CN104369191A - Mechanical hand used for automatic single-point leakage detection - Google Patents
Mechanical hand used for automatic single-point leakage detection Download PDFInfo
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- CN104369191A CN104369191A CN201410594726.2A CN201410594726A CN104369191A CN 104369191 A CN104369191 A CN 104369191A CN 201410594726 A CN201410594726 A CN 201410594726A CN 104369191 A CN104369191 A CN 104369191A
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Abstract
The invention discloses a mechanical hand used for automatic single-point leakage detection. The mechanical hand comprises a flange connector, an air cylinder and a piston, wherein the leakage detection mechanical hand is in butt joint with an industrial mechanical arm through the flange connector, and the piston is arranged in the air cylinder and linearly moves up and down. The flange connector is formed in the top end of the outer wall of the air cylinder, and air cylinder compressed air connectors are formed in the side wall of the air cylinder, so that an electromagnetic valve controls the inlet and outlet direction of compressed air to control reciprocating linear motion of the piston; a prismatic pair of the piston is converted into a revolute pair through connecting rods, so that leakage detection grippers are controlled to do gripping actions; a local sealing cavity is in gas communication with a leakage detection suction gun body with adjustable flow through a leakage detection gas sampling hose and is provided with a flexible seal ring inflating and deflating pipeline, and the suction gun body adopts gas in the local sealing cavity wrapped by the leakage detection grippers to achieve leakage rate detection.
Description
Technical field
The present invention relates to a kind of pipeline weld seam capture manipulator, especially in spacecraft pipeline weld joint automatized single-point leak detection process weld seam capture, coated and leak detection manipulator.
Background technology
At present, leak the secure transmission and in orbit stably that spacecraft in serious threat, various spacecraft all will carry out strict leak test at single machine production and general assembly stage.Spacecraft, in the general assembly stage, will be hunted leak one by one to all weld seams, is guaranteed the leak rate of each weld seam in allowed limits.Spacecraft leak detection adopts Helium Leak Test usually, first to being filled with the helium of authorized pressure in check system during leak detection, then being measured the size of leaking by helium mass spectrometer leak detector, judging whether leak rate meets the demands.
Traditional method adopts suction gun to carry out smelling spy in weld seam outside, and the gas of weld seam outside is sucked helium mass spectrometer leak detector by suction gun, and helium mass spectrometer leak detector measures the actual leak rate of weld seam according to the amount of helium sucked.In suction gun method leak detection process, operating personnel need with medical proof fabric one by one butt welded seam carry out coated, and with suction gun to local collection bag smell spy.But, spacecraft pipeline weld seam One's name is legion (such as up to more than 200), a large amount of labour of single-point leak detection process need consumption carries out that weld seam is coated, leakage rate measurement and leak detection complete after fifth wheel (cushion rubber and adhesive plaster) cleaning.And due to weld seam One's name is legion, easily cause undetected in operating process.
Along with the raising of mechanical arm technology maturity, be widely used in the industry such as automobile, aviation at present.Therefore, by the mechanical arm of industrial application, carry out adaptability revision, add end leak detection manipulator, for spacecraft leak detection, can improve general assembly leak detection production efficiency, what prevent human error from causing is undetected, improves the reliability of leak detection work.
In order to realize the automation leak detection of mechanical arm butt welded seam, ad hoc meter has been invented a kind of automation single-point for being connected with mechanical arm and have been hunted leak manipulator, realizes the crawl of weld seam, coated and hunt leak.
Summary of the invention
The object of this invention is to provide a kind of for docking with industrial machine mechanical arm, realizing the robot device of automation pipeline weld seam leak detection, the crawl of different tube diameters pipeline weld seam can be realized, coated and leak detection work.
