CN102151850A - Permanent magnet synchronous motor spindle of machine tool - Google Patents
Permanent magnet synchronous motor spindle of machine tool Download PDFInfo
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- CN102151850A CN102151850A CN2011100682149A CN201110068214A CN102151850A CN 102151850 A CN102151850 A CN 102151850A CN 2011100682149 A CN2011100682149 A CN 2011100682149A CN 201110068214 A CN201110068214 A CN 201110068214A CN 102151850 A CN102151850 A CN 102151850A
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Abstract
The invention discloses a permanent magnet synchronous motor spindle of a machine tool, which solves the problem that waste is easily caused by limited speed regulating scope of the prior art. The permanent magnet synchronous motor spindle of the machine tool comprises a spindle, and a low-speed large-torque wide-speed regulation permanent magnet synchronous motor assembled on the spindle. The key technical points of the permanent magnet synchronous motor spindle are as follows: the spindle is assembled together with an electric motor through a flange and a pin shaft; the electric motor comprises a shell, a stator core provided with a winding, a rotor and a coder; a permanent magnet is stuck on the inner circle of the rotor connected together with a shaft sleeve sheathed on the spindle, and is arranged outside the stator core; the shaft sleeve is assembled into the shaft hole of the shell through a front bearing, a back bearing, an inner check ring and an outer check ring of the bearing to implement coaxial location; the connection of the winding of the stator core is controlled by a winding speed-regulation device to complete step speed regulation selected in the speed sections and stepless frequency conversion speed regulation in single speed section. The permanent magnet synchronous motor spindle of the machine tool has the advantages of reasonable design, simple structure, small size, high efficiency, broad speed regulation scope, cost reduction, energy saving, safe and reliable running, convenient installation and maintenance, etc.
Description
Technical field
The present invention relates to a kind of machine tool chief axis, the lathe permanent-magnet synchronous electricity main shaft that particularly a kind of low speed high torque wide range speed control permasyn morot that adopts change stator winding connected mode to carry out speed governing drives, its speed adjustable range is 0.1rpm-6000rpm, and nominal torque is not less than 300Nm when low speed.Belong to the electrical spindle for machine tool technical field.
Background technology
Existing machine tool chief axis requires can steadily provide big torque when low speed, and requires speed adjustable range very wide.At present, the type of drive of machine tool chief axis has two kinds on mechanical type and electric main shaft, and the power delivery mode that mechanical type drives is: asynchronous motor is given machine tool chief axis transmission of power by reductor, realize lathe car, mill, corresponding functions such as mill, boring.The machine tool chief axis condition of work more complicated that mechanical type drives when the apolegamy asynchronous motor, has to select for use the bigger motor of power to drive, in case machine tool chief axis stall when work.When the Asynchronous Motor Driving machine tool chief axis, most of the time is operated in light condition, and its power factor and efficient are very low, adds that the existence of reductor makes system effectiveness lower, and need safeguard the whole reducing mechanism intermittent oiling, also have the bulky problem of whole transmission mechanism simultaneously.Have above-mentioned all drawbacks because mechanical type drives, directly the electric main shaft that drives more and more is subject to people's attention and favors.The electricity main shaft has been cancelled reductor, and main shaft becomes as a whole with motor, makes transmission efficiency improve greatly than mechanical type, but domestic electrical spindle for machine tool mostly is asynchronous motor, still has the low problem of light-load efficiency.External existing lathe permanent-magnet synchronous electricity main shaft is an inner rotor core all, costs an arm and a leg, and needs periodic maintenance, and maintenance cost is very high, so seldom be used.
The driving character of machine tool chief axis is permanent power nature, and promptly required torque is big during low speed, along with the rotating speed required torque that raises diminishes, needs permanent-magnet synchronous electricity main shaft weak magnetic speed-up to satisfy load request.Adjusting to permasyn morot magnetic field need promptly be kept high-speed cruising with increasing stator d-axis demagnetizing current component by regulating stator current, reaches the purpose of weak magnetic speed-up.Because of the magnetic field of permasyn morot is mainly produced by permanent magnet, its gas length is generally greater than the gas length of same specification induction conductivity, thus cause permasyn motor direct axle inductance little, weak magnetic energy power deficiency, the motor weak-magnetic speed-regulating is limited in scope.Therefore, in order to satisfy the speed governing requirement, existing electrical spindle for machine tool is when design, mainly design as the nominal torque and the rated speed of electric main shaft respectively with machine tool chief axis required low speed high torque and high speed rotating speed, lathe permanent-magnet synchronous electricity main shaft actual motion state is permanent torque operation, causes electric main shaft torque wastes when high speed, makes that the volume of lathe permanent-magnet synchronous electricity main shaft is big, material therefor is many, also makes the capacity of control system become big simultaneously.
