CN105581877A - Wheelchair robot beneficial to obstacle surmounting - Google Patents
Wheelchair robot beneficial to obstacle surmounting Download PDFInfo
- Publication number
- CN105581877A CN105581877A CN201610091852.5A CN201610091852A CN105581877A CN 105581877 A CN105581877 A CN 105581877A CN 201610091852 A CN201610091852 A CN 201610091852A CN 105581877 A CN105581877 A CN 105581877A
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- China
- Prior art keywords
- lower floor
- electric pushrod
- upper strata
- middle level
- slide block
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/30—Specific positions of the patient
- A61G2200/34—Specific positions of the patient sitting
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
Abstract
The invention discloses a wheelchair robot beneficial to obstacle surmounting. The wheelchair robot is characterized by comprising an upper layer mechanism, a middle layer mechanism and a lower layer mechanism, the upper layer mechanism comprises a chair and upper layer guide rails arranged on the two sides of the chair, main wheels and guide wheels are arranged on the chair, the lower layer mechanism comprises a lower layer guide rail and lower layer multi-joint telescopic electric push rods arranged at one end of the lower layer guide rail, the middle layer mechanism comprises a middle layer connection layer, an upper layer slide block, a lower layer slide block and middle layer multi-joint telescopic electric push rods, and the upper layer slide block, the lower layer slide block and the middle layer multi-joint telescopic electric push rods are arranged on the middle layer connection layer. The wheelchair robot has the advantages that by means of stretch-out and draw-back of the electric push rods and sliding between the guide rails and the slide blocks, people having difficulty in lower limbs and the aged can be assisted in safely and stably walking up and down stairs and getting on and off automobiles in horizontal postures without assistance of other people, and people having difficulty in lower limbs and the aged can conveniently go out to participate in social activities.
Description
Technical field
The present invention relates to a kind of wheel chair robot of being convenient to obstacle detouring, be specifically related to one and can facilitate lower limb inconvenience personUnder unmanned help, get on or off the bus reposefully with horizontal attitude and the wheel chair robot of stair.
Background technology
Chinese population Aging Problem increasingly sharpens, and old, weak, sick, the residual colony in whole nation population is increasing,Their trip problem will seem more outstanding. At present, the trip problem that solves them mainly relies on wheelchair dressPut and carry out stair activity and automobile.
At present, realize remote device of going on a journey for hotshots such as getting on-off automobiles less: asNumber of patent application 201220143111.4,201220048846.9 and 201020536137.6, by automobileOn install accessible device with pedal additional and can make wheelchair get on or off the bus; Number of patent application 200710121828.2, by automobileSeat modification is the structure being removably connected, and can make the crowd who takes wheel-chair change seat under other people supportTo automotive seat. But they need install additional or conversion apparatus onboard, and need other people help under abilityRealization is got on or off the bus, and is difficult to the actual utilization that extensively drops into.
But the wheelchair device that can realize stair activity and the outdoor trip of short distance is more, number of patent application is201210044772.6, utilize wheel leg modular appliance can make the continuous stair activity of wheelchair, open air is converted to 4 and takes turnsMobile; Number of patent application is 200910135965.0, utilizes tri-star wheel mechanism to carry out speeling stairway, and adopt open airMove ahead by 4 wheel drive; Number of patent application is 201410690065.3, in tri-star wheel mechanism, improves,Between the Round Wheel state can make the tri-star wheel state of wheelchair tire in the time of stair climbing and level land travel time, fast turnChange. But their center of gravity fluctuation problem exists all the time, stationarity is poor.
Therefore, these devices still can not meet the demands in help getting on-off automobile and stair problem.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of wheelchair machine of being convenient to obstacle detouringPeople, can facilitate lower limb inconvenience person under unmanned help with horizontal attitude stair activity and automobile reposefully.
