CN106542078A - A kind of unmanned plane and its accommodation method - Google Patents
A kind of unmanned plane and its accommodation method Download PDFInfo
- Publication number
- CN106542078A CN106542078A CN201611108614.7A CN201611108614A CN106542078A CN 106542078 A CN106542078 A CN 106542078A CN 201611108614 A CN201611108614 A CN 201611108614A CN 106542078 A CN106542078 A CN 106542078A
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- card
- horn
- locking piece
- unmanned plane
- bit part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
- B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The present invention proposes a kind of unmanned plane, including body and the horn for being arranged on body both sides, horn can be made to circumferentially rotate storage relative to body and carry out spacing rotational positioning component after horn turns to state of flight to which at least provided with one group between the horn and the body, the rotational positioning component include being fixedly installed on it is rotatable on the horn after the revolving part that resets and rotate clockwise along revolving part and be provided adjacent to can rotate under the drive of revolving part on body on direction successively and reducible locking piece after rotating, first card-bit part and the second card-bit part, first card-bit part and second card-bit part engagement.Storage is not easy to by what the present invention can solve that unmanned plane structure of the prior art is present, take up room big problem.
Description
Technical field
The present invention relates to the improvement of a kind of rotation unmanned plane structure and its accommodation method.
Background technology
Unmanned plane is the not manned vehicle of a kind of utilization radio robot and the manipulation of airborne control device, with section
The continuous development and progress of skill, unmanned plane are also developed rapidly, and increasing people starts with unmanned plane and carries out taking photo by plane, autodynes
Entertainment selection, but existing unmanned plane structure two horn launches X-type is presented, and horn is fixed on fuselage, it is impossible to carry out turning
It is dynamic, cause that whole unmanned plane volume is larger, take up room big and cannot be received, carry inconvenience.
The content of the invention
The present invention provides a kind of rotation unmanned plane, and what solution unmanned plane structure of the prior art was present is not easy to storage,
Take up room big problem.
To reach the purpose for solving above-mentioned technical problem, the present invention adopts proposed unmanned plane structure technical scheme below
It is achieved：A kind of unmanned plane, including body and the horn for being arranged on body both sides, between the horn and the body at least
Being provided with one group can make horn circumferentially rotate storage relative to body and carry out to which after horn turns to state of flight spacing
Rotational positioning component.
In the inventive solutions, also including following additional technical feature：
Further, the rotational positioning component include being fixedly installed on the horn it is rotatable after the revolving part that resets and
Rotate clockwise along revolving part after being provided adjacent to can rotate under the drive of revolving part on body on direction successively and rotating
Reducible locking piece, the first card-bit part and the second card-bit part, first card-bit part and second card-bit part engagement.
Further, the locking piece, the first card-bit part, the second card-bit part at least a portion is located at the revolving part
In largest contours line.
Further, the revolving part is that rotary chuck, the rotary chuck are set in a chuck rotating shaft, the chuck
One is arranged with rotating shaft can make rotary chuck do the chuck elastic torsion part of return rotation.
Further, holding section is provided with the rotary chuck, is provided with rotary chuck on first card-bit part
The first latch coordinated with the holding section after rotateing in place.
Further, the locking piece includes the first locking piece and the second locking piece, and first locking piece is inserted into
In one rotating shaft, it is arranged with the first rotating shaft and is inlaid in the first locking piece first that the first locking piece can be made to do return rotation
Elastic torsion part；Second locking piece is inserted in the second rotating shaft, is arranged with and is inlaid in the second locking in second rotating shaft
The second locking piece can be made in part to do the second elastic torsion part of return rotation.
Further, elongated slot/lead column is provided with first locking piece, is correspondingly arranged on second locking piece
Lead column/the elongated slot coordinated with which.
Further, the second latch on first card-bit part, is provided with second locking piece and the first card-bit part
The clamping part coordinated after rotateing in place.
Further, the chuck elastic torsion part, the first elastic torsion part, the second elastic torsion part are torsion spring.
Further, the first screw knob or first gear are provided with first card-bit part, on the second part
It is correspondingly arranged on the second screw knob or second gear for engaging cooperation.