Concrete scheme provided by the present invention is as follows:
A kind of manipulator for the leak detection of automation single-point, comprise the flange-interface realizing leak detection manipulator and dock with industrial machine mechanical arm, cylinder, be arranged on the piston of rectilinear motion up and down in cylinder, cylinder compression gas interface, the leak detection suction gun body of regulating flow quantity, handgrip bracing frame, handgrip movable connecting rod, search gas sampling flexible pipe, the coated handgrip of weld seam, the coated flexible seal ring of weld seam, flexible seal ring inflation/deflation pipeline, flange-interface is arranged on cylinder outer wall top, cylinder sidewall is provided with cylinder compression gas interface to be carried out the linear reciprocating motion of control piston by the compressed-air actuated turnover direction of solenoid control, around piston rod axis hinged one end arranging connecting rod one and connecting rod two symmetrically on the piston rod head of piston, the other end of connecting rod one and connecting rod two is hinged on two handgrip bracing frames respectively, two handgrip bracing frames are symmetrically fixed on the outer wall lower end of cylinder by keyset, also parallel respectively on two handgrip bracing frames hinged connecting rod three is set, connecting rod four and connecting rod five and connecting rod six, connecting rod three and connecting rod four are hinged on the coated handgrip one of weld seam abreast, connecting rod five and connecting rod six are hinged on the coated handgrip two of weld seam abreast, by all connecting rods, the moving sets of piston is converted to the revolute pair of handgrip bracing frame, thus control leak detection handgrip carries out grasping movement, two coated handgrips of weld seam form partially sealed chamber respectively by the coated flexible seal ring of weld seam in the peripheral region that solder skip to be checked is stitched, weld seam is positioned at the position that two pipelines connect, shape is belt, after handgrip is closed, sealing is formed at the two ends of position while welding, centre is partially sealed chamber, partially sealed chamber is communicated with the leak detection suction gun bulk gas of regulating flow quantity by search gas sampling flexible pipe, partially sealed chamber is also provided with flexible seal ring inflation/deflation pipeline, suction gun body adopts the gas in the coated partially sealed chamber of leak detection handgrip, realize leak rate test.
Wherein, leak detection handgrip is connected with connecting rod six by parallel two groups of connecting rods and connecting rod three, connecting rod four and connecting rod five, makes the sealing plane of leak detection handgrip remain parallel.
Wherein, manipulator to be fixed with the end of industrial machine mechanical arm by flange mating interface and to be connected, and carries out spatial movement and posture changing by mechanical arm driving mechanical hand; The crawl campaign of manipulator is driven by cylinder, controls leak detection handgrip carry out on-off action by connecting rod.
Wherein, the gas piping of the suction gun body upper end of regulating flow quantity is connected with leak detector, the annular seal space of lower end access leak detection handgrip.
Wherein, the end face of leak detection handgrip axis is made up of flexible air-bag, and when handgrip of hunting leak captures pipeline, to airbag aeration, air bag carries out coated to pipeline weld seam two ends after expanding, and forms partially sealed chamber.
Wherein, the suction gun body of regulating flow quantity, primarily of filter, capillary and pressure regulation needle-valve composition, can realize the adjustment of leak detector inlet pressure, thus the reaction time that control leak detector is hunted leak to local annular seal space.
Wherein, the piston rod of cylinder piston motion is driving link, and drive driven member connecting rod two, connecting rod three, connecting rod four and connecting rod five, handgrip bracing frame is fixed support, and piston rod drives all the other connecting rods to be rotated by moving up and down.
Wherein, the suction gun body of regulating flow quantity is mechanically anchored on the lower end of cylinder by the side plate be fixedly connected with it.
Wherein, two cylinder compression gas interfaces are separately positioned on cylinder sidewall, to be carried out the linear reciprocating motion of control piston by the compressed-air actuated turnover direction of solenoid control.
The present invention adopts above technical scheme, has following feature:
1) the present invention adopts parallelogram linkage, such as connecting rod three, connecting rod four, connecting rod five, four connecting rods of connecting rod six, thus make connecting rod four and connecting rod six remain parallel at the volley, with sealing surface keeping parallelism in the motion of guarantee leak detection handgrip, reduce the space taken when handgrip opens to greatest extent, the crawl of intensive pipeline weld seam can be realized;
2) the present invention adopts cylinder and bar linkage motion mechanism, by compressed air-driven, simple and reliable for structure, and manipulator entirety does not have cable to access, and avoids the potential danger that electricity consumption brings spacecraft;
3) the leak detection handgrip in the present invention adopts flexible air-bag butt welded seam to be formed partially sealed, instead of that to adopt medical proof fabric to carry out local in conventional weld leak detection coated, effectively avoid problem star producing fifth wheel, and it is coated to realize different tube diameters pipeline weld seam by flexible air-bag.
