CN102493068A - Guide needle bed reciprocating linear motion device of flower beam warping machine - Google Patents
Guide needle bed reciprocating linear motion device of flower beam warping machine Download PDFInfo
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- CN102493068A CN102493068A CN2011103986038A CN201110398603A CN102493068A CN 102493068 A CN102493068 A CN 102493068A CN 2011103986038 A CN2011103986038 A CN 2011103986038A CN 201110398603 A CN201110398603 A CN 201110398603A CN 102493068 A CN102493068 A CN 102493068A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 66
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000008093 supporting effect Effects 0.000 claims description 14
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 238000009940 knitting Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses a guide needle bed reciprocating linear motion device of a flower beam warping machine. The device comprises a guide needle bed, a box, a guide needle bed support frame, an eccentric wheel, an eccentric bushing, a swinging rod, a connecting rod and a swinging block, wherein the guide needle bed and the guide needle bed support frame form a sliding pair; the eccentric wheel is fixed on a rotation shaft supported by the box; the eccentric bushing is sleeved on the eccentric wheel to form a rotary pair; a first pin shaft is fixed on the box and above the rotation shaft; the swinging block is sleeved on the first pin shaft through a pin shaft hole to form another rotary pair; the middle part of the swinging rod is fixed on the swinging block; the lower end of the swinging rod is connected with the eccentric bushing through the rotary pair; the upper end of the swinging rod is connected with one end of the connecting rod through the rotary pair; and a connecting frame is fixed on the guide needle bed; and one end of the connecting frame, which stretches into the box, is connected with the other end of the connecting rod through the rotary pair. The invention has the advantages that: the device is simple in structure, low in cost, shock-free during movement, stable in transmission and easy to machine.
Description
Technical field
The present invention relates to the moving component of warp beam warper, is guide needle-bar straight reciprocating motion apparatus.
Background technology
Flower is when axle warp knitting machine braided fabric, and floricome generally is to be wound on flower on axle with yarn, and warping machines is that the threads that is wound on a plurality of yarn buckets is wound up into flower simultaneously on axle, and this process is also claimed warping.As far as concrete warping machines, one or two guide needle-bar is all arranged on it, several sley points are installed on each guide needle-bar in proper order, and the one thread on each yarn bucket is through in the sley point pin hole.During warping, the yarn on the yarn bucket passes the guide pin hole earlier, be wound on again the flower through the axle on, the flower through the axle uniform rotation, with the reel for yarn on the yarn bucket around the flower through the axle on.Simultaneously, sley point does reciprocating linear motion with the guide needle-bar, and like this, the yarn on each yarn bucket all evenly is wound on flower on the axle certain-length.
By above-mentioned analysis, coiling motion is to form by rotating with linear reciprocating motion is synthetic in the warping machines, rotates by the uniform rotation of flower through axle and realizes that linear reciprocating motion draws realization by the sley point that does reciprocating linear motion (bed).
The ZL200720034572.7 utility model patent discloses a kind of warping mechanism of warp beam warper; Under the situation that the motor continuously and smoothly rotates; Adopt the driven member of conjugate cam driving cam means to realize reciprocally swinging; Through intermediate transmission mechanism reciprocally swinging is transformed to linear reciprocating motion again, finally realizes the linear reciprocating motion of guide needle-bar.Such motion realization mode, owing to adopted conjugate cam mechanism, structure more complicated and being unfavorable at a high speed, and also the cam processing cost is high.
The disclosed double-layer warp beam warper of ZL200610096520.2 patent of invention has motion and requires identical two groups of guide needle-bars up and down.Adopt one group of servomotor and feed screw nut's structure to drive needle-bar motion down, realize being synchronized with the movement of guide needle-bar up and down by one group of swing link mechanism.Wherein, back and forth rotate, through feed screw nut positive and negative rotation is transformed to linear reciprocating motion again through the rotating realization of control servomotor.Both are cascaded, the final linear reciprocating motion of guide needle-bar down of realizing.Therefore, the reciprocating motion of guide needle-bar is to realize through the rotating of controlling servomotor in this patent, in order to drive the upper stitch bed motion simultaneously; Adopt one group of swing link mechanism by the motion of needle-bar drive upper stitch bed down, realize with rotational transform being the rectilinear motion kind of drive, because the guide needle-bar needs constantly back and forth move back and forth by feed screw nut; And movement velocity is higher, so, between leading screw and nut, can produce greater impact; Feed screw nut is easy to lose efficacy; Reduce service life, adopt the rotating of control servomotor to realize the reciprocating motion of guide needle-bar simultaneously, improved the cost of complete machine.