A kind of unmanned plane accommodation method is proposed in the present invention also, it is characterised in that comprised the steps of：
Step one, initialization unmanned plane, make each part all in free state, the as receiving state of unmanned plane.
Step 2, unmanned plane is transformed to into state of flight by receiving state：Start to rotate horn to certain angle, now revolve
The first locking piece and the first card-bit part are oppressed in turning part rotation process, in second locking piece of band disorder of internal organs and the second card of link gear
Position part is rotated, and first when rotation horn to fixed angle, the revolving part being fixedly connected with horn and the first card-bit part is blocked
Tooth fastens, and realizes that now position is unmanned plane during flying state to the spacing of unmanned plane horn.
Step 3, unmanned plane is changed back to into receiving state：It is equidirectional to continue to rotate horn through certain stroke, this opportunity
Arm rotary chuck compressing second elastic torsion part of second card-bit part on the second card-bit part is rotated for axle, is nibbled by gear
Closing structure drives the first card-bit part to be rotated, and makes the first latch for playing screens effect fall back on revolving part maximum running orbit row
Beyond journey, and its position is locked by the second locking piece.Now, unmanned plane horn is fixedly connected with revolving part, is being applied to
After the event resolves of the power on revolving part, revolving part starts to do the motion of reset return, when revolving part drives horn to be synchronized with the movement the
During one locking piece position, this compressing is rotated, the first locking piece rotation drive under the second locking piece carry out rotation it is right
The latch-release of the first card-bit part, returns to receiving state.
There is advantages below and good effect in the present invention：
The unmanned plane structure proposed in the present invention, by one group of rotational positioning component is arranged between body and horn, it is right to realize
The storage of unmanned plane, rotational positioning component can be such that horn is circumferentially rotated relative to body, can be with during rotation
Carry out spacing, not only realize the limit of horn state of flight when flight position is reached by horn during the effect of rotational positioning component
Position but also the storage of unmanned plane has been capable of achieving, receiving state is reached when horn is rotated to and is in straight line with body, reduced
Take up room.
Description of the drawings
Fig. 1 is three-dimensional structure diagram of one unmanned plane of the embodiment of the present invention in receiving state；
Fig. 2 is a kind of three-dimensional structure diagram of the unmanned plane of the embodiment of the present invention in open mode；
Fig. 3 is a kind of structural representation of unmanned plane of the embodiment of the present invention；
Fig. 4 is partial enlarged drawing at the A of Fig. 3；
Fig. 5 is the rotating state diagram one of the rotational positioning component of unmanned plane in the embodiment of the present invention one；
Fig. 6 is the position view of rotational positioning component when the horn of unmanned plane in the embodiment of the present invention one is locked；
Fig. 7 is the rotating state diagram two of the rotational positioning component of unmanned plane in the embodiment of the present invention one；
Fig. 8 be the embodiment of the present invention one in unmanned plane in receiving state when rotational positioning module position schematic diagram.
Specific embodiment
With reference to the accompanying drawings and detailed description technical scheme is described in further detail, the present invention
A kind of embodiment of unmanned plane is proposed, as shown in figures 1-8, including body 1 and the horn 2 for being arranged on 1 both sides of body, the horn
Horn 2 can be made to circumferentially rotate storage relative to body 1 and turn in horn 2 at least provided with one group between 2 and the body 1
Spacing rotational positioning component 3 is carried out after state of flight to which.