According to the patent documentation report, the patent No. is " the permanent power high-speed electric main shaft of a kind of wideband speed governing " of CN200520076779.1, discloses the magnetic field that utilizes magnetic flux judgement and weak magnet ring joint to change electric main shaft, the structure of realization weak magnetic speed-up.If the motor of this electric main shaft is an asynchronous motor, then this electric main shaft does not solve asynchronous motor low cruise efficient and the low problem of power factor, inapplicable low cruise.If electric spindle motor is a permasyn morot, then only depend on and regulate stator current and change the air-gap field of permagnetic synchronous motor, and then the range of speeds of regulating electric main shaft is very limited.The patent No. be CN200920031904.5's " a kind of lathe with permanent-magnet synchronous electricity main shaft ", announced that a kind of permasyn morot is the structure of internal rotor, its stator winding is common winding, there is the wide inadequately shortcoming of speed adjustable range, and feedback transducer directly has been contained on the lathe spindle, make that the feedback transducer volume is big, the cost height.Simultaneously, this permasyn morot and machine tool chief axis are fixed connection structure, and permasyn morot is not independently, exist permasyn morot can't separate with machine tool chief axis and scrap wasting problem simultaneously.Number of patent application be CN200910104697.6's " electric main shaft of digital control machine tool ", the motor of this electric main shaft still is an inner rotor core, and rotor is connected with main shaft by swelling device, and motor neither be independently, it is difficult in maintenance still to exist motor to change, and causes the shortcoming of wasting.
Summary of the invention
The purpose of this invention is to provide a kind of lathe permanent-magnet synchronous electricity main shaft, it is limited with the speed adjustable range that existing electric main shaft power transfer mode exists that it has solved traditional mechanical type, easily causes problems such as waste, has reasonable in design, simple in structure, volume is little, efficient height, speed-regulating range width, cost is low, energy-conservation, safe and reliable to operation, advantages such as installation and maintenance convenience.
The technical solution adopted in the present invention is: this lathe permanent-magnet synchronous electricity main shaft comprises main shaft and the low speed high torque wide range speed control permasyn morot that is assembled on the main shaft, its technical essential is: described main shaft fits together by ring flange and bearing pin and described low speed high torque wide range speed control permasyn morot, described low speed high torque wide range speed control permasyn morot comprises housing, be assembled in the stator core that has winding on the described housing, rotor and encoder, wherein the described rotor that links together with the axle sleeve that is set on the described main shaft attaches permanent magnet in interior week, and place the outside of described stator core, before described axle sleeve utilizes, in rear bearing and the bearing, the outer shroud back-up ring is assembled in the axis hole of described housing, and by be fixed on described housing before, the rear bearing gland compresses, carry out axial limiting, utilize the winding arrangements for speed regulation to control the connection of the winding of described stator core, finish step speed regulation and the interior stepless frequency control of the single velocity shooting of realization that velocity shooting is selected.
The described encoder that the described rotor-position of the realization of described low speed high torque wide range speed control permasyn morot detects is connected with driven synchromesh gear is coaxial, described driven synchromesh gear is connected with active synchronization gear on being assembled in main shaft by synchronous cog belt, synchronously rotation.
Being arranged on air vent that the described epitrochanterian ventilation and heat of described low speed high torque wide range speed control permasyn morot uses is connected with left and right blower fan on being fixed on described housing.
