CN103029540B - Hydraulic spring foldable retracting device for amphibious vehicle wheels - Google Patents
Hydraulic spring foldable retracting device for amphibious vehicle wheels Download PDFInfo
- Publication number
- CN103029540B CN103029540B CN201310014276.0A CN201310014276A CN103029540B CN 103029540 B CN103029540 B CN 103029540B CN 201310014276 A CN201310014276 A CN 201310014276A CN 103029540 B CN103029540 B CN 103029540B
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- pin
- bearing pin
- wheel
- lower cross
- cross arm
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Links
- 239000000725 suspension Substances 0.000 claims abstract description 20
- 230000035939 shock Effects 0.000 claims abstract description 9
- 239000006096 absorbing agent Substances 0.000 claims abstract description 8
- 238000013016 damping Methods 0.000 claims description 10
- 239000004519 grease Substances 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 2
- 239000010720 hydraulic oil Substances 0.000 abstract 1
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a vehicle wheel retracting device, in particular to a hydraulic spring foldable retracting device for amphibious vehicle wheels. The device is a double-wishbone independent suspension, and comprises a wheel assembly (1), a pin shaft I (2), a wheel connection arm (3), a pin shaft II (4), an upper cross arm (5), a shock absorber (6), a pull rod assembly (7), a pin shaft III (8), a frame (9), a pin shaft IV (10), a pin shaft V (11), a hydraulic oil cylinder (12), a crank (13), a pin shaft VI (14), a pin shaft VII (15), a pin shaft VIII (16), a differential assembly (17), an internal universal transmission assembly (18), a drive shaft (19), a lower cross arm (20), a pin shaft IX (21) and an external universal transmission assembly (22). Compared with the prior art, the device has the advantages of large vehicle bottom clearance from the ground, simple structure, sensitive reaction and no influence on the vehicle bottom casing streamline, and is suitable for wheels of water and land amphibious vehicles.
Description
Technical field
The present invention relates to a kind of wheel of vehicle draw off gear, be specifically related to a kind of amphibious vehicle wheel hydraulic spring grease cup folding and retraction device.
Background technology
The amphibious vehicle wheel hydraulic pressure draw off gear UK 2425511 that oneself has and US 6945832, be all the power using hydraulic actuating cylinder to do damping and wheel folding and unfolding, its damping effect is undesirable, and oil cylinder is hit greatly, easy to wear; During road condition, the chassis ground Clearance is little, and when road travels, crossing ability is not good, and during traveling waterborne, to pack up stroke inadequate for wheel, affects its moving velocity on the water, can not swerve, and destroy the stream line pattern of the vehicle water surface, affect the shortcomings such as the high speed performance of vehicle.
Summary of the invention
The object of the invention is to overcome the deficiency that oneself has technology, provide a kind of good damping effect, chassis ground Clearance greatly, structure is simple, is quick on the draw, and does not destroy car drain pan fleetline hydraulic spring grease cup folding and retraction device.
A kind of amphibious vehicle wheel hydraulic spring grease cup folding and retraction device, comprise wheel set, outer Universal drive assembly is connected with axle drive shaft, axle drive shaft is connected with differential assembly by interior Universal drive assembly, crank upper end is hinged by bearing pin IV and vehicle frame, and rod assembly upper end is connected by pin shaft III with crank lower end, and Top Crossbeam the inner is connected with crank by bearing pin VII, hydraulic ram lower end is connected by bearing pin VI with crank, and it is hinged that hydraulic ram upper end and car body pass through bearing pin V, crank, rod assembly, hydraulic ram, Top Crossbeam are around bearing pin IV relative frame movement, Top Crossbeam outer end is connected by pin shaft II with wheel connecting arm upper end, rod assembly lower end is connected by bearing pin Ⅸ with lower cross arm, lower cross arm is inner hinged by bearing pin VIII with vehicle frame, lower cross arm outer end is connected by bearing pin I with wheel connecting arm, and rod assembly, wheel connecting arm, Top Crossbeam, lower cross arm are around bearing pin VIII relative frame movement, damping system is set on rod assembly by shock absorber and forms, in steering swivel system, wheel connecting arm is connected with the form of swivel coupling with steering ball headgear with jump ring by steering column jacket, turn to supporting pin and wheel connecting arm hinged, turn to supporting pin axially can rotate at wheel connecting arm around it, steering suspension pin can rotate in its axial direction, lower cross arm and wheel connecting arm are connected by king pin by steering suspension pin, by steering suspension pin and king pin, wheel flutter can around lower cross arm up and down and left-right rotation, supporting pin is turned to be connected by bearing pin Ⅹ with spindle arm.