Specifically, a kind of unmanned plane structure is proposed in the present embodiment, main body includes the agent structure that organism is unmanned plane,
The horn 2 of the both sides of body 1 is symmetrically arranged at, horn 2 can launch according to demand or close.Unmanned plane is main when in use
It is state of flight and receiving state that two states are presented, and when unmanned plane is in state of flight, 2 limitation locking of horn is in body 1
On.Specifically, mainly by the rotational positioning component 3 that arranges between horn 2 and body 1 realizing, by rotational positioning group
The effect of part 3 can be such that horn 2 carry out to horn 2 when relative circumferentially rotating reaches unmanned plane during flying state does along body 1
Limitation locking, during horn 2 is rotated further unlocks horn 2 by the effect of rotational positioning component 3, and is turning to
After certain angle, horn 2 and body 1 are in straight line state, now, realize the storage to horn 2.After the completion of storage, machine
Arm 2 and body 1 are arranged in same rectilinear direction, and the lateral surface of horn 2 is concordant with the lateral surface of body 1, with prior art
Middle horn 2 is presented X-type mode and arranges and compares, and greatly reducing and takes up room, and the horn 2 and body 1 in the present embodiment it
Between can relatively rotate, storage can be realized accordingly by rotating horn 2, operate simpler convenience.
Further, the rotational positioning component 3 in the present embodiment includes the rotatable rear reset being fixedly installed on horn 2
Revolving part 31 and along revolving part 31 rotate clockwise direction be provided adjacent to successively on body 1 can be in the drive of revolving part 31
Reducible locking piece 32, the first card-bit part 33 and the second card-bit part 34, first card-bit part 33 and institute after lower rotation, rotation
State the second card-bit part 34 to engage.Locking piece 32, the first card-bit part 33 and the second card-bit part 34 are along 31 side of rotating clockwise of revolving part
To setting gradually, it can be ensured that preferred, the locking piece 32, the first card-bit part 33, the second card-bit part 34 at least a portion position
In the largest contours line of the revolving part 31.So may be implemented in when revolving part 31 is rotated by pressure be set to locking piece 32, the
One card-bit part 33 and the second card-bit part 34 drive which to be rotated accordingly, it is of course also possible to by adopting between each part
Intermeshing mode drives the mode that each part is rotated to refer in prior art revolving part 31 at this driving which to rotate
Conventional set-up mode, will not be described here.
Further, holding section 311 is provided with the revolving part 31, is provided with first card-bit part 33 in rotation
The first latch 331 that part 31 is coordinated with the holding section 311 after turning to precalculated position.
Further, the second latch 332 on first card-bit part 33, is provided with the locking piece 32 in the first screens
The clamping part 321 that part 33 is coordinated with the second latch 332 after turning to precalculated position.
Horn 2 relative to body 1 rotated when, mainly set by the revolving part that is arranged on horn 2 31 and correspondence successively
Put the locking piece 32 on body 1, the first card-bit part 33, the second card-bit part 34 cooperate to realize to the spacing of horn 2
Locking and the storage of horn 2.Revolving part 31 is fixedly connected with horn 2, is then capable of achieving to drive horn 2 when revolving part 31 is rotated
Synchronous axial system, is equal to the position and lock to revolving part 31 to the limiting lock rule of horn 2.Locking piece 32, the first card-bit part 33,
Second card-bit part, 34 at least a portion is located in the largest contours line of revolving part 31, then carry out turning clockwise in revolving part 31
When dynamic, then can press and be set to locking piece 32 and the first card-bit part 33, as the rotary action of revolving part 31 further drives and can rotate
Locking piece 32 and the first card-bit part 33 rotate, after revolving part 31 turns to precalculated position pass through the holding section 311 of its own
Fixation is set with the card of the first latch 331 on the first card-bit part 33, the position and lock to revolving part 31 is realized, it is now also corresponding real
The locking to horn 2 is showed, now unmanned plane is in state of flight.It is after horn 2 continues to rotate clockwise LAP, corresponding
Then revolving part 31 is turned at 34 position of the second card-bit part, and pressure is set on the second card-bit part 34, and then drives the second card-bit part 34
Rotated, the second card-bit part 34 and the first card-bit part 33 are engaged, and the first card-bit part 33 is driven when the second card-bit part 34 is rotated
Rotate.Due to the rotary action of the first card-bit part 33, the first latch 331 on the first card-bit part 33 is made to turn to revolving part 31 most
Outside the scope of big contour line, the effect of the first latch 331 will not be then subject to when 31 return of revolving part is moved and be locked.This
When, due to rotary action, its second latch 331 is then fastened on the clamping part 321 on locking piece 32 to the first card-bit part 33 accordingly
Place is put, the locking of the first card-bit part 33 is realized.Now, stop the rotation to horn 2, horn 2 and revolving part 31 then start to answer
Position return motion, in return is rotated, pressure is set to locking piece 32, and locking piece 32 is rotated under the drive of revolving part 31, so that its card
If the second latch 332 on the position in portion 321 and the first card-bit part 33 departs from, the locking to the first card-bit part 33 is contacted.