The described winding arrangements for speed regulation that the winding of the described stator core of control of described low speed high torque wide range speed control permasyn morot connects comprise control module, relay unit, contact unit and driver element, by 32 ARM chips with logic manage function, vector calculus chip with speed adjusting, torque adjustment, Frequency Drive Control function is formed described control module by man-machine interface and I/O interface; Form described relay unit by photoelectric switch, triode and relay; Described control module drives described relay unit control contactor unit, actuating logic drives control instruction, velocity shooting to described low speed high torque wide range speed control permasyn morot is selected, and make described winding whenever be in series the coil groups number at N, N-1, N-2 ... 2, conversion between 1, realize that described low speed high torque wide range speed control permasyn morot rotating speed is at n, n * N/ (N-1), n * N/ (N-2) ... n * N/2, switch between n * N speed stage, finish the step speed regulation that velocity shooting is selected, wherein N is the integer natural number greater than 0, and n is the described winding rated speed of coil groups number when being N that whenever be in series; Described control module drives the described driver element of the described low speed high torque wide range speed control of the realization of being made up of rectifier bridge, electrochemical capacitor, power panel and inversion unit permasyn morot stepless frequency control in single velocity shooting simultaneously.
Advantage and good effect that the present invention has are: this lathe permanent-magnet synchronous electricity main shaft adopts ring flange and bearing pin and low speed high torque wide range speed control permasyn morot to fit together, and low speed high torque wide range speed control permasyn morot utilizes the connection of the winding of winding arrangements for speed regulation control stator core, finish step speed regulation and the interior stepless frequency control of the single velocity shooting of realization that velocity shooting is selected, so avoided with the mode weak magnetic speed-up that strengthens the stator direct-axis current, the power and the volume of permasyn morot have been reduced, reduce the capacity of frequency converter and control system simultaneously, had low speed high torque, speed-regulating range width, the advantage that efficient is high.Problems such as in addition, it has cancelled the gear reduction unit structure, has solved the torque wastes that indirect type of drive of constant power load tradition and existing direct drive mode exist, and speed adjustable range is narrow.Adopt the outer rotor hollow absolute construction that attaches permanent magnet interior week that links together with the axle sleeve that is placed on the main shaft because of low speed high torque wide range speed control permanent-magnet synchronous motor rotor again, and be assembled in the axis hole of housing by left and right bearing and bearing inner and outer rings back-up ring, make cover formation dual-gripper mechanism in rotor and the axle sleeve, can allow the electric main shaft that is assembled in the outer rotor not bear torque, only bear radial load, improve the stress condition of electric main shaft, rotor separates fully with machine tool chief axis, make that electric main shaft is easy for installation, safeguard simple.So it is reasonable in design, simple in structure, the rotary inertia of electric main shaft is big, and mechanical property is hard, and when helping in the machine tool running process load changing, the electric speed of mainshaft is stable, has guaranteed the crudy of workpiece.Simultaneously, the torque density of this permanent-magnet synchronous electricity main shaft is big, volume is little, save material, reduced the capacity of frequency converter and control system simultaneously, make lathe permanent-magnet synchronous electricity main shaft reach energy-conservation, safe and reliable to operation, installation and maintenance is purpose easily, and therefore, this lathe permanent-magnet synchronous electricity main shaft is easy to apply.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further described.
Fig. 1 is a kind of lathe permanent-magnet synchronous electricity main axle structure figure;
Fig. 2 is that a kind of lathe permanent-magnet synchronous electricity principal axis A is to view;
Fig. 3 is the control principle block diagram of a kind of arrangements for speed regulation of winding among Fig. 1;
Fig. 4 is a kind of relay (Y1) control circuit figure of Fig. 3 repeat circuit unit;
Fig. 5 is the control principle figure of Fig. 3 repeat circuit unit and contact unit;
Fig. 6 is the winding catenation principle figure of the stator core among Fig. 3;
Fig. 7 is a driver element circuit diagram among Fig. 3.
Sequence number explanation among the figure: 1 main shaft, 2 ring flanges, 3 bearing pins, 4 rotors, 5 bolts, 6 axle sleeves, 7 fore bearing glands, 8 fore bearings, 9 permanent magnets, 10 stator cores, 11 keys, 12 housings, 13 outer race back-up rings, 14 bearing inner ring back-up rings, 15 rear bearings, 16 rear bearing glands, 17 active synchronization gears, 18 synchronous cog belts, 19 driven synchromesh gears, 20 encoders, 21 pressing plates, 22 air vents, 23 screen packs, 24 left blower fans, 25 right blower fans, 26 control modules, 27 relay units, 28 contact units, 29 windings, 30 driver elements, 31 photoelectric switch, 32 triodes, 33 relays, 34 rectifier bridges, 35 electrochemical capacitors, 36 power panels, 37 inversion units.
