CN101739129B - Four freedom degrees flexible cable driven man-machine interaction device capable of feeding back grasping force - Google Patents
Four freedom degrees flexible cable driven man-machine interaction device capable of feeding back grasping force Download PDFInfo
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- CN101739129B CN101739129B CN2009102386867A CN200910238686A CN101739129B CN 101739129 B CN101739129 B CN 101739129B CN 2009102386867 A CN2009102386867 A CN 2009102386867A CN 200910238686 A CN200910238686 A CN 200910238686A CN 101739129 B CN101739129 B CN 101739129B
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- gentle rope
- thumb stall
- freedom
- forefinger fingerstall
- rigidity
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Abstract
The invention discloses a four degrees of freedom wire driven man-machine interaction device capable of feeding back grasping force, comprising a static platform, four rigid wires, four wire driven mechanism, a forefinger stall, a thumb stall and an elastic wire. The four rigid wires are pairwise divided into two groups. The two groups of rigid wires are respectively bound on a point on the thumb stall and on a point on the forefinger stall. The two stalls are connected by the elastic wire. The elastic wire and the rigid wires are collinear on the binding points on the thumb stall and the forefinger stall. The joint force of the tension of the rigid wires and the elastic force of the elastic wire can provide the operators with four degrees of freedom force feedback. The device has the following advantages: the device adopts parallel structure and has large working space and high output force and moment; the device is driven by wires, is low in transmission structure inertia, low in possibility of interference occurrence among the wires and flexible in operation; the used wires have small quantity and simple structure; the device can simultaneously simulate plane three degrees of freedom sense of force and one degree of freedom sense of grasping without changing the structure of the device; and the device has strong universality and wide application field.
Description
Technical field
The present invention relates to field of human-computer interaction, is that a kind of gentle rope of four-degree-of-freedom with grasping force feedback drives human-computer interaction device specifically.The power and the moment of the three degree of freedom that this device produces in the time of can not only simulating in the plane between the dummy object of motion collision mutually, and the one dimension grasping force can also feed back two finger grip objects the time.
Background technology
Force sense man-machine interaction device is a kind of device that the dynamic sensing interexchanging impression is provided for the operator.Power feels that impression is the part of human body touch feeling.This impression is mainly by skeleton, the perceptual organ institute perception of joint and muscle deep layer.People and reality environment carry out mutual in, the operator experiences with dummy object by dynamic sensing interexchanging apparatus, and the acting force when mutual, the shape and the rigidity of object take place, even the motion of object, experience power feel perceived effect as the biconditional operation real-world object.Dynamic sensing interexchanging apparatus has been widely used in numerous areas such as medical treatment, industry, teaching and amusement, has very strong potentiality to be exploited.
Divide with mounting means, the type of dynamic sensing interexchanging apparatus comprises and is fixed in operator's arm and is fixed in the big kind of two on the worktable, is applicable to different application scenarios.The former mainly comprises data arm, data glove, the characteristics of this kind equipment are to follow the tracks of the multifreedom motion of operator's arm or finger, but the ubiquity size is huge, weight is heavier, power is felt shortcomings such as experiencing the fidelity difference, be applicable to the occasion that does not require perception interactive power true to nature, generally be used for principal and subordinate's operation of mechanical arm or robot delicate.
Traditional dynamic sensing interexchanging apparatus often can only be simulated the power and the moment of the one or more degree of freedom that produce when a moving object and other dummy objects bump, the grasping force that produce when but simulated operator grasps this moving object simultaneously.
Summary of the invention
In order to address the above problem, to the invention provides and a kind ofly can feed back simultaneously that planar three freedom power is felt and single-degree-of-freedom grasps the gentle rope driving of the four-degree-of-freedom human-computer interaction device of sensation.The power and the moment of the three degree of freedom that this device produces in the time of can not only simulating in the plane between the dummy object of motion collision mutually, and the one dimension grasping force can also feed back two finger grip objects the time.
A kind of gentle rope of four-degree-of-freedom with grasping force feedback of the present invention drives human-computer interaction device, comprises silent flatform, the gentle rope of rigidity, gentle rope driving mechanism, forefinger fingerstall, thumb stall, the gentle rope of elasticity.