The angle of the line of described pin shaft III and bearing pin Ⅸ and the line of bearing pin IV and bearing pin Ⅸ is at 0 °-45 °.
Described hydraulic wheel spring folding draw off gear is two drive or entirely drive.
The number of described Top Crossbeam is 1-2.
The number of described lower cross arm is 1-2.
A kind of amphibious vehicle, comprise wheel, it is characterized in that: the hydraulic wheel spring folding draw off gear that described wheel adopts, comprise wheel set, outer Universal drive assembly is connected with axle drive shaft, axle drive shaft is connected with differential assembly by interior Universal drive assembly, it is characterized in that: crank upper end is hinged by bearing pin IV and vehicle frame, rod assembly upper end is connected by pin shaft III with crank lower end, Top Crossbeam the inner is connected with crank by bearing pin VII, hydraulic ram lower end is connected by bearing pin VI with crank, and it is hinged that hydraulic ram upper end and car body pass through bearing pin V, crank, rod assembly, hydraulic ram, Top Crossbeam are around bearing pin IV relative frame movement, Top Crossbeam outer end is connected by pin shaft II with wheel connecting arm upper end, rod assembly lower end is connected by bearing pin Ⅸ with lower cross arm, lower cross arm is inner hinged by bearing pin VIII with vehicle frame, lower cross arm outer end is connected by bearing pin I with wheel connecting arm, and rod assembly, wheel connecting arm, Top Crossbeam, lower cross arm are around bearing pin VIII relative frame movement, damping system is set on rod assembly by shock absorber and forms, in steering swivel system, wheel connecting arm is connected with the form of swivel coupling with steering ball headgear with jump ring by steering column jacket, turn to supporting pin and wheel connecting arm hinged, turn to supporting pin axially can rotate at wheel connecting arm around it, steering suspension pin can rotate in its axial direction, lower cross arm and wheel connecting arm are connected by king pin by steering suspension pin, by steering suspension pin and king pin, wheel flutter can around lower cross arm up and down and left-right rotation, supporting pin is turned to be connected by bearing pin Ⅹ with spindle arm, the angle of the line of pin shaft III and bearing pin Ⅸ and the line of bearing pin IV and bearing pin Ⅸ is at 0 °-45 °, described hydraulic wheel spring folding draw off gear is two drive or entirely drive, the number of described Top Crossbeam is 1-2, the number of described lower cross arm is 1-2.
Accompanying drawing explanation
Fig. 1 is the adjustment view that drive wheel is in road condition.
Fig. 2 is the front elevation that drive wheel is in road condition.
Fig. 3 is the back view that driven wheel flutter is in road condition.
Fig. 4 is the front elevation that drive wheel is in surface condition.
Fig. 5 is the back view that driven wheel flutter is in surface condition.
Fig. 6 is the B direction view of Fig. 3,
Fig. 7 is Fig. 3 A-A cutaway view,
Fig. 8 is the stressed schematic diagram of spring damping shock mitigation system and crank.
Label title in above-mentioned figure: 1. wheel set, 2. bearing pin I, 3. wheel connecting arm, 4. pin shaft II, 5. Top Crossbeam, 6. shock absorber, 7. rod assembly, 8. pin shaft III, 9. vehicle frame, 10. bearing pin IV, 11. bearing pins V, 12. hydraulic rams, 13. cranks, 14. bearing pins VI, 15. bearing pins VII, 16. bearing pins VIII, 17. differential assemblies, Universal drive assembly in 18., 19. axle drive shafts, 20. lower cross arms, 21. bearing pins Ⅸ, 22. outer Universal drive assemblies, 23. bearing pins Ⅹ, 24. turn to supporting pin, 25. steering ball headgears, 26. spindle arms, 27. steering column jackets, 28. jump rings, 29. king pins, 30. steering suspension pins.