The specific embodiment
Describe concrete structure of the present invention in detail according to Fig. 1～7.The low speed high torque wide range speed control permasyn morot that this lathe permanent-magnet synchronous electricity main shaft adopts change stator winding connected mode to carry out speed governing drives, and its speed adjustable range is 0.1rpm-6000rpm, and nominal torque is not less than 300Nm when low speed.Lathe permanent-magnet synchronous electricity main shaft comprises main shaft 1 and the low speed high torque wide range speed control permasyn morot that is assembled on the main shaft 1.Wherein main shaft 1 fits together with low speed high torque wide range speed control permasyn morot by ring flange 2 and bearing pin 3.Low speed high torque wide range speed control permasyn morot comprises housing 12, is assembled in the parts such as the stator core that has winding 29 10, rotor 4 and encoder 20 on the housing 12.Its rotor 4 adopts the outer rotor hollow structure, and the rotor 4 that attaches permanent magnet 7 interior week links together by bolt 5 with the axle sleeve 6 that is set on the main shaft 1, places the outside of stator core 10.Stator core 10 is connected with housing 12 by key 11, to transmit moment of torsion.And by being fixed on adjustment screw on the housing 12 and the pressing plate 21 that is fixed on the fore bearing gland 7 stator core 10 is compressed, with the axial float of control stator core 10.Axle sleeve 6 utilizes forward and backward bearing 8,15 and bearing inner and outer rings back-up ring 14,13 to be assembled in the axis hole of housing 12, makes rotor 4 and axle sleeve 6 constitute dual-gripper mechanism, compresses by the forward and backward bearing gland 7,16 that is fixed on housing 12, and carries out axial limiting.Therefore, can make the main shaft 1 that is assembled in the outer rotor not bear torque, only bear radial load, improve the stress condition of main shaft 1.Active synchronization gear 17 is assembled on the main shaft 1, drives driven synchromesh gear 19 rotations by synchronous cog belt 18, encoder 20 and driven 19 coaxial connections of synchromesh gear, and rotation synchronously realizes the detection of rotor 4 positions.Be arranged on the air vent that has screen pack 23 22 that the ventilation and heat on the rotor 4 uses and be connected with left blower fan 24 and right blower fan 25 on being fixed on housing 12, air blast in motor simultaneously, the wind that blasts is discharged from the air vent 22 that has screen pack 23.Because can make full use of the ventilation and heat effect of the air vent 22 of the design uniqueness that is arranged on the rotor 4, thus the temperature rise of motor reduced effectively, thus improve its runnability.The mode of speed regulation that this low speed high torque wide range speed control permasyn morot is adopted is: utilize the connection of the winding 29 of winding arrangements for speed regulation control stator core 10, finish step speed regulation and the interior stepless frequency control of the single velocity shooting of realization that velocity shooting is selected.These AC permanent-magnet synchronous motor winding arrangements for speed regulation comprise control module 26, relay unit 27, contact unit 28 and driver element 30.Wherein control module 26 is by 32 ARM(Advanced RISC Machines with logic manage function) chip and vector calculus chip etc. with speed adjusting, torque adjustment, Frequency Drive Control function, form by man-machine interface and I/O interface.Actuating logic drives the relay unit 27 of control instruction and is made up of photoelectric switch 31, triode 32 and relay 33 etc.Control module 26 drives relay unit 27 control contactor unit 28, velocity shooting to winding 29 is selected, and make winding 29 whenever be in series the coil groups number at N, N-1, N-2 ... 2, the conversion between 1, the rotating speed of realizing low speed high torque wide range speed control permasyn morot is at n, n * N/ (N-1), n * N/ (N-2) ... switch between n * N/2, n * N speed stage, finish the step speed regulation of selected velocity shooting.Control module 26 drives the driver element of being made up of rectifier bridge 34, electrochemical capacitor 35, power panel 36 and inversion unit 37 etc. simultaneously, to realize the stepless frequency control of low speed high torque wide range speed control permasyn morot in single velocity shooting.