Preferably, revolving part 31 is that rotary chuck, the rotary chuck are set in a chuck rotating shaft 4, and the chuck turns
One is arranged with axle 4 can make rotary chuck do the chuck elastic torsion part of return rotation.Card is offered in rotary chuck center
Disk rotating shaft installing hole, when rotating by rotating around chuck rotating shaft 4, chuck elastic torsion part is set in card when arranging to rotary chuck
It is inlaid in 4 installing hole of chuck rotating shaft in disk rotating shaft 4 simultaneously, when rotary chuck stress is eliminated, can be in chuck elastic torsion part
In the presence of do reset return motion.
Further, the locking piece 32 includes the first locking piece 32-2 and the second locking piece 32-3, first locking
Part 32-2 is inserted in first rotating shaft 6, and being arranged with to be inlaid in the first locking piece 32-2 in the first rotating shaft 6 to make the first lock
Determine the first elastic torsion part that part 32-2 does return rotation；The second locking piece 32-3 is inserted in the second rotating shaft 8, and described
It is arranged with two rotating shafts 8 and is inlaid in the second locking piece 32-3 the second elasticity torsion that the second locking piece 32-3 can be made to do return rotation
Turn part.Corresponding, the first card-bit part 33, the second card-bit part 34 are also corresponded to and are rotated around the 3rd rotating shaft 5 and the 4th rotating shaft 7, and
3rd elastic torsion part and the 4th elastic torsion part are correspondingly arranged in 3rd rotating shaft 5 and the 4th rotating shaft 7.
In the present embodiment in the first locking piece 32-2, the second locking piece 32-3, the first card-bit part 33 and the second card-bit part 34
The set-up mode of countershaft and elastic torsion part is set with the rotary chuck, chuck rotating shaft 4 and the connection of chuck elastic torsion part
Put mode identical with effect, here is not done and repeated one by one.
First locking piece 32-2 is positioned close at 31 position of revolving part, and the second locking piece 32-3 is then arranged on accordingly and leans on
At nearly first card-bit part, 33 position.It is corresponding, arrange on clamping part 321 and the first card-bit part 33 on the second locking piece 32-3
Second latch 332 is coordinated.Passing through lead column 10 and elongated slot 11 between the first locking piece 32-2 and the second locking piece 32-3 is carried out
Connection, is provided with 11/ lead column 10 of elongated slot, is correspondingly arranged on and is coordinated with which on the second locking piece 32-3 on the first locking piece 32-2
10/ elongated slot 11 of lead column.Lead column 10 can be along elongated slot 11 in the elongated slot 11 course bearing slide, it is preferred that elongated slot 11 is
Circular arc elongated slot, is rotated by the first locking piece 32-2 and drives connected second locking piece 32-3 to be linked.
Preferably, the chuck elastic torsion part, the first elastic torsion part, the second elastic torsion part are torsion spring.
Further, the first screw knob or first gear, the second part are provided with first card-bit part 33
The second screw knob or second gear for engaging cooperation is correspondingly arranged on 34.In the first card-bit part 33 and the second card-bit part
Screw knob or gear are correspondingly arranged on 34, for realizing both engagements, engagement commonly used in the prior art are can also refer to and is passed
Flowing mode, here are not particularly limited.
Using the accommodation method of the unmanned plane structure in the present embodiment, concrete step includes：
Step one, initialization unmanned plane, make each part all in free state, the as receiving state of unmanned plane.
