CN105537931B - A kind of door handle automatic assembling - Google Patents
A kind of door handle automatic assembling Download PDFInfo
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- CN105537931B CN105537931B CN201610069773.4A CN201610069773A CN105537931B CN 105537931 B CN105537931 B CN 105537931B CN 201610069773 A CN201610069773 A CN 201610069773A CN 105537931 B CN105537931 B CN 105537931B
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- feed mechanism
- torsion spring
- jump ring
- lift cylinder
- assembling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of door handle automatic assembling, including disk rotational mechanism, the disk rotational mechanism includes rotating disk and the rotary disc driving mechanism being connected with rotating disk, the outer circumferential of the rotating disk, which is uniformly equally spaced, some tools, jump ring automatic feed mechanism is sequentially provided with along the rotation direction of rotating disk, first pad feed mechanism, second pad feed mechanism, crest pad feed mechanism, stop meson feed mechanism, torsion spring feed mechanism, the side of the torsion spring feed mechanism is provided with the hand handle square rod feed mechanism in the automatic press-in jig of hand handle square rod, the side of the square rod feed mechanism is provided with belt transmission agency, blanking mechanical hand is provided between the belt transmission agency and rotating disk.The present invention uses disk rotational, and all parts of door handle are assembled on the tool in disk successively, improves the operating efficiency and product quality of door handle assembling, automaticity is high, and whole assembling process is automatically performed, and reduces cost of labor.
Description
Technical field
The present invention relates to door handle production equipment, specifically refers to a kind of door handle automatic assembling.
Background technology
Known door handle device includes handle body and is connected to the pivot part of handle body, and lock is provided with pivot part
Heart element, the core element include jump ring, the first pad (0.3mm thickness), the second pad being socketed on hand handle square rod successively
(0.5mm thickness), crest pad, banking stop (also known as stop meson), torsion spring, because product component is more, assembling needs to throw greatly
The manpower of amount, but in the prior art because the assembling uses manual operation progressively operation, its labor intensity is big, and efficiency is low.
The content of the invention
The purpose of the present invention is to overcome weak point of the prior art, there is provided one kind is easy to assemble, reduces artificial and work
Make the door handle automatic assembling of efficiency high.
The purpose of the present invention is achieved through the following technical solutions：
A kind of door handle automatic assembling, including disk rotational mechanism, the disk rotational mechanism include rotating disk and with turning
The rotary disc driving mechanism of disk connection, the outer circumferential of the rotating disk is uniformly equally spaced and has some tools, along the rotation side of rotating disk
To being sequentially provided with the jump ring automatic feed mechanism put jump ring automatically one by one to tool, put the first pad automatically one by one to controlling
The first pad feed mechanism in tool, the second pad feed mechanism the second pad put automatically one by one to tool, by crest
Pad puts crest pad feed mechanism to tool automatically one by one, the stop put stop meson automatically one by one to tool is situated between
Sub- feed mechanism, torsion spring is put to the torsion spring feed mechanism to tool automatically one by one, the side of the torsion spring feed mechanism is provided with
By the hand handle square rod feed mechanism in the automatic press-in jig of hand handle square rod, the side of the square rod feed mechanism is transmitted provided with belt
Mechanism, blanking mechanical hand is provided between the belt transmission agency and rotating disk.
As a modification of the present invention, it is provided between the torsion spring feed mechanism and hand handle square rod feed mechanism in tool
The oiling mechanism of lubricating oil is coated on inside.