When above-mentioned winding 29 whenever is in series the coil groups number at N, N-1, N-2 ... 2, conversion between 1, whenever the coil groups that is in series number is 1 o'clock, control module 26 sends low level signal by the I/O interface and gives relay unit 27, photoelectric switch 31 conductings in the relay unit 27, drive triode 32 conductings, relay 33(Y1) closure, all the other relay Y2, Y3 ... YN all disconnects, contactor KM1 closure, all the other contactor KM2, KM3 ... KMN all disconnects, and the group number of realizing whenever being in series is that 1 winding 29 connects, promptly has only winding U1 in three phase windings, among V1 and the W1 electric current is arranged, remaining winding U2, U3 ... UN, V2, V3 ... VN and W2, W3 ... WN all disconnects, and the specified running speed of low speed high torque wide range speed control permasyn morot this moment is n * N.By that analogy, realize whenever being in series the group number be 2 ... the winding 29 of N-2, N-1, N connects.So just realized low speed high torque wide range speed control permasyn morot rotating speed at n * N/2, n * N/ (N-2), n * N/ (N-1) ... switch between the n speed stage, realize the step speed regulation that velocity shooting is selected.
Claims (4)
1. lathe permanent-magnet synchronous electricity main shaft, comprise main shaft and the low speed high torque wide range speed control permasyn morot that is assembled on the main shaft, it is characterized in that: described main shaft fits together by ring flange and bearing pin and described low speed high torque wide range speed control permasyn morot, described low speed high torque wide range speed control permasyn morot comprises housing, be assembled in the stator core that has winding on the described housing, rotor and encoder, wherein the rotor that links together with the axle sleeve that is set on the described main shaft attaches permanent magnet in interior week, and place the outside of described stator core, before described axle sleeve utilizes, in rear bearing and the bearing, the outer shroud back-up ring is assembled in the axis hole of described housing, and by be fixed on described housing before, the rear bearing gland compresses, carry out axial limiting, utilize the winding arrangements for speed regulation to control the connection of the winding of described stator core, finish step speed regulation and the interior stepless frequency control of the single velocity shooting of realization that velocity shooting is selected.
2. lathe permanent-magnet synchronous electricity main shaft according to claim 1, it is characterized in that: the described encoder that the described rotor-position of the realization of described low speed high torque wide range speed control permasyn morot detects is connected with driven synchromesh gear is coaxial, described driven synchromesh gear is connected with active synchronization gear on being assembled in main shaft by synchronous cog belt, synchronously rotation.
3. lathe permanent-magnet synchronous according to claim 1 electricity main shaft is characterized in that: be arranged on air vent that the described epitrochanterian ventilation and heat of described low speed high torque wide range speed control permasyn morot uses and be connected with left and right blower fan on being fixed on described housing.