Accompanying drawing explanation
Fig. 1 is the structural representation of automation of the present invention leak detection manipulator;
Fig. 2 is the structural representation of motion in automation of the present invention leak detection manipulator;
Wherein, the flange-interface of 1 expression manipulator and industrial machine robot end; 2 represent cylinder; 3 represent piston; 4 represent cylinder compression gas interface; The leak detection suction gun body of 5 expression regulating flow quantities; 6 represent handgrip bracing frame; 7 represent handgrip movable connecting rod; 8 represent search gas sampling flexible pipe; 9 represent the coated handgrip of weld seam; 10 represent the coated flexible seal ring of weld seam; 11 represent flexible seal ring inflation/deflation pipeline; 12 represent the partially sealed chamber that leak detection handgrip is formed.
In Fig. 2 21 represents the moving sets of cylinder piston, and piston is as driving link; 22 represent the revolute pair between 3 connecting rods; 23,24,25,26,27,28,29,210,211,212 revolute pairs all representing connecting rod.
Fig. 3 is the structural representation in partially sealed chamber around weld seam in automation of the present invention leak detection manipulator.
Detailed description of the invention
What below introduce is detailed description of the invention as content of the present invention, further illustrates content of the present invention below by detailed description of the invention.Certainly, describe the content that following detailed description is only example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
As shown in Figure 1, the structural representation of automation of the present invention leak detection manipulator is given in figure, wherein, this automation mechanical hand of hunting leak comprises and realizes the flange-interface 1 that docks with industrial machine mechanical arm of leak detection manipulator, cylinder 2, be arranged on the piston 3 of rectilinear motion up and down in cylinder 2, cylinder compression gas interface 4, the leak detection suction gun body 5 of regulating flow quantity, handgrip bracing frame 6, handgrip movable connecting rod 7 (comprises connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, connecting rod six), search gas sampling flexible pipe 8, the coated handgrip 9 of weld seam, the coated flexible seal ring 10 of weld seam, flexible seal ring inflation/deflation pipeline 11, flange-interface 1 is arranged on the outer wall top of cylinder 2, cylinder sidewall is provided with cylinder compression gas interface 4 to be carried out the linear reciprocating motion of control piston 3 by the compressed-air actuated turnover direction of solenoid control, around piston rod axis hinged one end arranging connecting rod one and connecting rod two symmetrically on the piston rod head of piston 3, the other end of connecting rod one and connecting rod two is hinged on two handgrip bracing frames 6 respectively, two handgrip bracing frames 6 are symmetrically fixed on the outer wall lower end of cylinder 2 by keyset, also parallel respectively on two handgrip bracing frames 6 hinged connecting rod three is set, connecting rod four and connecting rod five and connecting rod six, connecting rod three and connecting rod four are hinged on the coated handgrip one of weld seam abreast, connecting rod five and connecting rod six are hinged on the coated handgrip two of weld seam abreast, by all connecting rods, the moving sets of piston 3 is converted to the revolute pair of handgrip bracing frame 6, leak detection handgrip 9 is by above-mentioned parallel two groups of connecting rods (i.e. connecting rod three, connecting rod four and connecting rod five and connecting rod six) be connected, the sealing plane of leak detection handgrip is made to remain parallel.Thus control leak detection handgrip 9 carries out grasping movement, two coated handgrips of weld seam 9 form partially sealed chamber 12 respectively by the coated flexible seal ring of weld seam 10 in the peripheral region that solder skip to be checked is stitched, weld seam is positioned at the position that two pipelines connect, shape is belt, after handgrip 9 is closed, sealing is formed at the two ends of position while welding, centre is partially sealed chamber 12, partially sealed chamber 12 is communicated with leak detection suction gun body 5 gas of regulating flow quantity by search gas sampling flexible pipe 8, partially sealed chamber 12 is also provided with flexible seal ring inflation/deflation pipeline 11, suction gun body 5 adopts the gas in the coated partially sealed chamber 12 of leak detection handgrip 9, realize leak rate test, wherein, the gas piping of the suction gun body upper end of regulating flow quantity is connected with leak detector, the annular seal space of lower end access leak detection handgrip, manipulator to be fixed with the end of industrial machine mechanical arm by flange mating interface and to be connected, spatial movement and posture changing is carried out by mechanical arm driving mechanical hand, the crawl campaign of manipulator is driven by cylinder, controls leak detection handgrip carry out on-off action by connecting rod.