Be symmetrically arranged with four gentle rope driving mechanisms on the described silent flatform, each gentle rope driving mechanism is connected with the stiff end of the gentle rope of a rigidity, the gentle rope free end of two rigidity of silent flatform homonymy connects the forefinger fingerstall, two gentle rope free ends of rigidity connect thumb stall in addition, are connected with the gentle rope of elasticity between described forefinger fingerstall and the thumb stall.
Silent flatform comprises back up pad, demarcates frame, guide hole plate; Demarcating frame is adhesively fixed on back up pad; Have rectangular recess in the back up pad; Four guide hole plates evenly are fixed in the Si Jiaochu that demarcates frame; On the demarcation frame, have index slot A and index slot B side by side.
Gentle rope driving mechanism comprises motor, motor cabinet, capstan winch, scrambler; The end of motor is connected with scrambler; The motor mounting hole that the motor shaft of motor passes on the motor cabinet is mounted on the motor cabinet, and motor shaft inserts in the axis hole of capstan winch, and capstan winch is fixed on the motor shaft with trip bolt; The bearing end of capstan winch passes bearing, and Bearing Installation is in the bearing mounting hole of motor cabinet; The stiff end of the gentle rope of rigidity is fixed on the capstan winch, and around being wrapped on the capstan winch in proper order along the thread groove on the capstan winch; The motor cabinet that installs is installed on the base, and is fastening with screw.
The forefinger fingerstall comprises cover in forefinger fingerstall overcoat and the forefinger fingerstall; Thumb stall comprises cover in thumb stall overcoat and the thumb stall; Thumb stall and forefinger fingerstall middle part are hollow.Being wrapped in the guide hole that the free end of the gentle rope of rigidity on the capstan winch passes on the guide hole plate in gentle rope driving mechanism is connected with forefinger fingerstall overcoat or thumb stall overcoat.
The free end of the gentle rope of the rigidity of homonymy passes outside line hole A that the forefinger fingerstall puts outward, and to penetrate the inboard posterior cord knot of forefinger fingerstall overcoat fixing; The free end of the gentle rope of opposite side rigidity passes the outside line hole B that thumb stall puts outward and penetrates the inboard posterior cord knot of thumb stall overcoat, fixing; The two ends of the gentle rope of elasticity penetrate hole, interior lines A, hole, the interior lines B that thumb stall puts that the forefinger fingerstall puts respectively outward outward, the inboard and thumb stall overcoat medial fasciculus knot, fixing at forefinger fingerstall overcoat; Cover embeds in the forefinger fingerstall overcoat in the forefinger fingerstall, is adhesively fixed; Cover embeds in the thumb stall overcoat in the thumb stall, is adhesively fixed.
Gentle rope driving mechanism is fitted with back up pad, and the base mounting hole that is passed on the base in the rope driving mechanism that softens by fastening bolt is fixed on four angles of back up pad; Foot bolt is installed on the lower margin mounting hole of base.
A kind of gentle rope of four-degree-of-freedom with grasping force feedback of the present invention drives human-computer interaction device, and its advantage is:
1. employing parallel-connection structure, work space is big, and power output and moment are big;
2. adopt gentle rope to drive, drive mechanism inertia is little, is difficult for interfering flexible operation between gentle rope;
3. the gentle rope quantity of Shi Yonging is few, simple in structure, only uses five gentle ropes can finish the simulation that planar three freedom power is felt and the single-degree-of-freedom grasping force is felt;
4. do not need the modifier structure can simulate feel of planar three freedom power and single-degree-of-freedom grasping force sensation simultaneously;
5. highly versatile, application is wide.
Description of drawings
Fig. 1 is the man-machine interactive device one-piece construction of the present invention figure;
Fig. 2 is silent flatform wiring layout in the man-machine interactive device of the present invention;
Fig. 3 is gentle rope driving mechanism wiring layout in the man-machine interactive device of the present invention;
Fig. 4 is the gentle rope of the man-machine interactive device middle finger of the present invention fingerstall, forefinger fingerstall and rigidity, the gentle rope johning knot composition of elasticity;
Fig. 5 is gentle rope driving mechanism and silent flatform wiring layout in the man-machine interactive device of the present invention;
Fig. 6 is the man-machine interactive device mechanism principle figure of the present invention;
Fig. 7 demarcates synoptic diagram for the man-machine interactive device of the present invention.