Detailed description of the invention
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, shown in Fig. 8, , a kind of amphibious vehicle wheel hydraulic spring grease cup folding and retraction device, comprise wheel set 1, outer Universal drive assembly 22 is connected with axle drive shaft 19, axle drive shaft 19 is connected with differential assembly 17 by interior Universal drive assembly 18, crank 13 upper end is hinged by bearing pin IV 10 and vehicle frame 9, rod assembly 7 upper end is connected by pin shaft III 8 with crank 13 lower end, Top Crossbeam 5 the inner is connected with crank 13 by bearing pin VII 15, hydraulic ram 12 lower end is connected by bearing pin VI 14 with crank 13, it is hinged that hydraulic ram 12 upper end and car body pass through bearing pin V 11, crank 13, rod assembly 7, hydraulic ram 12, Top Crossbeam 5 move around bearing pin IV 10 relative frame 9, Top Crossbeam 5 outer end is connected by pin shaft II 4 with wheel connecting arm 3 upper end, rod assembly 7 lower end is connected by bearing pin Ⅸ 21 with lower cross arm 20, lower cross arm 20 is inner hinged by bearing pin VIII 16 with vehicle frame 9, lower cross arm 20 outer end is connected by bearing pin I 2 with wheel connecting arm 3, and rod assembly 7, wheel connecting arm 3, Top Crossbeam 5, lower cross arm 20 move around bearing pin VIII 16 relative frame 9, damping system is set on rod assembly 7 by shock absorber 6 and forms, in steering swivel system, wheel connecting arm 3 is connected with the form of swivel coupling with steering ball headgear 25 with jump ring 28 by steering column jacket 27, turn to supporting pin 24 and wheel connecting arm 3 hinged, turn to supporting pin 24 axially can rotate at wheel connecting arm 3 around it, steering suspension pin 30 can rotate in its axial direction, lower cross arm 20 and wheel connecting arm 3 are connected by king pin 29 by steering suspension pin 30, by steering suspension pin 30 and king pin 29, wheel flutter can around lower cross arm about 20 and left-right rotation, supporting pin 24 is turned to be connected by bearing pin Ⅹ 23 with spindle arm 26.
The angle of the line of described pin shaft III 8 and the line of bearing pin Ⅸ 21 and bearing pin IV 10 and bearing pin Ⅸ 21 is at 0 °-45 °.
Described hydraulic wheel spring folding draw off gear is two drive or entirely drive.
The number of described Top Crossbeam 5 is 1-2.
The number of described lower cross arm 20 is 1-2.
