CN105710874A - Robot system for demolding and carrying of washing machine door seal - Google Patents
Robot system for demolding and carrying of washing machine door seal Download PDFInfo
- Publication number
- CN105710874A CN105710874A CN201610205939.0A CN201610205939A CN105710874A CN 105710874 A CN105710874 A CN 105710874A CN 201610205939 A CN201610205939 A CN 201610205939A CN 105710874 A CN105710874 A CN 105710874A
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- Prior art keywords
- guide rail
- push rod
- cylinder
- fixed
- plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4208—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots and driven by the movable mould part
- B29C2045/4216—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots and driven by the movable mould part releasable drive connections between the robot and the movable mould
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot system for demolding and carrying of a washing machine door seal. The robot system comprises a concave guide rail horizontally arranged, a six-axle robot, a clamping jaw device and an electronic weighing device; the six-axle robot is mounted on the guide rail through a mounting plate; the clamping jaw device is fixedly connected with the six-axle robot; and the electronic weighing device is arranged on the mounting plate, and is parallel to the six-axle robot. As the six-axle robot mounted on the guide rail and capable of moving is matched with the clamping jaw device to replace manual operation, and is synchronously matched with four injection molding machines to work, the actions are simple, the joint is smooth, and the demolding efficiency can be greatly improved; and meanwhile, the robot system is simple in structure, convenient for maintenance and low in comprehensive use cost.
Description
Technical field
The invention belongs to washing machine production field, be specifically related to a kind of robot system for the washing machine door seal demoulding and carrying, belong to automatic field.
Background technology
Along with roller washing machine is more and more universal, the market demand sustainable growth to roller washing machine.As the parts that roller washing machine is important--gasket, there is the very big market space.Traditional gasket produces and produces mainly by injection moulding machine manual operation, and production process belongs to high temperature high-risk operations and inefficiency, quality cannot ensure simultaneously, along with the continuous growth of cost of labor, under traditional mode of production, product cost rises violently, and increasingly can not meet the demand in market.Enterprise considers to promote working performance by automatic improving, and owing to substituting the scheme of manual work by expensive automation equipment, owing to lacking economy, and improved efficiency is limited, and enterprise may not adopt.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of six-joint robot being arranged on removable guide rail and replace the clamping jaw device of manual work, four injection moulding machine work can be coordinated simultaneously, increase substantially production efficiency, reduce use cost.
For reaching above-mentioned purpose, technical scheme is as follows: a kind of robot system for the washing machine door seal demoulding and carrying, including the horizontally disposed matrix guide rail being embedded with slide block, six-joint robot, for capturing the clamping jaw device of door seal, electronic weighing device, electric cabinet, described guide rail is provided with the installing plate for mounting robot, described installing plate is fixing with described slide block to be connected, described six-joint robot one end is fixed on described installing plate, the other end is fixing with described clamping jaw device to be connected, described installing plate is additionally provided with the 7th spindle motor, described 7th spindle motor rotor is fixed with gear, described gear be fixed on inside described guide rail and match with the tooth bar of described guide rail parallel, when described 7th spindle motor rotates, described installing plate and described six-joint robot can be driven to do rectilinear motion；Linking with described six-joint robot and also include described electric cabinet, described electric cabinet is arranged in the middle of outside described guide rail；
Described electronic weighing device is fixed on described installing plate by bracing frame, arrange parallel with described six-joint robot, described electronic weighing device is provided with close to described electronic weighing device upper surface push rod, described electronic weighing device side is provided with the first telescopic cylinder, and described push rod is fixing with described first telescopic cylinder expansion link to be connected；Also including of being flexibly connected with described push rod pass through push rod shaft, described push rod is provided with the hole of symmetry, described push rod shaft is vertical with described push rod through described hole, and described first telescopic cylinder drives described push rod to move in the horizontal direction, vertical with the described installing plate direction of motion；
Described clamping jaw device includes frame, be fixed in described frame clip claw mechanism, two grasping mechanisms being symmetricly set in described frame；Described frame includes first substrate, second substrate, the first gripper shoe, the second gripper shoe, connecting plate；Described first substrate is connected by described first gripper shoe Z-type is fixing with described second substrate, and described connecting plate is arcuate structure, and described connecting plate axis is fixed with described second gripper shoe, and described second gripper shoe is fixing with described second substrate to be connected；；Described clip claw mechanism includes jacking cylinder and jaw cylinder, described jacking cylinder is fixed on the first cylinder mounting plate, described first cylinder mounting plate is connected with described second substrate by adjustment plate, described jaw cylinder is fixed on the second cylinder mounting plate, described second cylinder mounting plate is connected with described jacking cylinder by fixing plate, and described jaw cylinder is provided with the Y type jaw for gripping gasket of symmetry；Described grasping mechanism includes stationary jaw, and described stationary jaw is fixed on described connecting plate, is correspondingly arranged with described stationary jaw and also includes demoulding mat, and described demoulding mat is fixed on the second telescopic cylinder；Described second telescopic cylinder is fixed on hinge；The described hinge other end is connected with described cylinder adjustable plate, and described cylinder adjustable plate is connected with described connecting plate；
In a preferred embodiment of the present invention, also including adjusting base, described adjustment base is arranged on for supporting described guide rail below described guide rail, and described adjustment base equidistantly extends to the other end from described guide rail one end.Adjust base and can adjust the horizontal-shift that guide rail produces because of surface subsidence flexibly.