In a detailed description of the invention, the gas piping of the suction gun body upper end of regulating flow quantity is connected with leak detector, the annular seal space of lower end access leak detection handgrip, the suction gun body of regulating flow quantity forms primarily of filter, capillary and pressure regulation needle-valve, the adjustment of leak detector inlet pressure can be realized, thus the reaction time that control leak detector is hunted leak to local annular seal space.The end face of leak detection handgrip axis is made up of flexible air-bag, and when handgrip of hunting leak captures pipeline, to airbag aeration, air bag carries out coated to pipeline weld seam two ends after expanding, and forms partially sealed chamber.Now, leak detector is sampled to the gas in annular seal space by the suction gun body of regulating flow quantity, thus calculates the leak rate value of pipeline weld seam.The suction gun body of regulating flow quantity, primarily of filter, capillary and pressure regulation needle-valve composition, can realize the adjustment of leak detector inlet pressure, thus the reaction time that control leak detector is hunted leak to local annular seal space.
In a detailed description of the invention, the piston rod of cylinder piston motion is driving link, and drive driven member connecting rod two, connecting rod three, connecting rod four and connecting rod five, handgrip bracing frame is fixed support, and piston rod drives all the other connecting rods to be rotated by moving up and down.For example, see Fig. 2, Fig. 2 show the structural representation of motion in automation of the present invention leak detection manipulator.As shown in the figure, the piston rod of cylinder piston motion is driving link, and connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, connecting rod six is driven member, and handgrip bracing frame 6 is fixed support.Piston rod drives all the other connecting rods to be rotated by moving up and down, and namely relies on moving sets and revolute pair to form the transformation of rectilinear motion to rotary motion.Therefore, the freedom of motion of the motion of rectilinear motion is 1, and represent that this mechanism is when piston is as movement parts, all driven members do the motion determined thereupon, i.e. the position of piston only corresponding leak detection handgrip under each movement position.Above-mentionedly comprise in the motion of each connecting rod whole, only comprise moving sets and revolute pair.The piston movement of cylinder is moving sets, and by connecting rod, moving sets is converted to revolute pair, thus control leak detection handgrip carries out grasping movement.
The leak detection process of automation leak detection manipulator of the present invention is as follows:
In automation leak detection process, manipulator is fixed on the end joint of industrial machine mechanical arm by flange-interface, is controlled locus and the spatial attitude of manipulator by mechanical arm.Before arrival position while welding, leak detection handgrip is in opening, and flexible air-bag is in deflation status, controls position of manipulator and attitude by mechanical arm, makes the axis of pipeline weld seam to be measured and the axial alignment of leak detection handgrip annular seal space.Then by solenoid control piston movement, leak detection handgrip is made to move to closure state.After leak detection handgrip is closed, compressed air is filled with to flexible air-bag air bag is expanded, thus form the partially sealed chamber at weld seam two ends, now control leak detector and by the suction gun body of regulating flow quantity, the gas in annular seal space is sampled and leakage rate measurement.After leakage rate measurement is stable, flexible air-bag is exitted, and control cylinder motion, make leak detection handgrip be in opening.Now complete the single-point leak detection of a weld seam.Manipulator motion, to next position, repeats said process and carries out weld seam leak detection.
Although be described in detail the specific embodiment of the present invention above and illustrate, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from spirit of the present invention and the scope described in appended claim.