Specifically, the jump ring automatic feed mechanism includes being used to jump ring arranging the automatic of output at same direction one by one
There is jump ring to export locating slot for feed mechanism, the end of the automatic feed mechanism, in addition to be arranged at jump ring output locating slot
The jump ring assembling mechanism of top, the jump ring assembling mechanism include first support plate, and the first support plate is provided with laterally sliding
Rail, lifting support and transverse cylinder, the output shaft of the transverse cylinder are connected with lifting support；The lifting support is with laterally sliding
Rail is slidably matched, and the front portion on the lifting support is installed with longitudinal slide rail and top is installed with the first lift cylinder, described vertical
Sliding seat is slidably connected on to slide rail, the sliding seat is provided with the second lift cylinder, the 3rd lift cylinder, the 4th lifting air
Cylinder, feeding pipe, shank and switch-plate, the 3rd lift cylinder be arranged on the second lift cylinder and the 4th lift cylinder it
Between, the output shaft of the 3rd lift cylinder is connected with shank, and the switch-plate is arranged on below sliding seat, the switch-plate
Offer the pilot hole penetrated for feeding pipe, the both ends of the switch-plate respectively with the second lift cylinder, the 4th lift cylinder
Axis connection is exported, the feeding pipe is arranged between sliding seat and switch-plate, and the feeding pipe is passed through by the block of several deciles
Elastic component tightens up the hollow structure that is spliced, and the shank bottom is docked with the hollow part of feeding tube hub and shank
Bottom to middle cross section increases successively.
Specifically, the automatic feed mechanism structure includes vibrating disk, linear vibrator, feed member and keeper, it is described to send
Materials and parts are fixed on the linear vibrator and offered to be slipped into and the chute of both ends open, the keeper and institute one by one for jump ring
State feed member to be disposed adjacent, and jump ring output locating slot sets on the positioning element and connected with one end of the chute, institute
Stating linear vibrator drives length direction of the feed member along the chute of reciprocating vibration, the outlet of the vibrating disk with it is described
The other end connection of chute.
Preferably, the lower section of the jump ring output locating slot is provided with falls into institute to one kind as such scheme for perceiving jump ring
State the sensing optical fiber in locating slot.
Specifically, the torsion spring feed mechanism includes being used for the self-feeding that torsion spring is arranged to output at same direction one by one
There is torsion spring to export locating slot for mechanism, the end of the automatic feed mechanism, in addition to be arranged on the upper of torsion spring output locating slot
The torsion spring assembling mechanism of side, the torsion spring assembling mechanism are slidably fitted on a traversing platform, and torsion spring assembling mechanism passes through traversing
Platform transverse shifting, torsion spring assembling mechanism between output locating slot and rotating disk include second support plate, the second support plate
On be installed with a bearing, the second support plate is also equipped with a horizontal spur rack that can be moved in the horizontal direction, the water
Straight rack connects traversing drive component, and the traversing drive component is fixed on second support plate, is provided with the bearing
The rotary shaft being distributed on one vertical direction, a circular gear, the circular gear and horizontal straight-tooth are socketed with the rotary shaft
Bar is engaged, and the bottom of the rotary shaft is connected with a lift cylinder, and pushing rotation is connected with the output shaft of the lift cylinder
Bar.
As a modification of the present invention, the torsion spring assembling mechanism also includes rebound board, the left and right two of the rebound board
End is sliding combined with guide pillar, and the guide pillar bottom passes through and is provided with slider latch, the top of the guide pillar in its end after rebound board
End is fixed on second support plate, spring is provided between the second support plate and rebound board, the spring is socketed on guide pillar.
Specifically, the traversing drive component is motor.
The present invention has advantages below and beneficial effect compared with prior art：
The present invention uses disk rotational, and all parts of door handle are assembled on the tool in disk successively, improved
The operating efficiency and product quality of door handle assembling, automaticity is high, and whole assembling process is automatically performed, and reduces artificial
Cost.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the dimensional structure diagram of jump ring automatic feed mechanism.
Fig. 3 is sliding seat and the working part structure schematic diagram being arranged on sliding seat.
Fig. 4 is the decomposition texture schematic diagram of shank and feeding pipe.