A kind of amphibious vehicle, comprise wheel, the hydraulic wheel spring folding draw off gear that described wheel adopts, comprise wheel set 1, outer Universal drive assembly 22 is connected with axle drive shaft 19, axle drive shaft 19 is connected with differential assembly 17 by interior Universal drive assembly 18, crank 13 upper end is hinged by bearing pin IV 10 and vehicle frame 9, rod assembly 7 upper end is connected by pin shaft III 8 with crank 13 lower end, Top Crossbeam 5 the inner is connected with crank 13 by bearing pin VII 15, hydraulic ram 12 lower end is connected by bearing pin VI 14 with crank 13, and it is hinged that hydraulic ram 12 upper end and car body pass through bearing pin V 11, crank 13, rod assembly 7, hydraulic ram 12, Top Crossbeam 5 move around bearing pin IV 10 relative frame 9, Top Crossbeam 5 outer end is connected by pin shaft II 4 with wheel connecting arm 3 upper end, rod assembly 7 lower end is connected by bearing pin Ⅸ 21 with lower cross arm 20, lower cross arm 20 is inner hinged by bearing pin VIII 16 with vehicle frame 9, lower cross arm 20 outer end is connected by bearing pin I 2 with wheel connecting arm 3, and rod assembly 7, wheel connecting arm 3, Top Crossbeam 5, lower cross arm 20 move around bearing pin VIII 16 relative frame 9, damping system is set on rod assembly 7 by shock absorber 6 and forms, in steering swivel system, wheel connecting arm 3 is connected with the form of swivel coupling with steering ball headgear 25 with jump ring 28 by steering column jacket 27, turn to supporting pin 24 and wheel connecting arm 3 hinged, turn to supporting pin 24 axially can rotate at wheel connecting arm 3 around it, steering suspension pin 30 can rotate in its axial direction, lower cross arm 20 and wheel connecting arm 3 are connected by king pin 29 by steering suspension pin 30, by steering suspension pin 30 and king pin 29, wheel flutter can around lower cross arm about 20 and left-right rotation, supporting pin 24 is turned to be connected by bearing pin Ⅹ 23 with spindle arm 26, the angle of the line of pin shaft III 8 and bearing pin Ⅸ 21 and the line of bearing pin IV 10 and bearing pin Ⅸ 21 is at 0 °-45 °, described hydraulic wheel spring folding draw off gear is two drive or entirely drive, the number of described Top Crossbeam 5 is 1-2, the number of described lower cross arm 20 is 1-2.
It should be noted that, above-described embodiment is unrestricted to the explanation of technical solution of the present invention, the equivalent replacement of person of an ordinary skill in the technical field or other amendment of making according to prior art, as long as no the thinking and the scope that exceed technical solution of the present invention, all should be included within right of the presently claimed invention and scope.
Claims (6)
1. an amphibious vehicle wheel hydraulic spring grease cup folding and retraction device, comprise wheel set (1), outer Universal drive assembly (22) is connected with axle drive shaft (19), axle drive shaft (19) is connected with differential assembly (17) by interior Universal drive assembly (18), it is characterized in that: crank (13) upper end is hinged by bearing pin IV (10) and vehicle frame (9), rod assembly (7) upper end is connected by pin shaft III (8) with crank (13) lower end, Top Crossbeam (5) the inner is connected with crank (13) by bearing pin VII (15), hydraulic ram (12) lower end is connected by bearing pin VI (14) with crank (13), it is hinged that hydraulic ram (12) upper end and car body pass through bearing pin V (11), crank (13), rod assembly (7), hydraulic ram (12), Top Crossbeam (5) move around bearing pin IV (10) relative frame (9), Top Crossbeam (5) outer end is connected by pin shaft II (4) with wheel connecting arm (3) upper end, rod assembly (7) lower end is connected by bearing pin Ⅸ (21) with lower cross arm (20), lower cross arm (20) is inner hinged by bearing pin VIII (16) with vehicle frame (9), lower cross arm (20) outer end is connected by bearing pin I (2) with wheel connecting arm (3), and rod assembly (7), wheel connecting arm (3), Top Crossbeam (5), lower cross arm (20) move around bearing pin VIII (16) relative frame (9), damping system is set on rod assembly (7) by shock absorber (6) and forms, in steering swivel system, wheel connecting arm (3) is connected with the form of swivel coupling with steering ball headgear (25) with jump ring (28) by steering column jacket (27), turn to supporting pin (24) and wheel connecting arm (3) hinged, turn to supporting pin (24) axially can rotate at wheel connecting arm (3) around it, steering suspension pin (30) can rotate in its axial direction, lower cross arm (20) and wheel connecting arm (3) are connected by king pin (29) by steering suspension pin (30), by steering suspension pin (30) and king pin (29), wheel flutter can around lower cross arm (20) up and down and left-right rotation, supporting pin (24) is turned to be connected by bearing pin Ⅹ (23) with spindle arm (26).
2. according to the amphibious vehicle wheel hydraulic spring grease cup folding and retraction device described in claim 1, it is characterized in that: the angle of the line of pin shaft III (8) and bearing pin Ⅸ (21) and the line of bearing pin IV (10) and bearing pin Ⅸ (21) is at 0 °-45 °.
