants by eliminating airborne particulate matter in their homes.
従来、かかる微粒子を浄化する方法として、空気を誘電体バリア放電を用いて活性化させた搬送管内において、粒子の攪拌や搬送、浄化を行う微粒子搬送装置を用いる方法が提唱されている(特許文献1:特許第5688651号公報)。 Conventionally, as a method for purifying such fine particles, a method using a fine particle conveying device that stirs, conveys, and purifies particles in a conveying tube in which air is activated using dielectric barrier discharge has been proposed (Patent Document). 1: Japanese Patent No. 5688651).
また、大気その他の気体中に浮遊する微粒子を、フィルター法によるろ過によることなく、高能率で除去するための方法として、微粒子を含有する微粒子含有気体から当該微粒子を除去処理して清浄気体を得る微粒子除去処理を、一方の極性に帯電させた当該微粒子に、当該一方の極性と逆極性である他方の極性に帯電させた除去液ミストを出会わせることにより行う、静電気のクーロン力を利用する除去方法の提案もある(特許文献2:特開2017−927号公報)。 In addition, as a method for removing fine particles floating in the atmosphere or other gases with high efficiency without using filtration by a filter method, a clean gas is obtained by removing the fine particles from a fine particle-containing gas containing fine particles. The removal using the Coulomb force of static electricity is performed by causing the fine particles charged to one polarity to meet the removal liquid mist charged to the other polarity opposite to the one polarity. There is also a proposal of a method (Patent Document 2: Japanese Patent Laid-Open No. 2017-927).
しかるに、これら従来の微粒子除去方法の場合は、いずれも大掛かりな装備が必要となるもので、設置コスト並びにエネルギー消費量も嵩むため、一般家庭等において手軽に利用する訳にはいかないという問題がある。 However, these conventional fine particle removal methods both require large-scale equipment and increase the installation cost and energy consumption, so that they cannot be easily used in ordinary homes. .
本発明は、このような従来技術における問題に鑑みてなされたもので、シンプルな構成で消費エネルギーが少なく、室内に流入する空気流から、微小粒子状物質を有効且つ確実に吸着排除することができる微小粒子状物質捕捉装置を提供することを課題とする。 The present invention has been made in view of such problems in the prior art, and has a simple configuration that consumes less energy, and can effectively and reliably adsorb and exclude fine particulate matter from the airflow flowing into the room. It is an object of the present invention to provide a fine particulate matter trapping device.
本発明者らは、健康問題を引き起こす可能性のある煙の中の微小粒子状物質が室内に流入することを防止するための方法を追求した結果、静電気引力を用いることにより、煙の中の微小粒子状物質が室内に入り込むことを防ぐことができるとの知見を得て、本発明を完成させるに至ったものである。 As a result of pursuing a method for preventing minute particulate matter in smoke that may cause health problems from flowing into the room, the present inventors have used electrostatic attraction to The inventors have obtained the knowledge that it is possible to prevent fine particulate matter from entering the room, and have completed the present invention.
即ち、上記課題を解決するための請求項1に記載の発明は、3層の絶縁導線層と、前記3層の絶縁導線層のうちの2つの外側絶縁導線層に負電荷を供給すると共に、前記3層の絶縁導線層のうちの中央絶縁導線層に正電荷を供給する2つの電圧発生器を備え、前記3層の絶縁導線層は、適宜間隔を置いて平行に配置され、隣接する層内の絶縁導線同士が互いに他からオフセットされて成ることを特徴とする微小粒子状物質捕捉装置である。 That is, the invention according to claim 1 for solving the above-described problem supplies negative charges to the three insulated conductor layers and the two outer insulated conductor layers of the three insulated conductor layers, Two voltage generators for supplying a positive charge to the central insulated conductor layer of the three insulated conductor layers are provided, and the three insulated conductor layers are arranged in parallel at an appropriate interval and are adjacent layers. The insulated conductive wire is a microparticulate matter capturing device characterized in that the insulated conducting wires are offset from each other.
一実施形態においては、前記各電圧発生器は、ソーラーパネルから電力を供給される蓄電池を電源として動作する。また、前記電圧発生器により印加される電圧は4.5kV以上とされる。 In one embodiment, each voltage generator operates with a storage battery supplied with power from a solar panel as a power source. The voltage applied by the voltage generator is 4.5 kV or higher.
