CN101829737B - Feeding device and feeding method thereof - Google Patents
Feeding device and feeding method thereof Download PDFInfo
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- CN101829737B CN101829737B CN2010101778021A CN201010177802A CN101829737B CN 101829737 B CN101829737 B CN 101829737B CN 2010101778021 A CN2010101778021 A CN 2010101778021A CN 201010177802 A CN201010177802 A CN 201010177802A CN 101829737 B CN101829737 B CN 101829737B
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Abstract
The invention provides a feeding device and a feeding method. The feeding device is used for conveying workpieces to allow the workpieces to pass through a multi-station press, and comprises two feeding cross bars arranged along a Y direction, two sets of X direction movement mechanisms which are arranged on the front and rear upright posts of the press respectively and are used for controlling the feeding cross bars to move oppositely or relatively along an X direction, a Y direction movement mechanism which is arranged on one end of the feeding bars and is used for controlling the feeding cross bars to move along the Y direction, and two sets of Z direction movement mechanisms which are arranged on the front and rear upright posts of the press respectively and are used for controlling the feeding cross bars to move along a Z direction. The feeding method is completed by using the feeding device and comprises the following steps: A, clamping a workpiece; B, lifting the workpiece; C, feeding the workpiece; D, lowering the feeding cross bars; E, loosening the workpiece; and F, returning the feeding cross bars. The device and the method have the advantages that: a plurality of workpieces can be moved one step forward by feeding for one time, and at the end of each time of feeding, the sliding block of the press completes punching for one time; and the feeding process is simple, convenient and practical and does not require manual operation.
Description
Technical field
The present invention proposes a kind of be used for each station of large-scale multiple position press automatically simultaneously feeding pay-off and utilize its feeding method, be applicable to that auto industry, household electrical appliances industry etc. need the stamping forming industry of batch plates.
Background technology
Because metallic plate punching is cut out and is processed into that necessary step is forming step or punching step in the part process.Be used at present that the device of conveying work pieces is to be used to mention the single-piece workpiece then workpiece to be sent into forcing press on the punch line, punching press is taken out from forcing press after accomplishing again.Present punching press is got, pay-off mainly contains manipulator, robot; More than device is suitable for the large-scale stamped workpieces of single station; Need many forcing presses, many manipulators or robot to form that production line is common accomplishes a punching parts, that middle-size and small-size in batch part adopts is high with the upper type cost, efficient is low.
Summary of the invention
One of the object of the invention provides a kind of pay-off, and conveying workpieces that can be continuous is also adjusted the location of workpieces at three coordinate directions, and then stamping production efficiency is provided as required.
To achieve these goals, the present invention realizes through following measure:
A kind of pay-off is used for conveying workpieces through multiple position press, and comprising: two along the feeding cross bar setting of Y direction and that be provided with terminal-collecting machine and pilot unit; Two groups are provided with being used on the forward and backward column of forcing press respectively and control the feeding cross bar along directions X in opposite directions or the directions X motion of relative motion, and this directions X motion comprises that two clamping driver elements that are separately positioned on the left and right column of forcing press link to each other with the feeding cross bar respectively with two and by clamping driver element control along clamping unit mobile that directions X moves; What be arranged on feeding cross bar one end is used to control the Y direction motion that the feeding cross bar moves along the Y direction, and this Y direction motion comprises sends that driver element links to each other with the feeding cross bar respectively with two to and by sending driver element control to along the Y direction feeding unit mobile that moves; With two groups being used on the forward and backward column of forcing press be set respectively control the Z direction motion that the feeding cross bar moves along the Z direction, this Z direction motion comprises two lifting driver elements that link to each other with clamping unit mobile through gear unit that are separately positioned on the left and right column of forcing press.
In the embodiment of the invention, also comprise four groups of balance air cushion structures that are used to offset lifting weight, this balance air cushion structure has accumulator and the cylinder that is connected with accumulator, and this cylinder is fixed on the column, and then strengthens the quick and flexibility of lifting drop movements.