Summary of the invention
The objective of the invention is to propose a kind of guide needle-bar straight reciprocating motion apparatus of simple in structure, stable transmission warp beam warper.
For achieving the above object; Design of the present invention is following: see Fig. 1; Adopt one group not have offset crank endplay device A0AB1B0 as first order lanar four rod mechanism; With the continuous rotational transform of motor movement input is reciprocally swinging, the rocking bar that can guarantee to do reciprocally swinging just with anti-two strokes in average speed equal, thereby guaranteed that as far as possible the yarn of reeling on the warp shaft is even.In addition,, can make rocking bar just with in anti-two motion processes doing approximate at the uniform velocity swing through optimizing the yardstick of no offset crank endplay device, even as far as possible to guarantee the yarn that is wound on the warp shaft.Adopt linear rocker-slider mechanism
B0B2CAs second level planar linkage mechanism; The reciprocally swinging of first order motion of mechanism output-rocking bar is imported as second level motion of mechanism; The past complex line that the reciprocally swinging of rocking bar is converted into slide block moves; Through the yardstick of optimal design slider-rocker mechanism, make between rectilinear motion displacement and the displacement of rocking bar angle of oscillation of slide block linearly, the first order rocking bar that do not have an offset crank rocking bar is just equating with the average speed of anti-two motion processes like this; And the characteristics of in two processes, making approximate uniform motion can not change; The motion converter through slider-rocker mechanism just, not only the forms of motion with the reciprocally swinging of rocking bar converts the linear reciprocating motion of slide block into, and guarantees that slide block is just also equating with the average speed of anti-two motion process slide block movements; And just with anti-two rectilinear motion processes in, slide block is made approximate linear uniform motion.
Among the present invention; The first order does not have offset crank rocking bar and second level slider-rocker mechanism and is cascaded and has constituted guide needle-bar linear reciprocating motion of the present invention mechanism; Integral body is that one degree of freedom is 1 plane six bar mechanism; As long as a motion input just can make motion of mechanism confirm, generally realize by a main motor.
The present invention takes following concrete technical scheme.
The guide needle-bar straight reciprocating motion apparatus of the warp beam warper that the present invention proposes; Comprise guide needle-bar, casing and guide needle-bar bracing frame, the guide needle-bar becomes moving sets with guide needle-bar supporting framework, also comprises eccentric wheel, eccentric bushing, rocking bar, connecting rod and waves piece; Said eccentric wheel is fixed in the rotating shaft by the casing supporting; Rotating shaft drives running continuously by motor transmission mechanism, and said eccentric bushing is enclosed within on the said eccentric wheel and constitutes revolute pair, on the said casing and the upper fixed that is in rotating shaft first bearing pin is arranged; The said piece that waves is enclosed within on first bearing pin through pin shaft hole and constitutes revolute pair; The middle part of rocking bar is fixed on waves on the piece, is connected with the revolute pair form between the lower end of rocking bar and the eccentric bushing, and the upper end of rocking bar is connected with the revolute pair form with an end of said connecting rod; Be fixed with link on the said guide needle-bar, be connected with the revolute pair form between the end that link stretches into casing and the other end of connecting rod.
The lower end of said rocking bar is fixed with lower connecting base, and rocking bar is connected with said eccentric bushing through lower connecting base, on lower connecting base and eccentric bushing, respectively is provided with pin shaft hole, is connected by second bearing pin that places pin shaft hole between lower connecting base and the eccentric bushing; The upper end of said rocking bar is fixed with upper connecting base, and rocking bar is connected with said connecting rod through upper connecting base, on upper connecting base and connecting rod, respectively is provided with pin shaft hole, is connected by the 3rd bearing pin that places pin shaft hole between upper connecting base and the connecting rod.