Claims (9)
1. the manipulator for the leak detection of automation single-point, comprise the flange-interface realizing leak detection manipulator and dock with industrial machine mechanical arm, cylinder, be arranged on the piston of rectilinear motion up and down in cylinder, cylinder compression gas interface, the leak detection suction gun body of regulating flow quantity, handgrip bracing frame, handgrip movable connecting rod, search gas sampling flexible pipe, the coated handgrip of weld seam, the coated flexible seal ring of weld seam, flexible seal ring inflation/deflation pipeline, flange-interface is arranged on cylinder outer wall top, cylinder sidewall is provided with cylinder compression gas interface to be carried out the linear reciprocating motion of control piston by the compressed-air actuated turnover direction of solenoid control, around piston rod axis hinged one end arranging connecting rod one and connecting rod two symmetrically on the piston rod head of piston, the other end of connecting rod one and connecting rod two is hinged on two handgrip bracing frames respectively, two handgrip bracing frames are symmetrically fixed on the outer wall lower end of cylinder by keyset, also parallel respectively on two handgrip bracing frames hinged connecting rod three is set, connecting rod four and connecting rod five and connecting rod six, connecting rod three and connecting rod four are hinged on the coated handgrip one of weld seam abreast, connecting rod five and connecting rod six are hinged on the coated handgrip two of weld seam abreast, by all connecting rods, the moving sets of piston is converted to the revolute pair of connecting rod, thus control leak detection handgrip carries out grasping movement, two coated handgrips of weld seam form a partially sealed chamber respectively by the coated flexible seal ring of weld seam in the peripheral region that solder skip to be checked is stitched, weld seam is positioned at the position that two pipelines connect, shape is belt, after handgrip is closed, sealing is formed at the two ends of position while welding, centre is partially sealed chamber, partially sealed chamber is communicated with the leak detection suction gun bulk gas of regulating flow quantity by search gas sampling flexible pipe, partially sealed chamber is also provided with flexible seal ring inflation/deflation pipeline, suction gun body adopts the gas in the coated partially sealed chamber of leak detection handgrip, realize leak rate test.
2. manipulator according to claim 1, wherein, leak detection handgrip is connected with connecting rod six by parallel two groups of connecting rods and connecting rod three, connecting rod four and connecting rod five, makes the sealing plane of leak detection handgrip remain parallel.
3. manipulator according to claim 1, wherein, manipulator to be fixed with the end of industrial machine mechanical arm by flange mating interface and to be connected, and carries out spatial movement and posture changing by mechanical arm driving mechanical hand; The crawl campaign of manipulator is driven by cylinder, controls leak detection handgrip carry out on-off action by connecting rod.
4. the manipulator according to any one of claim 1-3, wherein, the gas piping of the suction gun body upper end of regulating flow quantity is connected with leak detector, the annular seal space of lower end access leak detection handgrip.
5. the manipulator according to any one of claim 1-3, wherein, the end face of leak detection handgrip axis is made up of flexible air-bag, and when handgrip of hunting leak captures pipeline, to airbag aeration, air bag carries out coated to pipeline weld seam two ends after expanding, and forms partially sealed chamber.
6. the manipulator according to any one of claim 1-3, wherein, the suction gun body of regulating flow quantity, primarily of filter, capillary and pressure regulation needle-valve composition, can realize the adjustment of leak detector inlet pressure, thus the reaction time that control leak detector is hunted leak to local annular seal space.
7. the manipulator according to any one of claim 1-3, wherein, the piston rod of cylinder piston motion is driving link, drive driven member connecting rod two, connecting rod three, connecting rod four and connecting rod five, handgrip bracing frame is fixed support, and piston rod drives all the other connecting rods to be rotated by moving up and down.
8. the manipulator according to any one of claim 1-3, wherein, the suction gun body of regulating flow quantity is mechanically anchored on the lower end of cylinder by the side plate be fixedly connected with it.