In order to realize above-mentioned target, the present invention adopts following technical scheme:
A wheel chair robot of being convenient to obstacle detouring, is characterized in that, comprises upper strata mechanism, middle level mechanism and lower floorMechanism; Described upper strata mechanism comprises seat and is arranged on the upper strata guide rail of described seat both sides; On described seatBe provided with main wheel and directive wheel; Mechanism of described lower floor comprises lower floor's guide rail and is arranged on described lower floor's guide rail one endLower floor's multi-joint telescoping electric pushrod; Described middle level mechanism comprises middle level articulamentum and is arranged on described middle level and connectsConnect upper strata slide block, lower floor's slide block, middle level multi-joint telescoping electric pushrod on layer; Described upper strata slide block and upper strataGuide rail matches, and lower floor's slide block and lower floor's guide rail match; Above the articulamentum of described middle level, upper strata electricity is installedMoving push rod, push rod one end is fixedly connected with on the seat, described upper strata electric pushrod be used for driving upper strata slide block withUpper strata guide rail relative sliding; Below the articulamentum of described middle level, lower floor's electric pushrod is installed, push rod one end is fixedBe connected on lower floor's guide rail, described lower floor electric pushrod is used for driving lower floor's slide block and lower floor's guide rail relative sliding;Described middle level multi-joint telescoping electric pushrod is arranged on the end of middle level articulamentum.
Aforesaid a kind of wheel chair robot of being convenient to obstacle detouring, is characterized in that, on described seat, is provided with safety belt;The back side of described seat be provided with for car in fixing jockey.
Aforesaid a kind of wheel chair robot of being convenient to obstacle detouring, is characterized in that, electronic the pushing away of described middle level multi-joint telescopingBar and lower floor's multi-joint telescoping electric pushrod are symmetrically arranged with respectively two.
Aforesaid a kind of wheel chair robot of being convenient to obstacle detouring, is characterized in that, electronic the pushing away of described middle level multi-joint telescopingIn bar, lower floor's multi-joint telescoping electric pushrod, upper strata electric pushrod and lower floor's electric pushrod, be provided with and can prevent revolvingThe limit switch turning, power-off stops rear push-rod in current location self-locking.
Aforesaid a kind of wheel chair robot of being convenient to obstacle detouring, is characterized in that, on described main wheel, be provided with motor andBrake gear.
Aforesaid a kind of wheel chair robot of being convenient to obstacle detouring, is characterized in that, also comprises infrared height measuring device.
The beneficial effect that the present invention reaches: the present invention passes through between stretching of electric pushrod and guide rail and slide blockSlide, can assist lower limb inconvenience person and the elderly safely and smoothly upper and lower with horizontal attitude under unmanned helpStair and automobile, be convenient to trip and carry out social activities.
Brief description of the drawings
Fig. 1 is the structural representation of this device;
Fig. 2 (1)-(10) are the view of getting on the bus of this device.
The implication of Reference numeral in figure:
1-middle level multi-joint telescoping electric pushrod, 2-directive wheel, 3-upper strata guide rail, 4-upper strata slide block, 5-wheelchair,6-middle level articulamentum, 7-lower floor guide rail, 8-lower floor slide block, 9-main wheel, 10-lower floor multi-joint telescoping electric pushrod.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described. Following examples are only for more clearly explanationThe technical scheme of getting on-off automobile of the present invention, and can not limit the scope of the invention with this.
This device is mainly made up of upper, middle and lower-ranking mechanism, and upper and lower layer of mechanism combines by corresponding slide railMechanism is connected with middle level.
Upper strata mechanism reequips on common electric wheelchair basis, installs upper strata additional at wheelchair two medial surface facesGuide rail 3 installs safety belt additional on wheelchair 5 seats, on wheelchair 5 chair back, install additional can with fixing being connected in carDevice. On seat 5, be provided with former and later two infrared height measuring devices, for test desk terrace height and width.
Upper strata guide rail 3 is connected with upper strata slide block 4, and upper strata electric pushrod drives upper strata slide block 4 and upper strataGuide rail 3 relative slidings.
Same, lower floor's guide rail 7 is connected with lower floor's slide block 8, and lower floor's electric pushrod drives lower floor's slide block 8With lower floor's guide rail 7 relative slidings.
Middle level multi-joint telescoping electric pushrod 1, lower floor's multi-joint telescoping electric pushrod 10, upper strata electric pushrod and underLayer is provided with limit switch that can be anti-rotation in electric pushrod, and power-off stops rear push-rod in current location self-locking,Under synchronous driving, realize synchronization telescope. Electronic at middle level multi-joint telescoping electric pushrod 1 and lower floor's multi-joint telescopingAfter 10 one end while of push rod kiss the earth, under synchronous driving, can make wheelchair entirety vertical lift.