Step 2, unmanned plane is transformed to into state of flight by receiving state：Start rotation horn 2 and arrive certain angle, now
The first locking piece 32-2 and the first card-bit part 33 are oppressed in 31 rotation process of revolving part, is locked in the band disorder of internal organs second of link gear
Part 32-3 is rotated with the second card-bit part 34, when rotation horn 2 arrives fixed angle, the revolving part 31 being fixedly connected with horn 2
Fasten with the first latch 331 of the first card-bit part 33, realize that now position is winged for unmanned plane to the spacing of unmanned plane horn 2
Row state.
Step 3, unmanned plane is changed back to into receiving state：The equidirectional rotation horn 2 that continues through certain stroke, now
Compressing fourth rotating shaft 7 of second card-bit part 34 on the second card-bit part 34 of revolving part 31 is rotated for axle, is engaged by gear
Structure drives the first card-bit part 33 to be rotated, and makes the first latch 331 for playing screens effect fall back on 31 maximum operation of revolving part
Beyond the stroke of track, and its position is locked by the second locking piece 32-3.Now, unmanned plane horn 2 is fixed with revolving part 31
Connection, after the event resolves of the power being applied on revolving part 31, revolving part 31 starts to do the motion of reset return, when revolving part 31
Drive horn 1 be synchronized with the movement the first locking piece 32-2 position when, this compressing is rotated.Revolve in the first locking piece 32-2
Under the drive for turning, the second locking piece 32-3 is rotated the latch-release to the first card-bit part 33, returns to receiving state.
Above example is only illustrating technical scheme, rather than is limited；Although with reference to aforementioned reality
Apply example to be described in detail the present invention, for the person of ordinary skill of the art, still can be to aforementioned enforcement
Technical scheme described in example is modified, or carries out equivalent to which part technical characteristic；And these are changed or replace
Change, do not make the essence of appropriate technical solution depart from the spirit and scope of claimed technical solution of the invention.
Claims (10)
1. a kind of unmanned plane, including body and the horn for being arranged on body both sides, it is characterised in that the horn and the body
Between horn can be made to circumferentially rotate relative to body at least provided with one group after storage and it is right after horn turns to state of flight
Which carries out spacing rotational positioning component.
2. unmanned plane according to claim 1, it is characterised in that the rotational positioning component includes being fixedly installed on described
The revolving part that resets after rotatable on horn and along revolving part rotate clockwise direction be provided adjacent to successively on body can
Reducible locking piece, the first card-bit part and the second card-bit part after under the drive of revolving part rotating and rotate, first card
Position part and second card-bit part engagement.
3. unmanned plane according to claim 2, it is characterised in that the locking piece, the first card-bit part, the second card-bit part are equal
At least a portion is located in the largest contours line of the revolving part.
4. the unmanned plane according to any one of claim 1-3, it is characterised in that be provided with holding section on the revolving part,
First latch for the holding section coordinating is provided with after revolving part turns to precalculated position on first card-bit part.
5. the unmanned plane according to any one of claim 1-3, it is characterised in that be provided with second on first card-bit part
Latch, is provided with after the first card-bit part turns to precalculated position the clamping part coordinated with the second latch on the locking piece.
6. unmanned plane according to claim 1, it is characterised in that the revolving part is rotary chuck, the rotary chuck
It is set in a chuck rotating shaft, one is arranged with the chuck rotating shaft can make rotary chuck do the chuck elastic torsion of return motion
Part.
7. unmanned plane according to claim 6, it is characterised in that the locking piece includes the first locking piece and the second locking
Part, first locking piece are inserted in first rotating shaft, be arranged with and be inlaid in the first locking piece and can make in the first rotating shaft
First locking piece does the first elastic torsion part of return rotation；Second locking piece is inserted in the second rotating shaft, and described second
It is arranged with rotating shaft and is inlaid in the second locking piece the second elastic torsion part that the second locking piece can be made to do return rotation.
8. unmanned plane according to claim 7, it is characterised in that be provided with elongated slot/lead column on first locking piece,
Lead column/the elongated slot coordinated with which is correspondingly arranged on second locking piece.
9. unmanned plane according to claim 8, it is characterised in that the chuck elastic torsion part, the first elastic torsion part,
Second elastic torsion part is torsion spring.