4. lathe permanent-magnet synchronous electricity main shaft according to claim 1, it is characterized in that: the described winding arrangements for speed regulation that the winding of the described stator core of control of described low speed high torque wide range speed control permasyn morot connects comprise control module, relay unit, contact unit and driver element, by 32 ARM chips with logic manage function, vector calculus chip with speed adjusting, torque adjustment, Frequency Drive Control function is formed described control module by man-machine interface and I/O interface; Form described relay unit by photoelectric switch, triode and relay; Described control module drives described relay unit control contactor unit, actuating logic drives control instruction, velocity shooting to described low speed high torque wide range speed control permasyn morot is selected, and make described winding whenever be in series the coil groups number at N, N-1, N-2 ... 2, conversion between 1, realize that low speed high torque wide range speed control permasyn morot rotating speed is at n, n * N/ (N-1), n * N/ (N-2) ... n * N/2, switch between n * N speed stage, finish the step speed regulation that velocity shooting is selected, wherein N is the integer natural number greater than 0, and n is the described winding rated speed of coil groups number when being N that whenever be in series; Described control module drives the described driver element of realization low speed high torque wide range speed control permasyn morot stepless frequency control in single velocity shooting of being made up of rectifier bridge, electrochemical capacitor, power panel and inversion unit simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110068214A CN102151850B (en) | 2011-03-22 | 2011-03-22 | Permanent magnet synchronous motor spindle of machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110068214A CN102151850B (en) | 2011-03-22 | 2011-03-22 | Permanent magnet synchronous motor spindle of machine tool |
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| Publication Number | Publication Date |
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| CN102151850A true CN102151850A (en) | 2011-08-17 |
| CN102151850B CN102151850B (en) | 2012-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110068214A Active CN102151850B (en) | 2011-03-22 | 2011-03-22 | Permanent magnet synchronous motor spindle of machine tool |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303132A (en) * | 2011-08-30 | 2012-01-04 | 山东宏康机械制造有限公司 | Transmission system for spindle box of boring and milling machine |
| CN103143738A (en) * | 2013-03-26 | 2013-06-12 | 纽威石油设备（苏州）有限公司 | Shaft sleeve type deep-hole cutter |
| CN104669362A (en) * | 2015-02-11 | 2015-06-03 | 四川省青城机械有限公司 | Centrifugal feeder spindle system |
| CN112090368A (en) * | 2020-07-29 | 2020-12-18 | 新兴铸管股份有限公司 | Disc pelletizer |
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| JP2003340671A (en) * | 2002-05-30 | 2003-12-02 | Koyo Seiko Co Ltd | Built-in motor main spindle and superfinishing machine employing the same |
| CN101011793A (en) * | 2007-01-15 | 2007-08-08 | 大连光洋科技工程有限公司 | Vertical and horizontal dual-purpose single axle table of AC permanent magnetic synchronization external-rotor-type force moment motor drive |
| CN201342490Y (en) * | 2009-02-13 | 2009-11-11 | 西安合升动力科技有限公司 | Lathe permanent-magnet synchronizing motor main shaft |
| CN101973479A (en) * | 2010-11-05 | 2011-02-16 | 沈阳蓝光驱动技术有限公司 | Ultra-high-speed heavy-loading outer-rotor permanent magnet synchronous traction machine |
| CN201960141U (en) * | 2011-03-22 | 2011-09-07 | 徐广人 | Permanent-magnet synchronous electric main shaft of machine tool |
-
2011
- 2011-03-22 CN CN201110068214A patent/CN102151850B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003340671A (en) * | 2002-05-30 | 2003-12-02 | Koyo Seiko Co Ltd | Built-in motor main spindle and superfinishing machine employing the same |
| CN101011793A (en) * | 2007-01-15 | 2007-08-08 | 大连光洋科技工程有限公司 | Vertical and horizontal dual-purpose single axle table of AC permanent magnetic synchronization external-rotor-type force moment motor drive |
| CN201342490Y (en) * | 2009-02-13 | 2009-11-11 | 西安合升动力科技有限公司 | Lathe permanent-magnet synchronizing motor main shaft |
| CN101973479A (en) * | 2010-11-05 | 2011-02-16 | 沈阳蓝光驱动技术有限公司 | Ultra-high-speed heavy-loading outer-rotor permanent magnet synchronous traction machine |
| CN201960141U (en) * | 2011-03-22 | 2011-09-07 | 徐广人 | Permanent-magnet synchronous electric main shaft of machine tool |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303132A (en) * | 2011-08-30 | 2012-01-04 | 山东宏康机械制造有限公司 | Transmission system for spindle box of boring and milling machine |
| CN103143738A (en) * | 2013-03-26 | 2013-06-12 | 纽威石油设备（苏州）有限公司 | Shaft sleeve type deep-hole cutter |
| CN103143738B (en) * | 2013-03-26 | 2016-04-20 | 纽威石油设备（苏州）有限公司 | Shaft sleeve type deep-hole cutter |
| CN104669362A (en) * | 2015-02-11 | 2015-06-03 | 四川省青城机械有限公司 | Centrifugal feeder spindle system |
| CN112090368A (en) * | 2020-07-29 | 2020-12-18 | 新兴铸管股份有限公司 | Disc pelletizer |
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| Publication number | Publication date |
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| CN102151850B (en) | 2012-10-10 |
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