Describe as embodiment using the wheelchair step of getting on the car below, while specifically enforcement, mode is as follows:
The first step: as shown in Fig. 2 (1), middle level multi-joint telescoping electric pushrod 1 and lower floor's multi-joint telescoping are electronicPush rod 10 is in power-off contraction state, directive wheel 2 and main wheel 9 kiss the earths, main wheel 9 rotating drive wheelchairsTravel to automobile step side in front in level land, now directive wheel 2 contacts step surface.
Second step: as shown in Fig. 2 (2), middle level multi-joint telescoping electric pushrod 1 and lower floor's multi-joint telescoping are electronicPush rod 10 turns round with identical speed, and push rod extends kiss the earth simultaneously, then extends H1, and wheelchair entirety is verticalThe H1 that raises reposefully, wherein, H1 is overhead height of automobile step identity distance.
The 3rd step: as shown in Fig. 2 (3), under upper strata electric pushrod drives, upper strata mechanism is along upper strata slide block4 relative middle level mechanisms, to front slide certain distance L 1, make upper strata mechanism center of gravity cross middle level multi-joint telescoping electronicPush rod 1 centre of support certain distance, the directive wheel 2 core wheels terrace of more appearing on the stage.
The 4th step: as shown in Fig. 2 (4), lower floor's multi-joint telescoping electric pushrod 10 turns round, and push rod is packed up lengthH2。
Under lower floor's electric pushrod drives, mechanism of lower floor is along the relative middle level of lower floor's slide block 8 mechanism to front slide oneSet a distance L1, now, the center of gravity of middle level mechanism is not crossed in lower floor's multi-joint telescoping electric pushrod 10 centres of support;Lower floor's multi-joint telescoping electric pushrod 10 turns round, push rod extended length H2, push rod kiss the earth.
The 5th step: as shown in Fig. 2 (5), middle level multi-joint telescoping electric pushrod 1 turns round, and push rod is packed up lengthH2。
Under upper strata electric pushrod drives, middle level mechanism with speed V along the relative upper strata of upper strata slide block 4 mechanism forwardSlip certain distance L 1, lower floor's multi-joint telescoping electric pushrod 10 drives middle level mechanism with under speed V edge simultaneouslyLayer slide block 8 mechanism of relative lower floor are to front slide certain distance L 1; Middle level multi-joint telescoping electric pushrod 1 turns round,Push rod extends H2, push rod kiss the earth.
The 6th step: as shown in Fig. 2 (6), upper strata electric pushrod drives upper strata mechanism relative along upper strata slide block 4Middle level mechanism, to front slide certain distance L 1, makes upper strata mechanism center of gravity cross middle level multi-joint telescoping electric pushrod 1Centre of support certain distance.
The 7th step: as shown in Fig. 2 (7), the guide rail locking apparatus of upper strata slide block 4 is opened, and lower floor's more piece is stretchedContracting electric pushrod 10 turns round, and push rod is packed up certain length H2.
The guide rail locking apparatus of lower floor's slide block 8 unclamps, under lower floor's electric pushrod drives, under mechanism of lower floor edgeThe layer relative middle level of slide block 8 mechanism is to front slide certain distance L 1, but lower floor's multi-joint telescoping electric pushrod 10 supportsThe center of gravity of middle level mechanism is not crossed at center, and lower floor's multi-joint telescoping electric pushrod 10 turns round, and push rod extends a fixed lengthDegree H2, push rod kiss the earth.
The 8th step: as shown in Fig. 2 (8), middle level multi-joint telescoping electric pushrod 1 turns round, and push rod is packed up necessarilyLength H3; Upper strata electric pushrod drive under middle level mechanism with speed V along the relative upper strata of upper strata slide block 4 mechanismTo front slide certain distance L 1, simultaneously lower floor's electric pushrod drive middle level mechanism with speed V along lower floor's slide block 8Mechanism of lower floor is to front slide certain distance L 1 relatively; Middle level multi-joint telescoping electric pushrod 1 turns round, and push rod extendsH4 (H4=H3-H1), push rod kiss the earth.
The 9th step: as shown in Fig. 2 (9), the guide rail locking apparatus of lower floor's slide block 8 is opened, and upper strata is electronic to push awayBar drives upper strata mechanism along the relative middle level of upper strata slide block 4 mechanism to front slide certain distance L 1, makes upper strata mechanismCenter of gravity is crossed middle level multi-joint telescoping electric pushrod 1 centre of support certain distance, the main wheel 9 core wheels terrace of more appearing on the stage.