本発明に係る微小粒子状物質捕捉装置は上記のとおりであって、非常にシンプルな構成で製造容易であり、長期間に亘り、低いエネルギー消費量で絶え間なく動作させ続けることができ、その間、室内に流入する空気流から微小粒子状物質を有効且つ確実に捕捉し続けることができる効果がある。 The microparticulate matter trapping apparatus according to the present invention is as described above, is easy to manufacture with a very simple configuration, and can be continuously operated with low energy consumption over a long period of time, There is an effect that microparticulate matter can be continuously and reliably captured from the air flow flowing into the room.
本発明を実施するための形態について、添付図面を参照しつつ説明する。図1に示されるように本発明に係る微小粒子状物質捕捉装置は、3層の絶縁導線層1〜3と、この3層の絶縁導線層1〜3のうちの2つの外側絶縁導線層1、3に負電荷を供給する電圧発生器4と、中央絶縁導線層2に正電荷を供給する電圧発生器5とを備えて成るものである。 EMBODIMENT OF THE INVENTION The form for implementing this invention is demonstrated referring an accompanying drawing. As shown in FIG. 1, the particulate matter trapping device according to the present invention includes three layers of insulated conductor layers 1 to 3 and two outer insulated conductor layers 1 of the three layers of insulated conductor layers 1 to 3. 3 includes a voltage generator 4 for supplying a negative charge to 3, and a voltage generator 5 for supplying a positive charge to the central insulated conductor layer 2.
この微小粒子状物質捕捉装置は、電極として絶縁導線層1〜3を用いて電場を形成するものである。例えば、絶縁導線層1〜3は、鉄線(直径2mm、長さ15〜55cm)を透明の絶縁体ビニルスリーブ(厚さ1mm、バルク抵抗率1×109Ωcm)に通して絶縁した断面円形の絶縁導線により形成される。3層の絶縁導線層1〜3は、適宜間隔を置いて平行に配列され、これに負電圧を供給する静電直流(DC)電圧発生器4と、正電圧を供給する静電直流(DC)電圧発生器5が接続されて構成される(図1(A),(B)参照)。 This microparticulate matter trapping device forms an electric field using the insulated conductor layers 1 to 3 as electrodes. For example, the insulated conducting wire layers 1 to 3 have a circular cross-section insulated conducting wire in which an iron wire (diameter 2 mm, length 15 to 55 cm) is insulated through a transparent insulator vinyl sleeve (thickness 1 mm, bulk resistivity 1 × 10 9 Ωcm). It is formed by. The three insulated conductor layers 1 to 3 are arranged in parallel at appropriate intervals, and an electrostatic direct current (DC) voltage generator 4 that supplies a negative voltage thereto, and an electrostatic direct current (DC) that supplies a positive voltage. ) A voltage generator 5 is connected (see FIGS. 1A and 1B).
絶縁導線層1〜3は、例えば、各層間に5mmの間隔を置いて平行に配置されて相互に接続され、負又は正の電圧発生器4、5に接続される。負又は正に帯電させた絶縁導線層1〜3は、図1(B)においてそれぞれ、絶縁導線層(−)及び絶縁導線層(+)で表してある。この絶縁導線層1〜3をフレーム内に収めて静電気バリア形成窓が形成される。その場合、中心の絶縁導線層2が(+)層で両側の絶縁導線層1、3が(−)層となり、これら3層は、平行且つ5mm程の間隔に配置され、また、隣り合う層内の絶縁導線層同士が、互いに他から上下にオフセットされて構成される(図1参照)。 The insulated conductor layers 1 to 3 are, for example, arranged in parallel with an interval of 5 mm between the respective layers and connected to each other, and are connected to the negative or positive voltage generators 4 and 5. The insulated conducting wire layers 1 to 3 charged negatively or positively are represented by an insulated conducting wire layer (−) and an insulated conducting wire layer (+), respectively, in FIG. The insulated conductive wire layers 1 to 3 are housed in a frame to form an electrostatic barrier forming window. In that case, the central insulated conductor layer 2 is a (+) layer and the insulated conductor layers 1 and 3 on both sides are (−) layers. These three layers are arranged in parallel and at an interval of about 5 mm, and adjacent layers. The insulated conductor layers inside are offset from each other vertically (see FIG. 1).
電圧発生器4、5は、互いに他に結合され、(−)層である絶縁導線層1、3と(+)層である絶縁導線層2との間に電場を生ずる電気回路が形成される(図1(B))。両方の電圧発生器4、5は、例えば、15Wのソーラーパネルから電力を供給される12Vの蓄電池6を電源として動作させ続けることができる。このシステムでは、(+)層の絶縁導線層2からの自由電子を(−)層の絶縁導線層1、3に押し出し、且つ、絶縁導線層の対向面の電荷が、それらの間に電場を形成する双極子として働く。 The voltage generators 4 and 5 are coupled to each other to form an electric circuit that generates an electric field between the insulated conductor layers 1 and 3 that are (−) layers and the insulated conductor layer 2 that is (+) layers. (FIG. 1 (B)). Both voltage generators 4 and 5 can continue to operate using, for example, a 12 V storage battery 6 supplied with power from a 15 W solar panel as a power source. In this system, free electrons from the (+) layer of the insulated conductor layer 2 are pushed out to the (−) layer of the insulated conductor layers 1 and 3, and the electric charge on the opposite surface of the insulated conductor layer causes an electric field between them. Works as a dipole to form.