Being connected of said link and said connecting rod taked on link and connecting rod, respectively to be provided with pin shaft hole, connected by the 4th bearing pin that places pin shaft hole between link and the connecting rod.
Said rocking bar is to be symmetrical in first bearing pin and parallel two bars.
Said guide needle-bar bracing frame comprises back shaft, supporting seat and guide post; The back shaft two ends are fixed by casing and frame support plate respectively; Supporting seat is fixedly set on the back shaft, and guide post is supported by supporting seat, and the slide of guide needle-bar bottom it is enclosed within and constitutes moving sets on the guide post.
Guide needle-bar linear reciprocating motion of the present invention is only by the planar linkage mechanism motion realization, and the guide motion with respect to being driven by cam mechanism has only rod member in the planar linkage mechanism structure; And the planar lower pair that constitutes by revolute pair and moving sets, so simple in structure, be easy to processing; Cost is low, is more conducive to the high speed of complete machine, in addition; Because planar lower pair structure compact stress is little, so reliable motion, the life-span is long.With respect to the sley point motion that constitutes by feed screw nut; Utilize rocker-slider mechanism to realize converting swing into rectilinear motion among the present invention; Avoid realizing this conversion and producing the impact between the feed screw nut transmission by feed screw nut; Have simple in structurely, motion do not have to be impacted, the stable transmission advantage.The planar linkage mechanism that uses among the present invention can make yarn evenly be wound on flower on axle.Pass through optimal design; The rocking bar that makes the first order not have the offset crank endplay device can guarantee approximate at the uniform velocity swing in motion process; Second level rocker-slider mechanism is an approximately linear mechanism; Can finally guarantee almost constant speed's degree motion of guide needle-bar like this, thereby guarantee that yarn evenly is wound on flower on axle.
Description of drawings
Fig. 1 is a mechanism principle sketch of the present invention.
Fig. 2 is embodiments of the invention figure.
The specific embodiment
Embodiment 1
See Fig. 2, present embodiment comprises eccentric wheel 1, eccentric bushing 2, rocking bar 3, connecting rod 4, guide needle-bar 5, casing 6, rotating shaft 10 and wave piece 11.
Said guide needle-bar 5 is supported by bracing frame 7, and bracing frame 7 comprises back shaft 7-1, supporting seat 7-2 and guide post 7-3.Back shaft 7-1 two ends are fixed by casing 6 and frame support plate respectively; Supporting seat 7-2 is fixedly set on the back shaft 7-1, and guide post 7-3 is supported by supporting seat 9, and guide needle-bar 5 is provided with sley point 15; The bottom of guide needle-bar 5 is fixed with slide 5-1; Slide 5-1 is enclosed within on the guide post 7 through pilot hole, and guide needle-bar 5 moves on guide post 7 through slide 5-1, and both constitute moving sets.On the entire machine fabric width, can be fixedly set in by the fixed structure that the many groups of supporting seat 7-2 by same structure, guide post 7-3 form on the same back shaft 7-1 according to the width of guide needle-bar; On the same guide needle-bar, constitute identical and parallel moving sets between the slide 5-1 that a plurality of identical structures are arranged and the guide post 7-3 position of diverse location, to improve support stiffness to guide needle-bar 5.
Rotating shaft 10 is motion and power input shaft, and by casing 6 supportings, rotating shaft 10 drives running continuously by being arranged on the outside motor transmission mechanism of casing, and motor is common AC rotor motor, and price is low, reliable motion.
In the rotating shaft 10 that said eccentric wheel 1 is fixed on, said eccentric bushing 2 is enclosed within on the said eccentric wheel 1, and the center of circle overlaps between the two, and eccentric bushing 2 relatively rotates the formation revolute pair with eccentric wheel 1, and between can be installed rolling bearing.