Fig. 5 is the structural representation of torsion spring assembling mechanism.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
Embodiment
Such as Fig. 1, the present embodiment provides a kind of door handle automatic assembling, including disk rotational mechanism, the disk rotational
Mechanism includes rotating disk 1 and the rotary disc driving mechanism 2 being connected with rotating disk, has if the outer circumferential of the rotating disk 1 is uniformly equally spaced
Dry tool 3, it is sequentially provided with and puts jump ring automatically one by one to the jump ring automatic feed mechanism in tool 3 along the rotation direction of rotating disk 1
4th, the first pad is put automatically one by one to the first pad feed mechanism 5 in tool 3, by the second pad and put automatically one by one to tool
The second pad feed mechanism 6 in 3, crest pad put automatically one by one to the crest pad feed mechanism 7 in tool 3, will be only
Dynamic meson is put to the stop meson feed mechanism 8 in tool 3, by torsion spring and put automatically one by one to the torsion spring in tool 3 automatically one by one
Feed mechanism 9, the side of the torsion spring feed mechanism are provided with the hand handle square rod feeder in the automatic press-in jig of hand handle square rod
Structure 10, the side of the square rod feed mechanism 10 is provided with belt transmission agency 11, between the belt transmission agency 11 and rotating disk 1
Provided with blanking mechanical hand 12.
Wherein, profit is coated on being provided between torsion spring feed mechanism 9 and hand handle the square rod feed mechanism 10 inside tool
The oiling mechanism 13 of lubricating oil.Said structure is being inserted by increasing oiling mechanism, increase hand handle square rod before hand handle square rod feeding
Enter lubrication during tool, reduce resistance, ensure the smooth stabilization of assembling.
In the present embodiment, the oiling mechanism 13 can use oiling station well known in the art, and here is omitted.
In the present embodiment, the first pad feed mechanism 5, the second pad feed mechanism 6, crest pad feed mechanism 7, stop
Meson feed mechanism 8, hand handle square rod feed mechanism 10 can use vibrating disk, line slideway and movement to pick and place material manipulator
Realize, connecting line slideway by vibrating disk realizes unified sequence and output, then by the mobile material manipulator that picks and places by each assembling
Part is placed into the tool 3 of rotating disk.
Wherein, complete by the automatic press-in jig of hand handle square rod after, blanking mechanical hand 12 by the finished product blanking after assembling, and
Belt transmission agency 11 is moved to, into subsequent processing.
With reference to Fig. 2 and Fig. 3, the jump ring automatic feed mechanism 4 includes defeated for jump ring to be arranged at same direction one by one
The automatic feed mechanism 41 gone out, there is jump ring to export locating slot 101 for the end of the automatic feed mechanism 41, in addition to be arranged at
The jump ring assembling mechanism 42 of 411 sides, the jump ring assembling mechanism 42 include first support plate 4201, institute on jump ring output locating slot
State first support plate 4201 and be provided with horizontal slide rail 4202, lifting support 4203 and transverse cylinder 4204, the transverse cylinder
4204 output shaft is connected with lifting support 4203；The lifting support 4203 is slidably matched with horizontal slide rail 4202, the liter
Front portion on descending branch seat 4203 is installed with longitudinal slide rail 4205 and top is installed with the first lift cylinder 4206, the longitudinal slide rail
Sliding seat 4207 is slidably connected on 4205, the sliding seat 4207 is provided with the second lift cylinder 4208, the 3rd lift cylinder
4209th, the 4th lift cylinder 42010, feeding pipe 42011, shank 42012 and switch-plate 42013, the 3rd lift cylinder
4209 are arranged between the second lift cylinder 4208 and the 4th lift cylinder 42010, the output of the 3rd lift cylinder 4209
Axle is connected with shank 42012, and the switch-plate 42013 is arranged on the lower section of sliding seat 4207, and the switch-plate 42012 offers
The pilot hole penetrated for feeding pipe 42011, the both ends of the switch-plate 42013 respectively with the second lift cylinder 4208, the 4th liter
The output axis connection of sending down abnormally ascending cylinder 42010, the feeding pipe 2011 is arranged between sliding seat 4207 and switch-plate 42013, described
Feeding pipe 42011 tightens up the hollow structure that is spliced by the block 42011a of several deciles by elastic component 42011b, described to insert
The bottom of extension bar 42012 docked with the hollow part at the center of feeding pipe 42011 and the bottom of shank 42012 to middle cross section according to
Secondary increase.Jump ring auto-sequencing is exported to jump ring and exports locating slot, the first lifting air by said structure by automatic feed mechanism
Cylinder driving sliding seat declines, and makes the centre bore of feeding pipe insertion jump ring, then by the 3rd lift cylinder driving shank push-in feeding
The hollow part of tube hub, the lower end of feeding pipe is opened, complete feeding；Transverse cylinder drives lifting support to target location
Afterwards, the 3rd lift cylinder driving shank fallback recovery is in situ, and is dialled by the second lift cylinder and the driving of the 4th lift cylinder
Jump ring is dialled by flitch, and so as to complete entirely to assemble feeding, existing artificial loading, jump ring peace can be substituted by said structure
Dress is convenient, safe operation.