Among the figure:
The gentle rope driving mechanism 4-forefinger fingerstall of the gentle rope 3-of 1-silent flatform 2-rigidity
The 5-thumb stall 6-elasticity rope 7-fastening bolt 8-foot bolt that softens
101-back up pad 102-demarcates frame 103-guide hole plate 104-rectangular recess
105-index slot A 106-guide hole 107-index slot B 301-motor
302-motor cabinet 303-capstan winch 304-bearing 305-scrambler
306-motor shaft 307-motor mounting hole 308-bearing end 309-bearing mounting hole
310-base 311-base mounting hole 312-lower margin mounting hole 313-axis hole
Cover 403-outside line hole A 404-interior lines hole A in the 401-forefinger fingerstall overcoat 402-forefinger fingerstall
Cover 503-outside line hole B 504-interior lines hole B in the 501-thumb stall overcoat 502-thumb stall
Embodiment
Below in conjunction with accompanying drawing the present invention is further described in detail.
The gentle rope of four-degree-of-freedom that the present invention is a kind of to have a grasping force feedback drives human-computer interaction device, as shown in Figure 1, comprises the gentle rope of silent flatform 1, four rigidity 2, four gentle rope driving mechanisms 3, forefinger fingerstall 4, thumb stall 5, the gentle rope 6 of elasticity.
Be symmetrically arranged with four gentle rope driving mechanisms 3 on the silent flatform 1, each gentle rope driving mechanism 3 is connected with the stiff end of the gentle rope 2 of a rigidity, the free end of the gentle rope 2 of two rigidity of silent flatform 1 homonymy connects forefinger fingerstall 4, the free end of two gentle ropes 2 of rigidity connects thumb stall 5 in addition, is connected with the gentle rope 6 of elasticity between described forefinger fingerstall 4 and the thumb stall 5.
As shown in Figure 2, silent flatform 1 is a rectangular configuration, comprises back up pad 101, demarcates frame 102, four guide hole plates 103.Demarcate frame 102 and be adhesively fixed on back up pad 101, each sideline of demarcating on the frame 102 equates to each the sideline distance on the back up pad 101.Have rectangular recess 104 in the back up pad 101, the size of rectangular recess is measure-alike with the inside casing of demarcating frame 102.Four guide hole plates 103 evenly are fixed in the Si Jiaochu that demarcates frame 102, have guide hole 106 on the guide hole plate 103, and guide hole 106 is in the same surface, and guiding calibration frame 102 center positions are used for the gentle rope 2 of rigidity and pass, locate.Have index slot A105, index slot B107 side by side demarcating on the frame 102, index slot A105, index slot B107 are semicircular structure, diameter respectively with the equal diameters of forefinger fingerstall overcoat 401, thumb stall overcoat 501.The degree of depth of rectangular recess 104 is arranged on finger wear forefinger fingerstall 4 and thumb stall 5 after, the gentle rope 6 of gentle rope 2 of rigidity and elasticity is operated in the same plane.By demarcating the range of movement of frame 102 and rectangular recess 104 common restriction fingerstall.
As shown in Figure 3, gentle rope driving mechanism 3 comprises motor 301, motor cabinet 302, capstan winch 303, scrambler 305.The end of motor is equipped with scrambler 305, thereby is used for measuring the variation that angle that motor shaft 306 turns over is scaled gentle rope 2 length of rigidity.The motor mounting hole 307 that the motor shaft 306 of motor 301 passes on the motor cabinet 302 is mounted on the motor cabinet 302, and motor shaft 306 inserts in the axis hole 313 of capstan winch 303, and capstan winch 303 is screwed on motor shaft 306, with motor shaft 306 co-rotation.The bearing end 308 of capstan winch 303 passes bearing 304, and bearing 304 is installed in the bearing mounting hole 309 of motor cabinet 302.The stiff end of the gentle rope 2 of rigidity is fixed on the capstan winch 303, and around being wrapped in proper order on the capstan winch 303 along the thread groove on the capstan winch 303, the other end of the gentle rope 2 of rigidity is a free end, is used to connect forefinger fingerstall 4 or thumb stall 5.The motor cabinet 302 that installs is installed on the base 310, by bolted on silent flatform 1.The gentle rope 2 of described rigidity does not produce the gentle rope of elastic force for elastic deformation not to take place under the pulling force effect, be wire rope in the present embodiment.