In the embodiment of the invention; Said clamping driver element comprises installs frame, clamping servomotor motor and first synchronous drive mechanism; Said installation frame is arranged on the left and right column of forcing press along directions X; And frame upper edge directions X is installed, and to be provided with the first guide rail slide block secondary, and said clamping unit mobile is installed on the said first guide rail slide block pair.
In the embodiment of the invention; The said driver element of sending to comprises mounting bracket, sends the servomotor and second synchronous drive mechanism to; Said installation frame links to each other with the left and right column of forcing press; And it is secondary to be provided with the second guide rail slide block along the Y direction, and said feeding unit mobile is installed on the second guide rail slide block pair.
In the embodiment of the invention, said lifting driver element comprises the lifting servomotor.
In the embodiment of the invention, said first synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
In the embodiment of the invention, second synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
In the embodiment of the invention, said gear unit is ball screw assembly, or rack-and-pinion.
Consider that feeding is accurate and realize coordination between each reference axis; It also comprises sync control device in the embodiment of the invention, and this sync control device comprises the spindle encoder that is used for collecting the current operation angle signal of press, be arranged on the end that promotes servomotor, promotes servomotor and send the motor encoder that is used for setting pressure machine operation angle signal on any one of the servomotor to, is arranged on each motion is used to compare feedback coder that the signal that collects and setting signal compare and the isochronous controller that is used to control other servomotors motions.
Two of the object of the invention provides a kind of feeding method simple to operate.
To achieve these goals, the present invention realizes through following measure:
A kind of feeding method, its above-mentioned pay-off is accomplished, and may further comprise the steps:
A, workpiece clamp: the workpiece that will carry is placed on the feeding cross bar; Width size according to workpiece; Drive the feeding cross bar along the directions X relative motion by clamping driver element control along the clamping unit mobile that directions X moves, and utilize the terminal-collecting machine picking up work piece:
B, workpiece lift: according to the height of press bench face, utilize lifting driver element control feeding cross bar to move along the Z direction, and then the drive workpiece rises to suitable position;
C, workpiece are sent to: move along the Y direction by sending driver element control feeding unit mobile to, thereby drive the workbench top that workpiece moves to forcing press;
Falling of D, feeding cross bar: utilize lifting driver element control feeding cross bar to be directed downwards and move, and then the drive workpiece drops on position suitable on the workbench of forcing press along Z;
E, workpiece unclamp: drive the feeding cross bar along the directions X move toward one another by clamping driver element control along the clamping unit mobile that directions X moves, thereby workpiece is unclamped on the workbench that is placed on forcing press, thereby realize the feeding self-feeding;
Returning of F, feeding cross bar: move along the Y direction by sending driver element control feeding unit mobile to, thereby drive feeding cross bar correcting action, repeat above-mentioned each step, realize the friction feeding process.
Beneficial effect of the present invention:
1, the feeding cross bar cooperates terminal-collecting machine to accomplish feeding; The feeding of cross bar action by directions X motion, Y direction motion, the control of Z direction motion realized lifting, whereabouts, clamped, unclamped, sent to, return course; And then realized that feeding cross bar and annex fast, accurately shift workpiece; And each action is all accomplished between the column before and after forcing press; Feeding is accurate, action is reliable continuously, and a feeding can be simultaneously with operation of a plurality of workpiece reaches, a punching press of a feeding press ram completion of every completion.
2, according to plate size and mould situation, feeding and punching press number of times can freely be adjusted between 5～30 times, compare separate unit forcing press list station stamping production efficiency and significantly improve; Each axis servomotor is adjusted and the inertia coupling through mechanics, and is stable, accurate, at a high speed, satisfies its characteristics that large-scale multiple position press will be aspired for stability, efficiently transported.
3, feeding process is simple, and does not need manually-operated, and is convenient and practical.
Figure of description
Fig. 1 is the structural representation of the selected embodiment of expression the present invention;
Fig. 2 sends driver element to and sends mobile's structural representation to;
The structural representation of Fig. 3 lift unit;
The structural representation of Fig. 4 clamping unit;
The structural representation of Fig. 5 balance air cushion;
Feeding control cooperates schematic diagram in Fig. 6 embodiment of the invention;
The layout drawing that cooperates of Fig. 7 embodiment of the invention and forcing press;
Fig. 8 is each the curve map that is synchronized with the movement;
Fig. 9 is the sync control device schematic diagram;
Figure 10 feeding cross bar sketch map.