Wherein, feeding pipe tightens up the hollow structure that is spliced by the block of several deciles by elastic component, can avoid inserting
The prolonged impulse force of extension bar is obstructed and causes stress excessive deformation or fracture, greatly improves the working life of shank, and improves whole
The stability of individual feeding process.
The automatic feed mechanism structure 41 includes vibrating disk 4102, linear vibrator 4103, feed member 4104 and keeper
4105, the feed member 4104 is fixed on the linear vibrator 4103 and offered to be slipped into and both ends open one by one for jump ring
Chute 4106, the keeper 4105 are disposed adjacent with the feed member 4104, and jump ring output locating slot 4101 is set
Connected on keeper 4105 and with one end of the chute 4106, the linear vibrator 4103 drives the feed member 4104
Of reciprocating vibration along the length direction of the chute 4106, the outlet of the vibrating disk 4102 connects with the other end of the chute 4106
It is logical.
In the present embodiment, such as Fig. 4, the shank 42012 is circle, and the bottom transverse direction face of the shank 42012 is straight
Footpath is more than or equal to the internal diameter for the hollow structure that the feeding pipe 42011 is formed.By said structure, pushed away in shank 42012
When entering the hollow part, tension force of the feeding pipe to jump ring is formed, realizes the feeding action of feeding.
Preferably, the lower section of the jump ring output locating slot 4101 is provided with to fall for perceiving jump ring one kind as such scheme
Enter the sensing optical fiber 4107 in the locating slot.By said structure, when the jump ring raw material on vibrating disk has exception or is finished,
It can find in time.
The course of work of the jump ring automatic feed mechanism 4 is as follows：Automatic feed mechanism 41 is first passed through to arrange jump ring automatically
Sequence exports to jump ring and exports locating slot 4101, and the first lift cylinder 4206 driving sliding seat 4207 declines, and inserts feeding pipe 42011
Enter the centre bore of jump ring, then drive shank 42012 to be pushed into the hollow bulb at the center of feeding pipe 42011 by the 3rd lift cylinder 4209
Position, opens the lower end of feeding pipe 42011, completes feeding, and the first lift cylinder 4206, which rises, to set back；Transverse cylinder 4204
Driving lifting support 4203, the first lift cylinder 4206 drives sliding seat 4207 to decline again to behind target location, and now the 3rd
Lift cylinder 4209 drives the fallback recovery of shank 42012 in situ, and passes through the second lift cylinder 4208 and the 4th lift cylinder
Jump ring is dialled by 42010 driving switch-plates 42013, so as to complete entirely to assemble feeding.