As shown in Figure 4, forefinger fingerstall 4 comprises the interior cover 402 of forefinger fingerstall overcoat 401 and forefinger fingerstall; Thumb stall 5 comprises the interior cover 502 of thumb stall overcoat 501 and thumb stall.Thumb stall 5 and forefinger fingerstall 4 middle parts are hollow, and thumb stall 5 can be enclosed within the finger tip joint with forefinger fingerstall 4, make to point rectangular recess 104 surfaces of stretching out on the fingerstall contact back up pad 101.Being wrapped in the guide hole 106 that the free end of the gentle rope 2 of rigidity on the capstan winch 303 passes on the guide hole plate 103 in gentle rope driving mechanism 3 is connected with forefinger fingerstall overcoat 401 or thumb stall overcoat 501.
As shown in Figure 5, gentle rope driving mechanism 3 is fitted with back up pad 101, and the base mounting hole 311 that is passed on the base 310 in the gentle rope driving mechanism 3 by fastening bolt 7 is fixed on four angles of back up pad 101.Foot bolt 8 is installed on the lower margin mounting hole 312 of base 310, supports whole device.Be processed with screw thread in the lower margin mounting hole 312, the height of the screw-in quantity regulating device by adjusting foot bolt 8.
As shown in Figure 6, the free end bundle of the gentle rope 2 of two rigidity of upside is tied in D
1Point, the free end bundle of the gentle rope 2 of two rigidity of downside is tied in D
2Point, D
1Point and D
2Point is connected by the gentle rope 6 of elasticity.The gentle rope 6 of elasticity has three degree of freedom in working face, be respectively along continuous straight runs X, two translational degree of freedom of vertical direction Y and wind rotational freedom perpendicular to the Z axle of this in-plane; Simultaneously, because elastic deformation can take place in the gentle rope 6 of elasticity under the pulling force effect, so its stretching motion can be regarded an independence and freedom degree as.On these four freedoms of motion, described device can feed back corresponding power and moment, promptly feeds back grasping force on the flexible direction of the gentle rope 6 of elasticity, and the power when making the operator experience grabbing object is felt; At directions X, feedback is felt by the dummy object of gentle rope 6 representatives of grabbing object or elasticity and the acting force that other dummy objects are done the time spent and around the moment sensation of Z axle, is felt thereby make the operator experience real operating physical force on the Y direction.In the use, the elastic force of the pulling force of the gentle rope 2 of each bar rigidity and the gentle rope 6 of elasticity is at D
1Point and D
2Point forms two respectively makes a concerted effort, and makes the operator at finger and D
1Point and D
2Esthesis was felt when point was connected.
After device powers on, need demarcate the original state of device.Timing signal as shown in Figure 7, needs forefinger fingerstall 4 and thumb stall 5 are kept flat, and snaps in respectively in index slot A105 and the index slot B 107, makes the gentle rope 2 of rigidity and gentle rope 6 conllinear of elasticity of index slot A105 and index slot B107 homonymy.Write down the initial length l of the gentle rope 2 of four rigidity in demarcating frame 102
1, l
2, l
3, l
4, with scrambler 305 counting zero clearings, promptly finish demarcation simultaneously.
When operation, operator's thumb stretches in the thumb stall 5, and forefinger stretches in the forefinger fingerstall 4.Two fingerstall all are worn on finger tip dactylus place.Two fingers can drive the motion of carrying out in the demarcation frame 102 of fingerstall on silent flatform 1 on the surface level, thereby drive the free end motion of the gentle rope 2 of rigidity, and the gentle rope 2 free-ended motions of rigidity drive capstan winch 303 rotations, and motor shaft 306 rotates and scrambler 305 countings thereby drive.The counting of scrambler 305 will be scaled the length of the gentle rope 2 of rigidity, thereby calculate the position of forefinger fingerstall 4 and thumb stall 5.