図1における符号7は、電圧発生器4、5間の電線路に組み込んだ検流計(PC7000;三和電気計器、東京、日本)を示している。 Reference numeral 7 in FIG. 1 indicates a galvanometer (PC7000; Sanwa Electric Instruments Co., Ltd., Tokyo, Japan) incorporated in the electric wire between the voltage generators 4 and 5.
本発明に係る微小粒子状物質捕捉装置は、一般家庭の窓枠等に組み付けられて、室内に流入しようとする煙の中の微細粒子を、その絶縁導線層1〜3によって生成される電場によって捕捉することを企図したものである。 The fine particulate matter trapping device according to the present invention is assembled in a window frame or the like of a general household, and the fine particles in the smoke that is about to flow into the room are generated by the electric field generated by the insulated conductor layers 1 to 3. It is intended to capture.
本発明に係る微小粒子状物質捕捉装置の有効性、即ち、煙の中の微細粒子を、その絶縁導線層1〜3によって生成される電場によって十分に捕捉することができるのか否かを確認するための試験を行った。その試験は、木製の立方体の箱(辺の長さ、25cm)の一方の側に、試験サイズ(20×20cm)に縮めた本発明に係る装置(EWS12)を設置し、他方の側に軸流ファン13を取り付けた試験箱11を制作し(図2(A))、この試験箱11を、密閉したより大きな透明のアクリル箱(120×90×100cm)14内に収めた試験装置を製作して行った(図2(B))。 The effectiveness of the microparticulate matter trapping apparatus according to the present invention, that is, whether or not the fine particles in the smoke can be sufficiently trapped by the electric field generated by the insulated conductor layers 1 to 3 is confirmed. The test for was done. The test was performed by installing an apparatus (EWS12) according to the present invention contracted to a test size (20 × 20 cm) on one side of a wooden cubic box (side length, 25 cm) and a shaft on the other side. A test box 11 to which a flow fan 13 is attached is produced (FIG. 2A), and a test apparatus is produced in which the test box 11 is housed in a sealed larger transparent acrylic box (120 × 90 × 100 cm) 14. (FIG. 2B).
この試験装置を用いて、煙の中の微細粒子を捕捉する本発明に係る装置の能力を確認するため、香取線香(モスキートコイル)(アース製薬、東京、日本)、肉薫製用の圧縮した桜材おがくず(新富士バーナー、豊川、日本)、及び、巻きたばこ(日本たばこ産業、東京、日本)を用いて煙を生成した。放出された粒子の範囲は、燃焼時、0.5〜2.5mmであった。 In order to confirm the ability of the device according to the present invention to capture fine particles in smoke using this test device, Mosquito Coyle (Earth Pharmaceutical, Tokyo, Japan), compressed cherry blossoms for meat making Smoke was generated using wood sawdust (Shinfuji burner, Toyokawa, Japan) and cigarettes (Nippon Tobacco Inc., Tokyo, Japan). The range of emitted particles was 0.5-2.5 mm when burning.
燃えている蚊取線香又は削り屑の塊及び巻きたばこをアクリル箱14内に入れ、試験箱11の軸流ファン13を動作させて、3m/秒で内部空気を循環させて煙を絶え間なく発生させ、高感度風力計(クリモマスター6533;カノマックス、東京、日本)を用いて、EWS12の表面で風速を測定した。循環させた空気内の粒子密度は、試験箱11内に設置したモニター15(ダストモニター粉塵計DC1100プロ、株式会社佐藤商事、川崎、日本;測定可能な粉じんの範囲:直径0.5〜2.5mm)で測定した。 A burning mosquito coil or shaving lump and cigarette are put in an acrylic box 14, the axial fan 13 of the test box 11 is operated, and internal air is circulated at 3 m / second to generate smoke continuously. The wind speed was measured on the surface of the EWS 12 using a highly sensitive anemometer (Kurimo Master 6533; Kanomax, Tokyo, Japan). The particle density in the circulated air was measured with a monitor 15 installed in the test box 11 (dust monitor dust meter DC1100 Pro, Sato Corporation, Kawasaki, Japan; measurable dust range: 0.5-2. 5 mm).