3. according to the amphibious vehicle wheel hydraulic spring grease cup folding and retraction device described in claim 1, it is characterized in that: described hydraulic wheel spring folding draw off gear is two drive or entirely drive.
4. according to the amphibious vehicle wheel hydraulic spring grease cup folding and retraction device described in claim 1, it is characterized in that: the number of Top Crossbeam (5) is 1-2.
5. according to the amphibious vehicle wheel hydraulic spring grease cup folding and retraction device described in claim 1, it is characterized in that: the number of lower cross arm (20) is 1-2.
6. an amphibious vehicle, comprise wheel, it is characterized in that: the hydraulic wheel spring folding draw off gear that described wheel adopts, comprise wheel set (1), outer Universal drive assembly (22) is connected with axle drive shaft (19), axle drive shaft (19) is connected with differential assembly (17) by interior Universal drive assembly (18), it is characterized in that: crank (13) upper end is hinged by bearing pin IV (10) and vehicle frame (9), rod assembly (7) upper end is connected by pin shaft III (8) with crank (13) lower end, Top Crossbeam (5) the inner is connected with crank (13) by bearing pin VII (15), hydraulic ram (12) lower end is connected by bearing pin VI (14) with crank (13), it is hinged that hydraulic ram (12) upper end and car body pass through bearing pin V (11), crank (13), rod assembly (7), hydraulic ram (12), Top Crossbeam (5) move around bearing pin IV (10) relative frame (9), Top Crossbeam (5) outer end is connected by pin shaft II (4) with wheel connecting arm (3) upper end, rod assembly (7) lower end is connected by bearing pin Ⅸ (21) with lower cross arm (20), lower cross arm (20) is inner hinged by bearing pin VIII (16) with vehicle frame (9), lower cross arm (20) outer end is connected by bearing pin I (2) with wheel connecting arm (3), and rod assembly (7), wheel connecting arm (3), Top Crossbeam (5), lower cross arm (20) move around bearing pin VIII (16) relative frame (9), damping system is set on rod assembly (7) by shock absorber (6) and forms, in steering swivel system, wheel connecting arm (3) is connected with the form of swivel coupling with steering ball headgear (25) with jump ring (28) by steering column jacket (27), turn to supporting pin (24) and wheel connecting arm (3) hinged, turn to supporting pin (24) axially can rotate at wheel connecting arm (3) around it, steering suspension pin (30) can rotate in its axial direction, lower cross arm (20) and wheel connecting arm (3) are connected by king pin (29) by steering suspension pin (30), by steering suspension pin (30) and king pin (29), wheel flutter can around lower cross arm (20) up and down and left-right rotation, supporting pin (24) is turned to be connected by bearing pin Ⅹ (23) with spindle arm (26), the angle of the line of pin shaft III (8) and bearing pin Ⅸ (21) and the line of bearing pin IV (10) and bearing pin Ⅸ (21) is at 0 °-45 °, described hydraulic wheel spring folding draw off gear is two drive or entirely drive, the number of described Top Crossbeam (5) is 1-2, the number of described lower cross arm (20) is 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310014276.0A CN103029540B (en) | 2013-01-15 | 2013-01-15 | Hydraulic spring foldable retracting device for amphibious vehicle wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310014276.0A CN103029540B (en) | 2013-01-15 | 2013-01-15 | Hydraulic spring foldable retracting device for amphibious vehicle wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103029540A CN103029540A (en) | 2013-04-10 |