1. the lifting driver element 2. presss from both sides driver element, and 3. the feeding cross bar is 4. sent driver element to, 5. feeding unit mobile, 6. clamping unit mobile, 7. balance air cushion; 8. end is fitted device, and 9. mounting bracket 10. promotes servomotor, 11. cylinders, 12. ball screw assembly,s, 13. base plates; 14. the clamping servomotor motor, 15. first synchronous pulleys, 16. first are with synchronously, and 17. install frames, 18. accumulators, 19. de-stacking devices; 20. feeding cart, 21. transition bench, 22. forcing presses, 23. outfeed belt machines, 24. spindle encoders, 25. columns; 26. pilot unit, 27. send servomotor to, 28. second synchronous pulleys, and 29. second guide rail slide blocks are secondary, and 30, the first guide rail slide block is secondary, and 31, second is with synchronously; 32, servo-driver, 33, brake, 34, temperature protector, 35, motor encoder, 36, feedback coder, 37, isochronous controller.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done to describe in further detail, following explanation only is exemplary, so that those skilled in the art better understand the present invention.
With reference to 1 one kinds of pay-offs of accompanying drawing; Comprise feeding cross bar 3, two groups be used to control feeding cross bar 3 along directions X in opposite directions or the directions X motion of relative motion, two groups be used to control Y direction motion that feeding cross bar 3 moves along the Y direction and two groups and be used to control the Z direction motion that feeding cross bar 3 moves along the Z direction; Wherein said feeding cross bar 3 is two; And parallel interval is provided with along the Y direction, and is provided with terminal-collecting machine 8 and pilot unit 26; The directions X motion is provided with respectively on the forward and backward column 25 of forcing press, and this directions X motion comprises that two clamping driver elements 2 that are separately positioned on the left and right column of forcing press link to each other with feeding cross bar 3 respectively with two and by clamping driver element 2 controls along clamping unit mobile 6 that directions X moves; Y direction motion is arranged on feeding cross bar 3 one ends, and this Y direction motion comprises sends that driver element 4 links to each other with feeding cross bar 3 respectively with two to and by sending driver element 4 controls to along the Y direction feeding unit mobile 5 that moves; Z direction motion is provided with respectively on the forward and backward column of forcing press, and this Z direction motion comprises two lifting driver elements 1 that link to each other with clamping unit mobile 6 through gear unit that are separately positioned on the left and right column 25 of forcing press.
Comprise mounting bracket 9, send the servomotor 27 and second synchronous drive mechanism to reference to the accompanying drawing 2 said driver elements 4 of sending to; Said installation frame 9 links to each other with the left and right column 25 of forcing press; And it is secondary 29 to be provided with the second guide rail slide block along the Y direction, and said feeding unit mobile 5 is installed on the second guide rail slide block secondary 29.
Comprise installation frame 17, clamping servomotor motor 14 and first synchronous drive mechanism with reference to accompanying drawing 4 said clamping driver elements 2; Said installation frame 17 is arranged on the left and right column of forcing press along directions X; And frame 17 upper edge directions Xs are installed, and to be provided with the first guide rail slide block secondary 30, and said clamping unit mobile 6 is installed on the said first guide rail slide block secondary 30.
Comprise lifting servomotor 14 with reference to accompanying drawing 3 said lifting driver elements 1.Said gear unit is a ball screw assembly, 12, and those skilled in the art are easy to expect that gear unit can replace through rack-and-pinion certainly.
Apparatus of the present invention as shown in Figure 5 also comprise four groups of balance air cushion structures that are used to offset lifting weight; Lift the quick and flexibility of drop movements with enhancing; This balance air cushion structure has accumulator 18 and the cylinder 11 that is connected with accumulator 18, and this cylinder 11 is fixed on the column.