With reference to Fig. 1 and Fig. 5, the torsion spring feed mechanism 9 includes being used to torsion spring arranging output at same direction one by one
Automatic feed mechanism 91, there is torsion spring to export locating slot 92 for the end of the automatic feed mechanism 91, in addition to be arranged on torsion spring
The torsion spring assembling mechanism 93 of the top of locating slot 92 is exported, the torsion spring assembling mechanism 92 is slidably fitted in a traversing platform 94
On, torsion spring assembling mechanism 93 transverse shifting, torsion spring assembling mechanism between output locating slot 92 and rotating disk 1 by traversing platform 94
93 include second support plate 9301, and a bearing 9302, the second support plate 9301 are installed with the second support plate 9301
A horizontal spur rack 9303 that can be moved in the horizontal direction is also equipped with, the horizontal spur rack 9303 connects traversing driving group
Part 9304, the traversing drive component 9304 are fixed on second support plate 9301, and it is vertical to be provided with one in the bearing 9302
The rotary shaft 9305 being distributed on direction, a circular gear 9306, the circular gear 9306 are socketed with the rotary shaft 9305
Engaged with horizontal spur rack 9303, the bottom of the rotary shaft 9305 is connected with a lift cylinder 9307, the lift cylinder
It is connected with 9307 output shaft and pushes swingle 9308.Said structure drives downwards pushing swingle pressure by crossing lift cylinder
Enter on the torsion spring in fixed seat, then predetermined angle accurately rotated by way of traversing drive component is using gear driving,
The end of torsion spring is set to be connected on handle inner assembly, whole process is automatically performed, and operating efficiency is high, when effectively solving manual operation
Because accessory it is small without it is convenient for assembly the problem of, and improve the production safety of operating personnel.
As a modification of the present invention, the torsion spring assembling mechanism also includes rebound board 9309, the rebound board 9309
Left and right ends be sliding combined with guide pillar 9310, the bottom of guide pillar 9310 passes through to be provided with its end after rebound board 939 and slided
Lock piece 9311, the top of the guide pillar 9310 are fixed on second support plate 9301, the second support plate 9301 and resilience
Spring 9312 is provided between plate, the spring 9312 is socketed on guide pillar 9310.By said structure, rise in lift cylinder 10
During return, rebound board 12 can push down the torsion spring in fixed seat 3 under the action of the spring, avoid driving in the handle in fixed seat 3
Component 1 and torsion spring 2, influence assembly precision.
In the present embodiment, the traversing drive component 9304 is motor.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (6)
- A kind of 1. door handle automatic assembling, it is characterised in that：Including disk rotational mechanism, the disk rotational mechanism includes turning Disk and the rotary disc driving mechanism being connected with rotating disk, the outer circumferential of the rotating disk is uniformly equally spaced and has some tools, along rotating disk Rotation direction be sequentially provided with the jump ring automatic feed mechanism put jump ring automatically one by one to tool, by the first pad one by one from Dynamic the first pad feed mechanism put to tool, the second pad is put to the second pad feeder to tool automatically one by one Structure, crest pad feed mechanism crest pad put automatically one by one to tool, stop meson put to tool automatically one by one Interior stop meson feed mechanism, torsion spring is put to the torsion spring feed mechanism to tool, the torsion spring feed mechanism automatically one by one Side be provided with the hand handle square rod feed mechanism in the automatic press-in jig of hand handle square rod, the side of the square rod feed mechanism are set There is belt transmission agency, blanking mechanical hand is provided between the belt transmission agency and rotating disk；The oiler that lubricating oil is coated on inside tool is provided between the torsion spring feed mechanism and hand handle square rod feed mechanism Structure；The torsion spring feed mechanism includes being used to arranging torsion spring into the automatic feed mechanism of output at same direction one by one, it is described from There is torsion spring to export locating slot for the end of dynamic feed mechanism, in addition to be arranged on the torsion spring assembling of the top of torsion spring output locating slot Mechanism, the torsion spring assembling mechanism are slidably fitted on a traversing platform, and torsion spring assembling mechanism is fixed in output by traversing platform Transverse shifting between position groove and rotating disk, torsion spring assembling mechanism include second support plate, an axle are installed with the second support plate Hold, the second support plate is also equipped with a horizontal spur rack that can be moved in the horizontal direction, the horizontal spur rack connection Traversing drive component, the traversing drive component are fixed on second support plate, are provided with the bearing on a vertical direction The rotary shaft of distribution, a circular gear is socketed with the rotary shaft, the circular gear engages with horizontal spur rack, the rotation The bottom of rotating shaft is connected with a lift cylinder, and pushing swingle is connected with the output shaft of the lift cylinder.