On the said casing 6 and the upper fixed that is in rotating shaft 10 the first bearing pin 11-1 is arranged; The said piece 11 that waves is provided with pin shaft hole; Wave piece 11 and be enclosed within on the first bearing pin 11-1, wave the piece 11 and the first bearing pin 11-1 and constitute revolute pair, rolling bearing can be installed between the two through pin shaft hole.
The lower end of said rocking bar 3 is fixed with lower connecting base 12, and the upper end of said rocking bar 3 is fixed with upper connecting base 13.Rocking bar 3 is connected with eccentric bushing 2 through lower connecting base 12, and rocking bar 3 is connected with connecting rod 4 through upper connecting base 13.Respectively be provided with connecting hole said waving on piece 11, lower connecting base 12 and the upper connecting base 13, and the connection hole is on same center line.The center of said rocking bar 3 is in the connecting hole that waves piece 11 and for interference fit.Insert in the connecting hole of lower connecting base 12 lower end of rocking bar 3, and rocking bar 3 perhaps is threaded with the connecting hole interference fit of lower connecting base 12.Insert in the connecting hole of upper connecting base 13 upper end of rocking bar 3, the connecting hole interference fit of rocking bar 3 and upper connecting base 13 or be threaded.Said lower connecting base 12 respectively is provided with pin shaft hole with taking being connected of eccentric bushing 2 on lower connecting base 12 and said eccentric bushing 2, lower connecting base 12 and eccentric bushing 2 are through being arranged on the second bearing pin 12-1 in the pin shaft hole formation revolute pair that is dynamically connected.Said upper connecting base 13 respectively is provided with pin shaft hole with taking being connected of connecting rod 4 on upper connecting base 13 and connecting rod 4, upper connecting base 13 and connecting rod 4 are through being arranged on the 3rd bearing pin 13-1 in the pin shaft hole formation revolute pair that is dynamically connected.Said rocking bar 3 passes the part of waving piece 11 downwards and is referred to as rocking bar 3-1, upwards passes the part of waving piece 11 and is referred to as fork 3-2.
Be fixed with link 14 on one end of said guide needle-bar 5 respective link 4; One end of link 14 stretches in the casing 6 and is connected with connecting rod 4; Take on link 14 and connecting rod 4, respectively to be provided with pin shaft hole, link 14 and connecting rod 4 are through being arranged on the 4th bearing pin 14-1 in the pin shaft hole formation revolute pair that is dynamically connected.
Can be between the 3rd bearing pin 13-1 and the connecting rod 4, be provided with rolling bearing between connecting rod 4 and the 4th bearing pin 14-1.
Said rocking bar 3 can be a single pole, and in the present embodiment, said rocking bar 3 is for being symmetrical in the first bearing pin 11-1 and parallel two bars.Owing to be two bars, respectively be provided with 2 connecting holes that are symmetrical in first bearing pin on piece 11, lower connecting base 12 and the upper connecting base 13 waving, in the central lines of waving the connecting hole on piece 11, lower connecting base 12 and upper connecting base 13 correspondence positions.Two rocking bars 3 are connected to two and wave in the connecting hole of piece 11, and insert in the connecting hole corresponding on the lower connecting base 12 lower end of rocking bar 3, and insert in the connecting hole corresponding on the upper connecting base 13 upper end of rocking bar 3.Constituted a wobble-member by waving piece 11, two rocking bars 3, lower connecting base 12, upper connecting base 13, the second bearing pin 12-1 and the 3rd bearing pin 13-1, swung around the first bearing pin 11-1.