First synchronous drive mechanism described in the embodiment of the invention comprises that two are installed in first synchronous pulley 15 installed on the frame 17 and are used to be connected first of first synchronous pulley 15 and are with 16 synchronously; Said second synchronous drive mechanism comprises that second synchronous pulley 28 and second is with 31 synchronously, and said first synchronous drive mechanism and second synchronous drive mechanism can replace through the sprocket chain bar assembly.
In order to guarantee accurately to locate in the feeding process; Shown in figure 10 its also comprises the programmable synchronous controller; And some groups of coded systems that link to each other with the programmable synchronous controller; Said coded system comprises servo-driver, brake, temperature protector, motor encoder and main encoder, and said main encoder is installed on the principal axis of pressing machine, and said servo-driver, brake, temperature protector, motor encoder are installed on each driver element.
In the actual production process, said installation frame 17 is fixed on the column 25 through base plate 13, and said lifting driver element 1 is installed in the balance air cushion structure and installs on the frame 17.
Each reference axis parts course of work is following:
The directions X motion: drive first synchronous pulley 15 and first by servomotor 14 and be with 16 synchronously, drive clamping unit mobile 6 and accomplish clamping, unclamp action, two feeding cross bars 3 are realized the clamping and release action along secondary 30 reverse movements of the first guide rail slide block.Wherein adopt principal and subordinate's mode that links between each motor, coordinate cooperation each other.Through being installed in the spindle encoder 24 on the forcing press, realization clamps, unclamps with the press ram interlock chain, and anti-limited slip block and cross bar are collided.
Y direction motion: be with 31 synchronously by sending drive motors 27 driving second synchronous pulleys 28 and second to; Driving feeding unit mobile 5 comes and goes mobile along the second guide rail slide block secondary 29; Drive feeding unit mobile 5 and follow the clamping unit mobile 6 that clamps action movement, drive feeding cross bar 3 and realize sending to, returning function.The second guide rail slide block secondary 29 is connected with clamping unit mobile 6.Send to, backstroke can set and send, return soft spacing and hard spacing prevent collision and damage to according to plate size and mold interval through programmed settings.
Z. direction motion: drive frames 17 through ball screw assembly, 12 and go up and down by promoting drive motors 10, be installed in forcing press column side through base plate 13 is installed with top with feeding cross bar 3.The balance air cushion is offset institute's lifting weight through cylinder 11 and accumulator 18, strengthens the quick and flexibility of lifting drop movements.
Interlock between three each parts of change in coordinate axis direction:
Three reference axis actions adapt to plate change in size, tool change and speeds match through programming Control.The moving component of feed system itself and the size of workpiece are big, heavy; Require movement velocity height, accurate, the friction in location; The servo-drive system that adopts is high-power, high-performance servo-control system, in servo controller, adopts the electric cam control technology; Pay-off is pressed the curvilinear motion that electric cam produces, and guarantees feed system accurately location, vibrationless requirement in high-speed motion.
Programming Control adopts the programmable synchronous controller to do the control core; Servo-driver is as driving element; Use and promote servomotor 10, promote servomotor 14, send servomotor 27 to as executive component realization motion control; Forcing press 22 needs and programmable synchronous controller as main shaft carry out real-time communication; Make the programmable synchronous controller can collect press current location (operation angle) signal; This signal derives from the spindle encoder 24 that is installed on the press; The electric installation site of this spindle encoder 24 can select any servo-driver to be linked into the X4 interface, and each servo-driver 32, brake 33, temperature protector 34 and the motor encoder 3 (more than be contained on the motor body) of from left to right being respectively as shown in Figure 9, the spindle encoder communication cable through customization is connected on the X4 interface of servo-driver (X4 is second encoder interfaces).This encoder is just as main shaft in whole Synchronization Control, and other follows the synchronous curvilinear motion of this main shaft according to editor from axle.
Be illustrated in figure 4 as detailed principal and subordinate's axle relation, RM represents the press main shaft, is a real axis.VM is virtual main shaft, when with press synchronous operation, and RM and VM coupling; When the feed mechanism isolated operation, RM and VM de.VX, VY, the sending to of representative feeding servo control mechanisms such as VZ, the imaginary axis of the directions of motion such as lifting, when automatic or single cycle operation, VX and VM be according to the cam curve synchronous operation of prior establishment, the continuous motion of realization feed mechanism; When each of manual mode adjustment feed mechanism, VX etc. and VM de.X1, X2 etc. and VX remain linear synchronous, guarantee the synchronism of a plurality of motors on the same direction of motion.The position of clamping/inclination is free fully able to programme in curve movement according to the angle of forcing press electric cam.