- 2. door handle automatic assembling according to claim 1, it is characterised in that：The jump ring automatic feed mechanism includes For jump ring to be arranged to the automatic feed mechanism of output at same direction one by one, the end of the automatic feed mechanism has jump ring Locating slot is exported, in addition to is arranged at the jump ring assembling mechanism above jump ring output locating slot, the jump ring assembling mechanism includes First support plate, the first support plate are provided with horizontal slide rail, lifting support and transverse cylinder, the output of the transverse cylinder Axle is connected with lifting support；The lifting support is slidably matched with horizontal slide rail, and the front portion on the lifting support is installed with vertical The first lift cylinder is installed with to slide rail and top, sliding seat is slidably connected in the longitudinal slide rail, is set on the sliding seat There are the second lift cylinder, the 3rd lift cylinder, the 4th lift cylinder, feeding pipe, shank and switch-plate, the 3rd lifting air Cylinder is arranged between the second lift cylinder and the 4th lift cylinder, and the output shaft of the 3rd lift cylinder is connected with shank, The switch-plate is arranged on below sliding seat, and the switch-plate offers the pilot hole penetrated for feeding pipe, the switch-plate The output axis connection with the second lift cylinder, the 4th lift cylinder, the feeding pipe are arranged on sliding seat and material toggling respectively at both ends Between plate, the feeding pipe tightens up the hollow structure that is spliced, the shank bottom by the block of several deciles by elastic component End is docked with the hollow part of feeding tube hub and the bottom of shank to middle cross section increases successively.
- 3. door handle automatic assembling according to claim 2, it is characterised in that：The automatic feed mechanism includes vibration Disk, linear vibrator, feed member and keeper, the feed member are fixed on the linear vibrator and offered for jump ring one by one Slip into and the chute of both ends open, the keeper are disposed adjacent with the feed member, and jump ring output locating slot is set Connect on the positioning element and with one end of the chute, the linear vibrator drives length of the feed member along the chute Direction is of reciprocating vibration, and the outlet of the vibrating disk connects with the other end of the chute.
- 4. door handle automatic assembling according to claim 3, it is characterised in that：The lower section of the jump ring output locating slot Provided with the sensing optical fiber fallen into for perceiving jump ring in the locating slot.
- 5. door handle automatic assembling according to claim 1, it is characterised in that：The torsion spring assembling mechanism also includes back Diving board, the left and right ends of the rebound board are sliding combined with guide pillar, and the guide pillar bottom is provided with after passing through rebound board in its end Slider latch, the top of the guide pillar are fixed on second support plate, and bullet is provided between the second support plate and rebound board Spring, the spring are socketed on guide pillar.
- 6. door handle automatic assembling according to claim 5, it is characterised in that：The traversing drive component is motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610069773.4A CN105537931B (en) | 2016-01-31 | 2016-01-31 | A kind of door handle automatic assembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610069773.4A CN105537931B (en) | 2016-01-31 | 2016-01-31 | A kind of door handle automatic assembling |
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| Publication Number | Publication Date |
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| CN105537931A CN105537931A (en) | 2016-05-04 |
| CN105537931B true CN105537931B (en) | 2017-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610069773.4A Active CN105537931B (en) | 2016-01-31 | 2016-01-31 | A kind of door handle automatic assembling |
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| KR101057803B1 (en) * | 2009-03-23 | 2011-08-19 | 주식회사 폴리테크 | Automatic assembly of breather assembly |
| CN103737314B (en) * | 2013-12-10 | 2016-01-27 | 周俊雄 | Handle lock tube automatic assembling |
| CN204413501U (en) * | 2014-12-16 | 2015-06-24 | 东莞市中天自动化科技有限公司 | Jump ring automatic feed mechanism |
| CN204818638U (en) * | 2015-07-04 | 2015-12-02 | 宁波正丰机器人科技有限公司 | Hasp automatic assembly machine |
| CN204771445U (en) * | 2015-07-24 | 2015-11-18 | 广州茂迅自动化技术有限公司 | Equipment of full -automatic nailing of manometer detects production line |
| CN205520415U (en) * | 2016-01-31 | 2016-08-31 | 惠州市三协精密有限公司 | Automatic kludge of door handle |
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2016
- 2016-01-31 CN CN201610069773.4A patent/CN105537931B/en active Active
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