粒子密度があるレベル(粒子数1.5×108個/m3)に達した時点で煙源を取り外し、次いで、絶縁導線層1〜3を同じ負及び正の電圧(0.5〜4.5kV)で120秒間帯電させて、EWS12を通過する粒子の全てを捕捉するための電圧範囲を求めた。 When the particle density reaches a certain level (number of particles: 1.5 × 10 8 particles / m 3 ), the smoke source is removed, and then the insulated conductor layers 1 to 3 are connected to the same negative and positive voltage (0.5 to 4.. 5 kV) was charged for 120 seconds, and the voltage range for capturing all of the particles passing through EWS 12 was determined.
図3は、3m/秒の空気流(本試験装置の最高風速)に対して、異なる電圧で帯電させたEWS12により捕捉されたモスキートコイルの煙の微細粒子の百分率を示している。なお、ネガティブコントロールとして非帯電箱を用意し、非帯電箱では粒子の100%がEWS12を通過すると仮定して、本発明による帯電箱内の粒子の数を、非帯電箱のそれに対する百分率で表した。実験は5回繰り返し、データを平均値±標準偏差(SD)で算出した。データ間の有意差は、テューキー法を用いて解析し、p値<0.05が統計学的に有意である、と判断した。 FIG. 3 shows the percentage of fine particles of mosquito coil smoke trapped by the EWS 12 charged at different voltages for an air flow of 3 m / sec (the maximum wind speed of the test apparatus). Note that an uncharged box is prepared as a negative control, and assuming that 100% of the particles pass through the EWS 12 in the uncharged box, the number of particles in the charged box according to the present invention is expressed as a percentage of that of the uncharged box. did. The experiment was repeated 5 times, and the data were calculated as mean ± standard deviation (SD). Significant differences between data were analyzed using the Tukey method and a p-value <0.05 was determined to be statistically significant.
図3のグラフから明らかなように、検出された微細粒子の数は、印加電圧が高くなるに伴って減少している。この電場では、粒子は、静電牽引力及び空気流の力に影響され、粒子の運動の方向は、これら2つの力の合成ベクトルによって決定される。EWS12は、電極への印加電圧が4.5kVを超えた時に生じた電場内では、微細な煙粒子の全てを捕捉することができたが(d参照)、より低い電圧下では、電場により生じた力は空気流の力より弱かったため、粒子はEWS12を通過した(a,b,c参照)。 As is apparent from the graph of FIG. 3, the number of detected fine particles decreases as the applied voltage increases. In this electric field, the particles are affected by electrostatic traction and airflow forces, and the direction of particle motion is determined by the combined vector of these two forces. EWS12 was able to capture all of the fine smoke particles in the electric field generated when the applied voltage to the electrode exceeded 4.5 kV (see d), but it was generated by the electric field at lower voltages. Since the force was weaker than the force of the air flow, the particles passed through the EWS 12 (see a, b, c).
EWS12は間隙の無い多数の電場を有するものとして作成したが、これは、微小粒子状物質捕捉の成功は、粒子が通過できる空間が全く無い静電気バリアの形成如何にかかっていると考えたからである。この電場を形成する際の重要なステップは、言うまでもなく絶縁導線層1〜3を荷電することである。そのために、2つの電圧発生器4,5のコッククロフト回路(Wegner 2002)を介して生成した高電圧を用い、絶縁導線層1,3に電子を加え、絶縁導線層2から電子を押し出して、両方の電極を帯電させた。 The EWS 12 was created as having a large number of electric fields with no gaps, because it was thought that the success of trapping microparticulate matter depends on the formation of an electrostatic barrier with no space for the particles to pass through. . Of course, an important step in forming this electric field is to charge the insulated conducting wire layers 1-3. For this purpose, using a high voltage generated through the cockcroft circuit (Wegener 2002) of the two voltage generators 4 and 5, electrons are added to the insulating conductor layers 1 and 3, and electrons are pushed out of the insulating conductor layer 2, The electrode was charged.