Forward and reverse two states is arranged during apparatus of the present invention work:
When working in the reverse operation state, the operator drives forefinger fingerstall 4 and thumb stall 5 is moved in the plane that rectangular recess 104 limits, the length of the gentle rope 2 of rigidity changes thereupon, every gentle rope 2 of rigidity drives capstan winch 303 and rotates, the rotation of capstan winch 303 drives motor shaft 306 and rotates, thereby makes scrambler 305 countings.The counting of scrambler 305 will be scaled the length of the gentle rope 2 of rigidity, can calculate the position of forefinger fingerstall 4 and thumb stall 5 and the extended length of the gentle rope 6 of elasticity by forward kinematics solution.Thereby, in virtual environment, the position of finger in virtual environment can be described in real time, detect it and whether come in contact, collide with dummy object.
When apparatus of the present invention worked in the forward duty, motor 301 output torques drove capstan winch 303 and rotate, and twine the gentle rope 2 of rigidity, motor torque are converted into the tension force of the gentle rope 2 of rigidity.The tension force of the gentle rope 2 of rigidity forms force action in forefinger fingerstall 4 and thumb stall 5 with the elastic force of the gentle rope 6 of elasticity, the operator is pointed experience power feel effect.
Claims (8)
1. the gentle rope of four-degree-of-freedom with grasping force feedback drives human-computer interaction device, it is characterized in that: comprise silent flatform, the gentle rope of rigidity, gentle rope driving mechanism, forefinger fingerstall, thumb stall, the gentle rope of elasticity; Described silent flatform is a rectangular configuration, be symmetrically arranged with four gentle rope driving mechanisms on four angles, each gentle rope driving mechanism is connected with the stiff end of the gentle rope of a rigidity, the free end of the gentle rope of two adjacent rigidity connects the forefinger fingerstall, the free end of two gentle ropes of rigidity connects thumb stall in addition, is connected with the gentle rope of elasticity between described forefinger fingerstall and the thumb stall; Described gentle rope driving mechanism comprises motor, motor cabinet, capstan winch, scrambler; The end of motor is connected with scrambler; Described motor is fixed on the motor cabinet, and the motor shaft level is inserted in the axis hole of capstan winch, and capstan winch is fixed on the motor shaft, and capstan winch together rotates with motor shaft; Twine the gentle rope of rigidity on the described capstan winch; Described silent flatform comprises back up pad, demarcates frame, guide hole plate; Demarcating frame is adhesively fixed on the rectangle back up pad; Have rectangular recess in the back up pad; Four guide hole plates evenly are fixed in the Si Jiaochu that demarcates frame; On the demarcation frame, have index slot A and index slot B side by side, after device powers on, need carry out timing signal to the original state of device, need forefinger fingerstall and thumb stall are kept flat, snap in respectively in index slot A and the index slot B, make the gentle rope of rigidity and the gentle rope conllinear of elasticity of index slot A and index slot B homonymy, write down the initial length l of the gentle rope of four rigidity in demarcating frame
1, l
2, l
3, l
4, simultaneously with the encoder to count zero clearing.
2. a kind of according to claim 1 gentle rope of four-degree-of-freedom with grasping force feedback drives human-computer interaction device, and it is characterized in that: the gentle rope of described rigidity is a wire rope; The gentle rope of described elasticity is bungee or extension spring.
3. a kind of according to claim 1 gentle rope of four-degree-of-freedom with grasping force feedback drives human-computer interaction device, it is characterized in that: each sideline on the described demarcation frame equates to each the sideline distance on the back up pad; The size of described rectangular recess is measure-alike with the inside casing of demarcating frame; Described guide hole plate has four, has guide hole on each guide hole plate, and guide hole is in the same surface, guiding calibration frame center position; Described index slot A and index slot B are semicircular structure, the diameter of index slot A, index slot B respectively with the equal diameters of forefinger fingerstall, thumb stall.