The tenth step: as shown in Fig. 2 (10), middle level multi-joint telescoping electric pushrod 1 and lower floor's multi-joint telescoping are electronicPush rod 10 turns round, and push rod is contracted to the shortest, and upper strata electric pushrod drives middle level mechanism relative along upper strata slide block 4Upper strata mechanism is to front slide certain distance L 1.
So far, wheelchair main wheel 9 contacts step surface with directive wheel 2, and wheelchair entirety is climbed up automobile step reposefullyFace. Get off process in contrast. In more than operating, middle level multi-joint telescoping electric pushrod 1, lower floor's multi-joint telescopingElectric pushrod 10, upper strata electric pushrod and lower floor's electric pushrod are in the situation that being failure to actuate, and all power-off stops atFront position self-locking.
The scope of application of this device is not only confined to getting on-off automobile, safely and smoothly stair activity.
The above is only the preferred embodiment that the present invention gets on or off the bus, and it should be pointed out that for the artThose of ordinary skill, not departing under the prerequisite of the technology of the present invention principle, can also make some changingEnter and be out of shape, these improvement and distortion also should be considered as protection scope of the present invention.
Claims (6)
1. a wheel chair robot of being convenient to obstacle detouring, is characterized in that, comprise upper strata mechanism, middle level mechanism and underLayer mechanism;
Described upper strata mechanism comprises seat and is arranged on the upper strata guide rail of described seat both sides; On described seat, establishBe equipped with main wheel and directive wheel;
Mechanism of described lower floor comprises lower floor's guide rail and is arranged on lower floor's multi-joint telescoping electricity of described lower floor's guide rail one endMoving push rod;
Described middle level mechanism comprise middle level articulamentum and be arranged on upper strata slide block on the articulamentum of described middle level, underLayer slide block, middle level multi-joint telescoping electric pushrod; Described upper strata slide block and upper strata guide rail match, lower floor's slide blockMatch with lower floor guide rail;
Above the articulamentum of described middle level, upper strata electric pushrod is installed, push rod one end is fixedly connected with on the seat,Described upper strata electric pushrod is used for driving upper strata slide block and upper strata guide rail relative sliding;
Below the articulamentum of described middle level, lower floor's electric pushrod is installed, push rod one end is fixedly connected on lower floor's guide railUpper, described lower floor electric pushrod is used for driving lower floor's slide block and lower floor's guide rail relative sliding;
Described middle level multi-joint telescoping electric pushrod is arranged on the end of middle level articulamentum.
2. a kind of wheel chair robot of being convenient to obstacle detouring according to claim 1, is characterized in that, described seatOn chair, be provided with safety belt; The back side of described seat be provided with for car in fixing jockey.
3. a kind of wheel chair robot of being convenient to obstacle detouring according to claim 1, is characterized in that, described inLayer multi-joint telescoping electric pushrod and lower floor's multi-joint telescoping electric pushrod are symmetrically arranged with respectively two.
4. a kind of wheel chair robot of being convenient to obstacle detouring according to claim 1, is characterized in that, described inLayer multi-joint telescoping electric pushrod, lower floor's multi-joint telescoping electric pushrod, upper strata electric pushrod and lower floor's electric pushrodInside be provided with can be anti-rotation limit switch, power-off stops rear push-rod in current location self-locking.
5. a kind of wheel chair robot of being convenient to obstacle detouring according to claim 1, is characterized in that described masterMotor and brake gear are installed on wheel.