本発明に係る微小粒子状物質捕捉装置は、粒子を捕捉するその能力に加えて、消費電力が低いことが、実用上重要な特徴である。日本は、例えば、地震の後で起こるような、頻繁な大停電の危機に常に晒されており、その際には、微小粒子状物質の捕捉が停止状態になってしまう。本装置の場合、電圧発生器4,5が電源を必要とする唯一の駆動部分であり、その電力は僅か5Wで、これは、小さな電球の電力に相当する。従って、電圧発生器4,5に電力を供給するための方法として、太陽光発電法の使用が可能になったのである。 In the microparticulate matter trapping apparatus according to the present invention, in addition to its ability to trap particles, low power consumption is a practically important feature. Japan is constantly exposed to frequent catastrophic crises, such as those that occur after an earthquake, in which case the capture of fine particulate matter is stopped. In the case of this device, the voltage generators 4 and 5 are the only drive parts that require a power supply, and their power is only 5 W, which corresponds to the power of a small bulb. Therefore, the solar power generation method can be used as a method for supplying power to the voltage generators 4 and 5.
本装置において、電場における微細粒子の牽引は、不均一な電場による微細粒子の誘電泳動が原因であると推測される。誘電泳動は、不均一な電場内で、誘電体粒子(極性が反対の粒子)に力が加えられる現象である。この力は、粒子が帯電していることを必要としない。なぜなら、粒子は全て、不均一な電場が存在する場合、誘電泳動活動を示すからである。なお、粒子が誘電的に極性を与えられたのは、本試験で使用された断面円形電極により不均一な電場が生じたからに他ならない。 In this apparatus, it is assumed that the pulling of the fine particles in the electric field is caused by the dielectrophoresis of the fine particles by the non-uniform electric field. Dielectrophoresis is a phenomenon in which force is applied to dielectric particles (particles of opposite polarity) in a non-uniform electric field. This force does not require the particles to be charged. This is because all particles exhibit dielectrophoretic activity in the presence of a non-uniform electric field. The particles were dielectrically polarized because the non-uniform electric field was generated by the circular cross-section electrode used in this test.
この誘電泳動理論によれば、周囲の電場に比例する粒子の分極化は、電場強度の勾配に沿って変化する。この変化し得る分極化によって、粒子は、電極に向かって動くことが可能になる。事実、粒子は、最も近い電極に向かって、すなわち、電極によって生成される電場強度が増大する方向に移動した。本発明においては、電極は等しい電圧によって逆帯電され、従って、両電極は、同じ電場強度の勾配を生じた。これらの逆帯電電極は、粒子に対して同じ牽引力を発揮した。電場強度の勾配は、電極に加わる電圧と共に増大し、結果として両電極は、粒子を捕捉するのに十分な力を生じた。 According to this dielectrophoretic theory, the polarization of particles proportional to the surrounding electric field varies along the gradient of the electric field strength. This variable polarization allows the particles to move toward the electrode. In fact, the particles moved towards the nearest electrode, ie in the direction that the electric field strength generated by the electrode increased. In the present invention, the electrodes were reverse charged by equal voltages, so both electrodes produced the same field strength gradient. These reversely charged electrodes exerted the same traction force on the particles. The gradient of the electric field intensity increased with the voltage applied to the electrodes, and as a result, both electrodes generated sufficient force to trap the particles.
上記のとおり、本発明に係る微小粒子状物質捕捉装置は、基本的な静電気学を用いて、人間の環境を改善するものであり、その構成は非常にシンプルなもので、製造容易で比較的低コストにて供給でき、しかも、低い消費電力で正常に動作して、煙に含まれている微細粒子を誘電泳動の原理により効率よく捕捉することが可能なものであり、その産業上の利用可能性は極めて大である。 As described above, the microparticulate trapping device according to the present invention improves the human environment using basic electrostatics, and its configuration is very simple, easy to manufacture and relatively It can be supplied at low cost, operates normally with low power consumption, and can capture fine particles contained in smoke efficiently by the principle of dielectrophoresis. The potential is enormous.
1〜3 絶縁導線層
4,5 電圧発生器
6 蓄電池
7 検流器
1-3 Insulated conductor layer 4, 5 Voltage generator 6 Storage battery 7 Current detector
Claims (3)
前記3層の絶縁導線層は、適宜間隔を置いて平行に配置され、隣接する層内の絶縁導線同士が互いに他からオフセットされて成ることを特徴とする微小粒子状物質捕捉装置。 A negative charge is supplied to the three insulated conductor layers and two outer insulated conductor layers of the three insulated conductor layers, and a positive charge is applied to the central insulated conductor layer of the three insulated conductor layers. With two voltage generators to supply,
The three-layer insulated conductor layers are arranged in parallel at an appropriate interval, and the insulated conductor wires in adjacent layers are offset from each other.
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| CN114728227A (en) * | 2019-11-18 | 2022-07-08 | Lg电子株式会社 | Filter for air purification |
| DE112019006910B4 (en) | 2019-02-25 | 2024-03-21 | Mujin, Inc. | Storage system, base, control device, program and transport robot |
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