Among the present invention; The rocking bar 3-1 of said eccentric wheel 1, eccentric bushing 2 and rocking bar 3 bottoms constitutes no offset crank endplay device; Eccentric wheel 1, eccentric bushing 2 and rocking bar 3-1 quite do not have crank, connecting rod and the rocking bar of offset crank endplay device; Eccentric wheel 1 is the motion input component, and rocking bar 3-1 is a driven member for no offset crank endplay device.Through this motion of mechanism conversion, the continuous rotational transform of eccentric wheel 1 is become reciprocally swinging.And pass through the preferably size of each member, and can make the swing speed of rocking bar 3-1 approximate at the uniform velocity, even to guarantee the coiling yarn.The fork 3-2 on rocking bar 3 tops and connecting rod 4 are formed rocker-slider mechanism with guide needle-bar 5.Fork 3-2 is the motion input component for rocker-slider mechanism, and through this motion of mechanism conversion, it is that the straight line of guide needle-bar 5 moves that the swing of fork 3-2 is transformed to slide block.And the size through preferred each member; Make linear variation relation between rectilinear motion displacement and the displacement of fork 3-2 angle of oscillation of guide needle-bar 5; Remain unchanged after the characteristics that can make fork 3-2 be similar to uniform motion are passed through the rocker-slider mechanism conversion, promptly the guide needle-bar also can be similar to uniform motion.
Claims (5)
1. the guide needle-bar straight reciprocating motion apparatus of a warp beam warper; Comprise guide needle-bar (5), casing (6) and guide needle-bar bracing frame (7); Guide needle-bar (5) constitutes moving sets with guide needle-bar bracing frame (7); It is characterized in that: also comprise eccentric wheel (1), eccentric bushing (2), rocking bar (3), connecting rod (4) and wave piece (11); Said eccentric wheel (1) is fixed in the rotating shaft (10) by casing (6) supporting; Rotating shaft (10) drives running continuously by motor transmission mechanism, and said eccentric bushing (2) is enclosed within said eccentric wheel (1) and goes up and constitute revolute pair, and said casing (6) is gone up and the upper fixed that is in rotating shaft (10) has first bearing pin (11-1); The said piece (11) that waves is enclosed within upward formation revolute pair of first bearing pin (11-1) through pin shaft hole; The middle part of rocking bar (3) is fixed on waves on the piece (11), is connected with the revolute pair form between the lower end of rocking bar (3) and the eccentric bushing (2), and the upper end of rocking bar (3) is connected with the revolute pair form with an end of said connecting rod (4); Be fixed with link (14) on the said guide needle-bar (5), be connected with the revolute pair form between the end that link (14) stretches into casing (6) and the other end of connecting rod (4).
2. the guide needle-bar straight reciprocating motion apparatus of warp beam warper according to claim 1; It is characterized in that: the lower end of said rocking bar (3) is fixed with lower connecting base (12); Rocking bar (3) is connected with said eccentric bushing (2) through lower connecting base (12); On lower connecting base (12) and eccentric bushing (2), respectively be provided with pin shaft hole, connect by second bearing pin (12-1) that places pin shaft hole between lower connecting base (12) and the eccentric bushing (2); The upper end of said rocking bar (3) is fixed with upper connecting base (13); Rocking bar (3) is connected with said connecting rod (4) through upper connecting base (13); On upper connecting base (13) and connecting rod (4), respectively be provided with pin shaft hole, connect by the 3rd bearing pin (13-1) that places pin shaft hole between upper connecting base (13) and the connecting rod (4).
3. the guide needle-bar straight reciprocating motion apparatus of warp beam warper according to claim 1; It is characterized in that: said link (14) respectively is provided with pin shaft hole with taking being connected of said connecting rod (4) on link (14) and connecting rod (4), is connected by the 4th bearing pin (14-1) that places pin shaft hole between link (14) and the connecting rod (4).
4. the guide needle-bar straight reciprocating motion apparatus of warp beam warper according to claim 1 and 2 is characterized in that: said rocking bar (3) is for being symmetrical in first bearing pin (11-1) and parallel two bars.