Shown in Figure 8 is curve movement through software development, and the abscissa in the curve is the main shaft angle, and ordinate is from shaft position, has realized the programmable movements control of each direction of motion of feed mechanism and forcing press through the different synchronization curve.Do not follow motion of main shaft from axle, follow main shaft from axle and do the five power curve movements that slow down at the uniform velocity again after the acceleration earlier, realized complete being synchronized with the movement.This curve is exactly VX, and the needed curve that is synchronized with the movement between VY etc. and the VM is VX, VY, the synchronous curve that VZ, VA, VB work out respectively.
A kind of method of utilizing said pay-off to accomplish feeding may further comprise the steps:
A, workpiece clamp: the workpiece that will carry is placed on the feeding cross bar 3; Width size according to workpiece; Drive feeding cross bar 3 along the directions X relative motion by clamping driver element 2 controls along the clamping unit mobile 6 that directions X moves, and utilize terminal-collecting machine 25 picking up work piece:
B, workpiece lift: according to the height of forcing press 22 work tops, utilize to promote driver element 1 control feeding cross bar 3 and move along the Z direction, and then drive workpiece and rise to suitable position;
C, workpiece are sent to: move along the Y direction by sending driver element 4 control feeding unit mobile 5 to, thereby drive the workbench top that workpiece moves to forcing press 22;
Falling of D, feeding cross bar: utilize to promote driver element 1 control feeding cross bar 3 and be directed downwards along Z and move, and then drive workpiece and drop on position suitable on the workbench of forcing press 22;
E, workpiece unclamp: drive feeding cross bar 3 along the directions X move toward one another by clamping driver element 2 controls along the clamping unit mobile 6 that directions X moves, thereby workpiece is unclamped on the workbench that is placed on forcing press 22, thereby realize the feeding self-feeding;
Returning of F, feeding cross bar: move along the Y direction by sending driver element 4 control feeding unit mobile 5 to, thereby drive feeding cross bar correcting action, repeat above-mentioned each step, realize the friction feeding process.
With reference to accompanying drawing 7; Apparatus of the present invention and de-stacking device 19 and forcing press 22 have been realized the main functionality of large-scale multiple position press jointly; After placing the buttress material on the buttress trolley 20, the manipulator in the de-stacking device 19 is from buttress material extracting plate, and is placed on the transition bench 21; Then part is delivered to outfeed belt machine 23, after check, accomplish the process that part is produced through forcing press 22 and pay-off.
Claims (6)
1. a pay-off is used for conveying workpieces through multiple position press, it is characterized in that: comprise two along feeding cross bar (3) setting of Y direction and that be provided with terminal-collecting machine (8) and pilot unit;
Two groups are provided with being used on the forward and backward column of forcing press respectively and control feeding cross bar (3) along directions X in opposite directions or the directions X motion of relative motion, and this directions X motion comprises that two clamping driver elements (2) that are separately positioned on the left and right column of forcing press link to each other with feeding cross bar (3) respectively with two and by clamping driver element (2) control along clamping unit mobile (6) that directions X moves;
What be arranged on feeding cross bar (3) one ends is used to control the Y direction motion that feeding cross bar (3) moves along the Y direction, and this Y direction motion comprises sends that driver element (4) links to each other with feeding cross bar (3) respectively with two to and by sending driver element (4) control to along the Y direction feeding unit mobile (5) that moves; With
Two groups are provided with being used on the forward and backward column of forcing press respectively and control the Z direction motion that feeding cross bar (3) moves along the Z direction; This Z direction motion comprises two lifting driver elements (1) that link to each other with clamping unit mobile (6) through gear unit that are separately positioned on the left and right column of forcing press, and this lifting driver element (1) comprises and promotes servomotor (10);
Said clamping driver element (2) comprises installs frame (17), clamping servomotor motor (14) and first synchronous drive mechanism; Said installation frame (17) is arranged on the left and right column of forcing press along directions X; And frame (17) upper edge directions X is installed is provided with first guide rail slide block pair, said clamping unit mobile (6) is installed on the said first guide rail slide block pair;
The said driver element (4) of sending to comprises mounting bracket (9), sends the servomotor (27) and second synchronous drive mechanism to; Said mounting bracket (9) links to each other with the left and right column of forcing press; And it is secondary to be provided with the second guide rail slide block along the Y direction, and said feeding unit mobile (5) is installed on the second guide rail slide block pair;
It also comprises sync control device, this sync control device comprises the spindle encoder (24) that is used for collecting the current operation angle signal of press, be arranged on promote servomotor (10), clamping servomotor motor (14) and send the motor encoder (35) that is used for setting pressure machine operation angle signal on any one of the servomotor (27) to, the end that is arranged on each motion is used to compare the signal that collects and setting signal compares feedback coder (36) be used to control the isochronous controller (37) that other servomotors move.