6. a kind of wheel chair robot of being convenient to obstacle detouring according to claim 1, is characterized in that, also comprisesInfrared height measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091852.5A CN105581877B (en) | 2016-02-19 | 2016-02-19 | A kind of wheel chair robot for being easy to obstacle detouring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610091852.5A CN105581877B (en) | 2016-02-19 | 2016-02-19 | A kind of wheel chair robot for being easy to obstacle detouring |
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| Publication Number | Publication Date |
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| CN105581877A true CN105581877A (en) | 2016-05-18 |
| CN105581877B CN105581877B (en) | 2017-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610091852.5A Active CN105581877B (en) | 2016-02-19 | 2016-02-19 | A kind of wheel chair robot for being easy to obstacle detouring |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726203A (en) * | 2016-12-12 | 2017-05-31 | 王昱霖 | It is a kind of suitable for disabled students can speeling stairway wheelchair |
| CN107088122A (en) * | 2016-12-26 | 2017-08-25 | 吴跃志 | One kind cuts support lifting sliding rail and translates the detachable amphibious wheelchair in stair climbing level land |
| CN107307953A (en) * | 2017-07-28 | 2017-11-03 | 嘉兴川页奇精密自动化机电有限公司 | A kind of high folding quick-expansion shoring |
| CN107361693A (en) * | 2017-08-28 | 2017-11-21 | 合肥立腾信息科技有限责任公司 | A kind of intelligent sweeping |
| CN107485500A (en) * | 2017-08-18 | 2017-12-19 | 常州摩本智能科技有限公司 | Manned intelligent robot |
| CN108527379A (en) * | 2018-03-29 | 2018-09-14 | 上海理工大学 | A kind of station service for blind readers robot |
| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN108652844A (en) * | 2018-03-07 | 2018-10-16 | 袁静 | A kind of intelligent robot with function of riding instead of walk |
| CN110916918A (en) * | 2019-12-09 | 2020-03-27 | 河海大学常州校区 | Multifunctional stepping barrier-free wheelchair |
| CN111631871A (en) * | 2020-05-07 | 2020-09-08 | 中国地质大学（武汉） | Wheelchair capable of going up and down stairs |
| CN112168520A (en) * | 2020-11-03 | 2021-01-05 | 苏州知遇光电科技有限公司 | Wheel chair |
| US11759379B2 (en) * | 2017-11-10 | 2023-09-19 | Orbilift Pty Ltd | Conveyance for surmounting obstacles |
| CN111631871B (en) * | 2020-05-07 | 2024-06-04 | 中国地质大学（武汉） | Wheelchair capable of going upstairs and downstairs |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020001400B4 (en) * | 2020-03-03 | 2021-11-25 | Freemotion Systems GmbH | Means of transport for the locomotion or transport of people or goods, especially wheelchairs |
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| CN205515254U (en) * | 2016-02-19 | 2016-08-31 | 浙江大学昆山创新中心 | Wheelchair robot convenient to hinder more |
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| FR2232475A1 (en) * | 1973-06-06 | 1975-01-03 | Tyszkiewicz Stefan | Baggage trolley or invalid chair - telescopic legs and lever system maintain platform level on gradient or steps |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726203B (en) * | 2016-12-12 | 2018-03-30 | 王昱霖 | It is a kind of suitable for disabled students can speeling stairway wheelchair |
| CN106726203A (en) * | 2016-12-12 | 2017-05-31 | 王昱霖 | It is a kind of suitable for disabled students can speeling stairway wheelchair |
| CN107088122A (en) * | 2016-12-26 | 2017-08-25 | 吴跃志 | One kind cuts support lifting sliding rail and translates the detachable amphibious wheelchair in stair climbing level land |
| CN107307953A (en) * | 2017-07-28 | 2017-11-03 | 嘉兴川页奇精密自动化机电有限公司 | A kind of high folding quick-expansion shoring |
| CN107485500A (en) * | 2017-08-18 | 2017-12-19 | 常州摩本智能科技有限公司 | Manned intelligent robot |
| CN107361693A (en) * | 2017-08-28 | 2017-11-21 | 合肥立腾信息科技有限责任公司 | A kind of intelligent sweeping |
| US11759379B2 (en) * | 2017-11-10 | 2023-09-19 | Orbilift Pty Ltd | Conveyance for surmounting obstacles |
| CN108652844A (en) * | 2018-03-07 | 2018-10-16 | 袁静 | A kind of intelligent robot with function of riding instead of walk |
| CN108527379A (en) * | 2018-03-29 | 2018-09-14 | 上海理工大学 | A kind of station service for blind readers robot |
| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN110916918A (en) * | 2019-12-09 | 2020-03-27 | 河海大学常州校区 | Multifunctional stepping barrier-free wheelchair |
| CN110916918B (en) * | 2019-12-09 | 2022-03-01 | 河海大学常州校区 | Multifunctional stepping barrier-free wheelchair |
| CN111631871A (en) * | 2020-05-07 | 2020-09-08 | 中国地质大学（武汉） | Wheelchair capable of going up and down stairs |
| CN111631871B (en) * | 2020-05-07 | 2024-06-04 | 中国地质大学（武汉） | Wheelchair capable of going upstairs and downstairs |
| CN112168520A (en) * | 2020-11-03 | 2021-01-05 | 苏州知遇光电科技有限公司 | Wheel chair |
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| Publication number | Publication date |
|---|---|
| CN105581877B (en) | 2017-09-12 |
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