10. a kind of unmanned plane accommodation method, it is characterised in that comprise the steps of：
Step one, initialization unmanned plane, make each part all in free state, the as receiving state of unmanned plane；
Step 2, unmanned plane is transformed to into state of flight by receiving state：Start to rotate horn to certain angle, now rotate
The first locking piece and the first card-bit part are oppressed in part rotation process, in the second locking piece of band disorder of internal organs and second screens of link gear
Part is rotated, when the first latch of rotation horn to fixed angle, the revolving part being fixedly connected with horn and the first card-bit part
Fasten, realize that now position is unmanned plane during flying state to the spacing of unmanned plane horn；
Step 3, unmanned plane is changed back to into receiving state：The equidirectional rotation horn that continues is through certain stroke, now horn rotation
Turn chuck compressing second elastic torsion part of second card-bit part on the second card-bit part to be rotated for axle, tied by gear engagement
Structure drives the first card-bit part to be rotated, make to play screens effect the first latch fall back on revolving part maximum running orbit stroke with
Outward, and by the second locking piece its position is locked；Now, unmanned plane horn is fixedly connected with revolving part, is being applied to rotation
After the event resolves of the power on part, revolving part starts to do the motion of reset return, when revolving part drives horn to be synchronized with the movement the first lock
When determining part position, this compressing is rotated, under the drive of the first locking piece rotation, the second locking piece is rotated to first
The latch-release of card-bit part, returns to receiving state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611108614.7A CN106542078B (en) | 2016-12-06 | 2016-12-06 | A kind of unmanned plane and its accommodation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611108614.7A CN106542078B (en) | 2016-12-06 | 2016-12-06 | A kind of unmanned plane and its accommodation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106542078A true CN106542078A (en) | 2017-03-29 |
| CN106542078B CN106542078B (en) | 2019-03-12 |
Family
ID=58396126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611108614.7A Active CN106542078B (en) | 2016-12-06 | 2016-12-06 | A kind of unmanned plane and its accommodation method |
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| Country | Link |
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| CN (1) | CN106542078B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018214124A1 (en) | 2017-05-25 | 2018-11-29 | SZ DJI Technology Co., Ltd. | Rotational expansion of propulsion systems of a movable vehicle |
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| US8089034B2 (en) * | 2009-04-17 | 2012-01-03 | Itt Manufacturing Enterprises, Inc. | Mechanism for folding, sweeping, and locking vehicle wings about a single pivot |
| CN105035321A (en) * | 2015-07-08 | 2015-11-11 | 中国电子科技集团公司第二十七研究所 | Miniature cylindrical launched unmanned plane and launcher |
| CN205366057U (en) * | 2015-12-31 | 2016-07-06 | 上海九鹰电子科技有限公司 | Multi -rotor aircraft |
| CN206476092U (en) * | 2016-12-06 | 2017-09-08 | 歌尔科技有限公司 | A kind of unmanned plane |
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| US20080117296A1 (en) * | 2003-02-21 | 2008-05-22 | Objectvideo, Inc. | Master-slave automated video-based surveillance system |
| US8089034B2 (en) * | 2009-04-17 | 2012-01-03 | Itt Manufacturing Enterprises, Inc. | Mechanism for folding, sweeping, and locking vehicle wings about a single pivot |
| CN105035321A (en) * | 2015-07-08 | 2015-11-11 | 中国电子科技集团公司第二十七研究所 | Miniature cylindrical launched unmanned plane and launcher |
| CN205366057U (en) * | 2015-12-31 | 2016-07-06 | 上海九鹰电子科技有限公司 | Multi -rotor aircraft |
| CN206476092U (en) * | 2016-12-06 | 2017-09-08 | 歌尔科技有限公司 | A kind of unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018214124A1 (en) | 2017-05-25 | 2018-11-29 | SZ DJI Technology Co., Ltd. | Rotational expansion of propulsion systems of a movable vehicle |
| EP3630602A4 (en) * | 2017-05-25 | 2021-01-13 | SZ DJI Technology Co., Ltd. | Rotational expansion of propulsion systems of a movable vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106542078B (en) | 2019-03-12 |
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