2. according to the said pay-off of claim 1; It is characterized in that: it also comprises four groups of balance air cushion structures that are used to offset lifting weight; This balance air cushion structure has accumulator (18) and the cylinder (11) that is connected with accumulator (18), and this cylinder (11) is fixed on the column.
3. according to the said pay-off of claim 1, it is characterized in that: said first synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
4. according to the said pay-off of claim 1, it is characterized in that: second synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
5. according to the said pay-off of claim 1, it is characterized in that: said gear unit is ball screw assembly, or rack-and-pinion.
6. feeding method is characterized in that: utilize any said pay-off of claim 1 to 5 to accomplish, may further comprise the steps:
A, workpiece clamp: the workpiece that will carry is placed on the feeding cross bar (3); Width size according to workpiece; Drive feeding cross bar (3) along the directions X relative motion by clamping driver element (2) control along the clamping unit mobile (6) that directions X moves, and utilize terminal-collecting machine (8) picking up work piece:
B, workpiece lift: according to the height of forcing press (22) work top, utilize lifting driver element (1) control feeding cross bar (3) to move along the Z direction, and then the drive workpiece rises to suitable position;
C, workpiece are sent to: move along the Y direction by sending driver element (4) control feeding unit mobile (5) to, thereby drive the workbench top that workpiece moves to forcing press (22);
Falling of D, feeding cross bar: utilize lifting driver element (1) control feeding cross bar (3) to be directed downwards and move, and then the drive workpiece drops on position suitable on the workbench of forcing press (22) along Z;
E, workpiece unclamp: drive feeding cross bar (3) along the directions X move toward one another by clamping driver element (2) control along the clamping unit mobile (6) that directions X moves, thereby workpiece is unclamped on the workbench that is placed on forcing press (22), thereby realize the feeding self-feeding;
Returning of F, feeding cross bar: move along the Y direction by sending driver element (4) control feeding unit mobile (5) to, thereby drive feeding cross bar correcting action, repeat above-mentioned each step, realize the friction feeding process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101778021A CN101829737B (en) | 2010-05-20 | 2010-05-20 | Feeding device and feeding method thereof |
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| CN2010101778021A CN101829737B (en) | 2010-05-20 | 2010-05-20 | Feeding device and feeding method thereof |
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| CN101829737A CN101829737A (en) | 2010-09-15 |
| CN101829737B true CN101829737B (en) | 2012-05-23 |
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| CN101829737A (en) | 2010-09-15 |
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Inventor after: Zhang Zhigang Inventor after: Zhao Yuhua Inventor after: Li Chao Inventor after: Zhang Peng Inventor after: Guo Wei Inventor before: Zhao Yuhua Inventor before: Li Chao Inventor before: Zhang Peng Inventor before: Guo Wei |
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Free format text: CORRECT: INVENTOR; FROM: ZHAO YUHUA LI CHAO ZHANG PENG GUO WEI TO: ZHANG ZHIGANG ZHAO YUHUA LI CHAOZHANG PENG GUO WEI |