9. the manipulator according to any one of claim 1-3, wherein, two cylinder compression gas interfaces are separately positioned on cylinder sidewall, to be carried out the linear reciprocating motion of control piston by the compressed-air actuated turnover direction of solenoid control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410594726.2A CN104369191B (en) | 2014-10-29 | 2014-10-29 | For the manipulator of automation single-point leak detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410594726.2A CN104369191B (en) | 2014-10-29 | 2014-10-29 | For the manipulator of automation single-point leak detection |
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| CN104369191A true CN104369191A (en) | 2015-02-25 |
| CN104369191B CN104369191B (en) | 2015-10-21 |
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| CN201410594726.2A Expired - Fee Related CN104369191B (en) | 2014-10-29 | 2014-10-29 | For the manipulator of automation single-point leak detection |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033895A (en) * | 2015-08-31 | 2015-11-11 | 内蒙古包钢钢联股份有限公司 | Hydraulic clamping device for swinging jaws |
| CN105345828A (en) * | 2015-11-30 | 2016-02-24 | 内蒙古包钢钢联股份有限公司 | Hydraulic clamping device of parallel jaw |
| CN105987799A (en) * | 2016-01-06 | 2016-10-05 | 中国科学院等离子体物理研究所 | Pipeline leak detection end effector |
| CN106737810A (en) * | 2016-11-25 | 2017-05-31 | 拖（洛阳）汇德工装有限公司 | A kind of coring group core robot gripper |
| CN107030677A (en) * | 2017-04-26 | 2017-08-11 | 常州永盛新材料装备股份有限公司 | A kind of the axle tow-armed robot of space four and its Scroll handler |
| CN107957343A (en) * | 2017-11-23 | 2018-04-24 | 广东恒鑫智能装备股份有限公司 | Automatic tube drawing inhales residual water dispenser structure |
| CN110323650A (en) * | 2018-03-30 | 2019-10-11 | 新明和工业株式会社 | Terminal press-connection device and terminal crimping method |
| CN111168713A (en) * | 2020-02-17 | 2020-05-19 | 广东博智林机器人有限公司 | Electromagnetic propulsion mechanism and clamping device |
| CN112246683A (en) * | 2020-10-15 | 2021-01-22 | 海宁哈工我耀机器人有限公司 | Device and method for detecting air tightness of food soft package |
| CN115493753A (en) * | 2022-09-20 | 2022-12-20 | 珠海格力电器股份有限公司 | Refrigeration equipment leak source detection system and refrigeration equipment production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033895A (en) * | 2015-08-31 | 2015-11-11 | 内蒙古包钢钢联股份有限公司 | Hydraulic clamping device for swinging jaws |
| CN105345828A (en) * | 2015-11-30 | 2016-02-24 | 内蒙古包钢钢联股份有限公司 | Hydraulic clamping device of parallel jaw |
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| CN106737810A (en) * | 2016-11-25 | 2017-05-31 | 拖（洛阳）汇德工装有限公司 | A kind of coring group core robot gripper |
| CN107030677A (en) * | 2017-04-26 | 2017-08-11 | 常州永盛新材料装备股份有限公司 | A kind of the axle tow-armed robot of space four and its Scroll handler |
| CN107957343A (en) * | 2017-11-23 | 2018-04-24 | 广东恒鑫智能装备股份有限公司 | Automatic tube drawing inhales residual water dispenser structure |
| CN110323650A (en) * | 2018-03-30 | 2019-10-11 | 新明和工业株式会社 | Terminal press-connection device and terminal crimping method |
| CN111168713B (en) * | 2020-02-17 | 2021-10-08 | 广东博智林机器人有限公司 | Electromagnetic propulsion mechanism and clamping device |
| CN111168713A (en) * | 2020-02-17 | 2020-05-19 | 广东博智林机器人有限公司 | Electromagnetic propulsion mechanism and clamping device |
| CN112246683A (en) * | 2020-10-15 | 2021-01-22 | 海宁哈工我耀机器人有限公司 | Device and method for detecting air tightness of food soft package |
| CN112246683B (en) * | 2020-10-15 | 2022-04-01 | 海宁哈工我耀机器人有限公司 | Device and method for detecting air tightness of food soft package |
| CN115493753A (en) * | 2022-09-20 | 2022-12-20 | 珠海格力电器股份有限公司 | Refrigeration equipment leak source detection system and refrigeration equipment production line |
| CN115493753B (en) * | 2022-09-20 | 2024-08-06 | 珠海格力电器股份有限公司 | Refrigeration equipment leakage point detection system and refrigeration equipment production line |
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| Publication number | Publication date |
|---|---|
| CN104369191B (en) | 2015-10-21 |
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Inventor after: Sun Lichen Inventor after: Liu Xingyue Inventor after: Liu Yihuan Inventor after: Zhong Liang Inventor after: Zhang Tao Inventor after: Meng Donghui Inventor after: Ding Xilun Inventor after: Dou Wei Inventor after: Yu Xinfa Inventor after: Zhang Wuxiang Inventor after: Lang Guanqing Inventor after: Han Yan Inventor after: Dou Renchao Inventor before: Li Xiaoyang Inventor before: Liu Yihuan Inventor before: Zhong Liang Inventor before: Sun Lichen Inventor before: Meng Donghui Inventor before: Dou Wei Inventor before: Yu Xinfa Inventor before: Lang Guanqing Inventor before: Han Yan Inventor before: Dou Renchao Inventor before: Liu Xingyue |
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Granted publication date: 20151021 Termination date: 20211029 |