4. a kind of according to claim 1 gentle rope of four-degree-of-freedom with grasping force feedback drives human-computer interaction device, and it is characterized in that: described thumb stall and forefinger fingerstall refer to two bare terminal ends of the clamping device that needs the feedback force sense respectively.
5. a kind of according to claim 1 gentle rope of four-degree-of-freedom with grasping force feedback drives human-computer interaction device, and it is characterized in that: the forefinger fingerstall comprises cover in forefinger fingerstall overcoat and the forefinger fingerstall, and overcoat and interior cover are adhesively fixed; Thumb stall comprises cover in thumb stall overcoat and the thumb stall, and interior cover and overcoat are adhesively fixed; Thumb stall and forefinger fingerstall middle part are hollow; Described forefinger fingerstall overcoat is provided with outside line hole A, hole, interior lines A, the thumb stall overcoat is provided with outside line hole B, hole, interior lines B, it is fixing that wherein the gentle ropes of two adjacent rigidity pass outside line hole A bundle knot, and it is fixing that the gentle rope of two other adjacent rigidity passes outside line hole B bundle knot; Hole, interior lines A is passed at the two ends of the gentle rope of described elasticity respectively and hole, interior lines B bundle knot is fixing.
6. drive human-computer interaction device as a kind of gentle rope of four-degree-of-freedom as described in the claim 5, it is characterized in that: the axis conllinear of hole, the interior lines A that the outside line hole A that described forefinger fingerstall puts outward, the outside line hole B that thumb stall puts outward put outward with the forefinger fingerstall respectively, hole, the interior lines B that thumb stall puts outward with grasping force feedback.
7. drive human-computer interaction device as a kind of gentle rope of four-degree-of-freedom as described in the claim 5, it is characterized in that: the axis of the outside line hole A that described forefinger fingerstall puts outward, the outside line hole B that thumb stall puts outward and the elasticity rope conllinear that softens with grasping force feedback.
8. drive human-computer interaction device as a kind of gentle rope of four-degree-of-freedom with grasping force feedback as described in the claim 5, it is characterized in that: thumb stall overcoat and forefinger fingerstall overcoat are annular, by rigid material; Overlap by the resilient material manufacturing in cover and the forefinger fingerstall in the thumb stall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102386867A CN101739129B (en) | 2009-12-01 | 2009-12-01 | Four freedom degrees flexible cable driven man-machine interaction device capable of feeding back grasping force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102386867A CN101739129B (en) | 2009-12-01 | 2009-12-01 | Four freedom degrees flexible cable driven man-machine interaction device capable of feeding back grasping force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101739129A CN101739129A (en) | 2010-06-16 |
| CN101739129B true CN101739129B (en) | 2011-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102386867A Expired - Fee Related CN101739129B (en) | 2009-12-01 | 2009-12-01 | Four freedom degrees flexible cable driven man-machine interaction device capable of feeding back grasping force |
Country Status (1)
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| CN (1) | CN101739129B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102236140B1 (en) | 2009-09-16 | 2021-04-02 | 가부시키가이샤 한도오따이 에네루기 켄큐쇼 | Light-emitting device and manufacturing method thereof |
| CN102253717B (en) * | 2010-12-24 | 2016-08-17 | 北京理工大学 | Plane three-freedom-degree pen type force sense interactive |
| CN104440877B (en) * | 2014-11-06 | 2016-01-20 | 清华大学 | A kind of large-scale vertical storage tank maintenance rope parallel robot |
| CN104965587B (en) * | 2015-06-10 | 2018-06-26 | 东南大学 | A kind of two fingers motion tracking and device for force feedback |
| CN112621790B (en) * | 2020-12-31 | 2022-03-25 | 东南大学 | Two-degree-of-freedom rope transmission type finger force feedback device |
| CN115457836B (en) * | 2022-09-23 | 2023-06-13 | 燕山大学 | Helicopter simulated driving platform based on live-action control |
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2009
- 2009-12-01 CN CN2009102386867A patent/CN101739129B/en not_active Expired - Fee Related
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