5. the guide needle-bar straight reciprocating motion apparatus of warp beam warper according to claim 1; It is characterized in that: said guide needle-bar bracing frame (7) comprises back shaft (7-1), supporting seat (7-2) and guide post (7-3); Back shaft (7-1) two ends are fixed by casing (6) and frame support plate respectively; Supporting seat (7-2) is fixedly set on the back shaft (7-1); Guide post (7-3) is supported by supporting seat (9), and guide needle-bar (5) is enclosed within upward formation moving sets of guide post (7-3) through the slide (5-1) of its bottom.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299237.4A CN104018265B (en) | 2011-12-05 | 2011-12-05 | A kind of guide needle-bar straight reciprocating motion apparatus of warp beam warper |
| CN201410304327.8A CN104047086B (en) | 2011-12-05 | 2011-12-05 | A kind of guide needle bed reciprocating linear motion device of flower beam warping machine |
| CN201110398603.8A CN102493068B (en) | 2011-12-05 | 2011-12-05 | Guide needle bed reciprocating linear motion device of flower beam warping machine |
| CN201410297449.9A CN104032433B (en) | 2011-12-05 | 2011-12-05 | The guide needle-bar straight reciprocating motion apparatus of warp beam warper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110398603.8A CN102493068B (en) | 2011-12-05 | 2011-12-05 | Guide needle bed reciprocating linear motion device of flower beam warping machine |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410304327.8A Division CN104047086B (en) | 2011-12-05 | 2011-12-05 | A kind of guide needle bed reciprocating linear motion device of flower beam warping machine |
| CN201410297449.9A Division CN104032433B (en) | 2011-12-05 | 2011-12-05 | The guide needle-bar straight reciprocating motion apparatus of warp beam warper |
| CN201410299237.4A Division CN104018265B (en) | 2011-12-05 | 2011-12-05 | A kind of guide needle-bar straight reciprocating motion apparatus of warp beam warper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102493068A true CN102493068A (en) | 2012-06-13 |
| CN102493068B CN102493068B (en) | 2014-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410297449.9A Active CN104032433B (en) | 2011-12-05 | 2011-12-05 | The guide needle-bar straight reciprocating motion apparatus of warp beam warper |
| CN201410299237.4A Active CN104018265B (en) | 2011-12-05 | 2011-12-05 | A kind of guide needle-bar straight reciprocating motion apparatus of warp beam warper |
| CN201110398603.8A Active CN102493068B (en) | 2011-12-05 | 2011-12-05 | Guide needle bed reciprocating linear motion device of flower beam warping machine |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410297449.9A Active CN104032433B (en) | 2011-12-05 | 2011-12-05 | The guide needle-bar straight reciprocating motion apparatus of warp beam warper |
| CN201410299237.4A Active CN104018265B (en) | 2011-12-05 | 2011-12-05 | A kind of guide needle-bar straight reciprocating motion apparatus of warp beam warper |
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| CN (3) | CN104032433B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113818108A (en) * | 2021-09-24 | 2021-12-21 | 济宁职业技术学院 | Detaching roller driving method based on hybrid driving mechanism |
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- 2011-12-05 CN CN201410297449.9A patent/CN104032433B/en active Active
- 2011-12-05 CN CN201410299237.4A patent/CN104018265B/en active Active
- 2011-12-05 CN CN201110398603.8A patent/CN102493068B/en active Active
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| GB234193A (en) * | 1924-02-27 | 1925-05-26 | Moore & Avery Blackburn Ltd | Improvements relating to apparatus for selecting and separating warp threads in the preparation of the warp for looms for weaving |
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| CN1928175A (en) * | 2006-09-29 | 2007-03-14 | 常州市第八纺织机械有限公司 | Double-layer warp beam warper |
| CN201186836Y (en) * | 2008-06-20 | 2009-01-28 | 福建鸿博印刷股份有限公司 | Elevating paper receiving apparatus for rotary printing production line |
| CN101745444A (en) * | 2008-12-09 | 2010-06-23 | 沈阳铝镁设计研究院 | Reciprocating type material pulverizing machine and material pulverizing method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113818108A (en) * | 2021-09-24 | 2021-12-21 | 济宁职业技术学院 | Detaching roller driving method based on hybrid driving mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104018265A (en) | 2014-09-03 |
| CN104018265B (en) | 2016-03-30 |
| CN104032433A (en) | 2014-09-10 |
| CN104032433B (en) | 2016-05-18 |
| CN102493068B (en) | 2014-08-06 |
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