| CN103029540B true CN103029540B (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310014276.0A Expired - Fee Related CN103029540B (en) | 2013-01-15 | 2013-01-15 | Hydraulic spring foldable retracting device for amphibious vehicle wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103029540B (en) |
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| CN103317987B (en) * | 2013-05-16 | 2015-10-28 | 姬亮 | The free landing cross-country car of a kind of wheel |
| CN103273818B (en) * | 2013-05-29 | 2015-04-29 | 浙江理工大学 | Amphibious vehicle suspension folding and unfolding mechanism |
| CN103847453B (en) * | 2014-03-03 | 2016-04-27 | 苏州巴吉赛车科技有限公司 | A kind of amphibious vehicle upset suspension frame structure |
| CN104908541A (en) * | 2015-05-26 | 2015-09-16 | 荣成康派斯新能源车辆有限公司 | Limo independent suspension |
| CN106274323A (en) * | 2015-06-09 | 2017-01-04 | 大连浦州航空科技有限公司 | Amphibious vehicle folding and unfolding wheel apparatus |
| CN105346344B (en) * | 2015-10-21 | 2018-06-05 | 浙江西贝虎特种车辆股份有限公司 | A kind of all-terrain vehicle marine propulsion anti-drag device |
| CN105216565A (en) * | 2015-10-23 | 2016-01-06 | 中国嘉陵工业股份有限公司（集团） | A kind of jack of amphibious vehicle wheel draw off gear |
| CN105235458A (en) * | 2015-10-23 | 2016-01-13 | 中国嘉陵工业股份有限公司（集团） | Wheel storing device of amphibious vehicles |
| CN108790644B (en) * | 2017-04-29 | 2021-03-23 | 益阳天华两栖车艇有限公司 | Wheel lifting device |
| CN107150561B (en) * | 2017-05-22 | 2019-09-17 | 中国人民解放军国防科学技术大学 | One kind can folding and unfolding suspension |
| CN109383207B (en) * | 2017-08-10 | 2021-10-26 | 益阳天华两栖车艇有限公司 | Amphibious speedboat |
| CN109383205B (en) * | 2017-08-10 | 2021-10-26 | 益阳天华两栖车艇有限公司 | Amphibious assault vehicle |
| CN109823318B (en) * | 2019-03-25 | 2020-12-22 | 南京溧水高新创业投资管理有限公司 | Internet of things vehicle moving mobile robot device and positioning method thereof |
| CN110329014B (en) * | 2019-04-19 | 2022-08-05 | 武汉理工大学 | Electric control detachable wheel winding and unwinding device and control method |
| CN110758039A (en) * | 2019-11-19 | 2020-02-07 | 北京汽车集团越野车有限公司 | Double-wishbone type front suspension mounting assembly |
| CN112590479A (en) * | 2020-12-24 | 2021-04-02 | 东风越野车有限公司 | Amphibious vehicle overturning suspension structure and amphibious vehicle |
| CN113071278B (en) * | 2021-04-20 | 2022-11-04 | 北京理工大学 | Independent driving system and high-mobility mobile platform system |
| CN113263909A (en) * | 2021-05-31 | 2021-08-17 | 东风资产管理有限公司 | Four-wheel independent damping, steering and driving wheeled robot chassis |
| CN113928067B (en) * | 2021-12-06 | 2023-12-08 | 江苏鸿昌高端装备有限公司 | Amphibious all-terrain vehicle |
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| EP0646081B1 (en) * | 1992-06-23 | 2001-10-31 | Aquastrada International Corporation | Amphibious vehicle |
| GB0020679D0 (en) * | 2000-08-23 | 2000-10-11 | Covelink Marine Ltd | Suspension system |
| GB0029298D0 (en) * | 2000-12-01 | 2001-01-17 | Gibbs Int Tech Ltd | Suspension arrangement |
| CN100560393C (en) * | 2008-01-28 | 2009-11-18 | 南京航空航天大学 | Retracting-releasing device of amphibious vehicle wheel |
| CN102632786B (en) * | 2012-04-12 | 2014-06-18 | 中国人民解放军装甲兵工程学院 | Hydraulic wheel retracting device for amphibious vehicle |
| CN203019994U (en) * | 2013-01-15 | 2013-06-26 | 韦宗权 | Amphibious vehicle wheel hydraulic spring folding and unfolding device |
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2013
- 2013-01-15 CN CN201310014276.0A patent/CN103029540B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
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| CN103029540A (en) | 2013-04-10 |
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