In a preferred embodiment of the present invention, also including cable drag chain, described cable drag chain is arranged on described guide rail side, and with described guide rail parallel, described cable drag chain one end is fixing with described installing plate to be connected, and the other end is fixing with described electric cabinet to be connected.When robot moves, cable drag chain is used for protecting electric wiring.
In a preferred embodiment of the present invention, also include the line chain bracket for carrying described cable drag chain, described line chain bracket at least has two, described line chain bracket includes U-shaped support and the rotating shaft that can rotate freely around axle center, described line chain bracket and described electric cabinet homonymy, it is set in qually spaced in described electric cabinet side, and with described line chain drag chain on same straight line.Described line chain bracket can carry the cable drag chain of movement, reduces drag chain to the drag of six-joint robot and resistance.
In a preferred embodiment of the present invention, between described push rod with described push rod shaft, it is nested with the linear bearing matched with described push rod shaft.Linear bearing can reduce push rod moving resistance, improves the moving stability.
The invention has the beneficial effects as follows:
1. it is arranged on guide rail moveable six-joint robot and replaces manual work owing to adopting, four injection moulding machines work can be coordinated simultaneously, increase substantially production efficiency, reduction use cost.
2. owing to adopting the clamping jaw device simulating the artificial demoulding, action is simple, is connected smooth and easy, and demoulding efficiency can be greatly improved, simultaneously simple in construction, and easy to maintenance, comprehensive use cost is low.
3. owing to whole Work robot is made up of modularity, can simply change module therein, the automated production needs of products of different specifications can be met, further reduce enterprise's use cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, the accompanying drawing used required in the description of embodiment technology will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is present configuration figure
Fig. 2 is electronic weighing device structure chart
Fig. 3 is clip claw mechanism structure chart
Wherein, 1 is guide rail, 2 is line chain support, 3 for adjusting base, 4 is electric cabinet, 5 is cable drag chain, 6 is installing plate, 7 is the 7th spindle motor, 8 is electronic weighing device, 9 is limited block, 10 is door seal, 11 is clamping jaw device, 12 is six-joint robot, 13 is the first telescopic cylinder, 14 is push rod shaft, 15 is push rod, 16 claim for electronic-weighing, 17 is linear bearing, 31 is adpting flange, 32 is the first gripper shoe, 33 is the second telescopic cylinder, 34 is hinge handle, 35 is jaw cylinder, 36 is the second brace rod, 37 is hinge, 38 is cylinder adjustable plate, 39 is demoulding mat, 310 is stationary jaw, 311 is jaw protective pad, 312 is connecting plate, 316 is the first brace rod, 317 is second substrate, 318 is first substrate, 319 is fixing plate, 320 is the second cylinder mounting plate, 321 is jacking cylinder, 322 is the first cylinder mounting plate；
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Embodiment
As shown in Figure 1, a kind of robot system for the washing machine door seal demoulding and carrying disclosed in the present embodiment, including horizontally disposed matrix guide rail 1, it is big that matrix guide rail 1 has Area of bearing, the advantage that bearing capacity is high, guide rail 1 is arranged below adjusting base 3 and for supporting guide 1 and adjusts guide rail 1 levelness, adjusts base 3 and equidistantly extends to the other end from guide rail 1 one end.Guide rail 1 is embedded with some slide blocks 18, guide rail 1 is provided with the installing plate 6 for installing six-joint robot 12, installing plate 6 is fixing with slide block 18 to be connected, six-joint robot 12 one end is fixed on installing plate 6, the other end is fixed with clamping jaw device 11, installing plate 6 is additionally provided with the 7th spindle motor 7, 7th spindle motor 7 rotor is fixed with gear, gear matches with the tooth bar 19 being fixed on inside guide rail with guide rail parallel, when 7th spindle motor 7 rotates, rectilinear motion can be done by drive installation plate 6 with six-joint robot 12, the combination of wheel and rack 19, the 7th spindle motor 7 Bit andits control can be made more accurate, reduce cumulative errors.Guide rail 1 side centre position is provided with electric cabinet 4, connects for controlling installing plate 6, six-joint robot 12, the motion of clamping jaw device 11 and the Electric Wires & Cables of correspondence.
The electric wiring that electric cabinet 4 and installing plate 6 connect is protected by cable drag chain 5; cable drag chain 5 is arranged on guide rail 1 side; parallel with guide rail 1; cable drag chain 5 one end is fixed with installing plate 6, and the other end is fixed with electric cabinet 4, in installing plate 6 moving process; while cable drag chain 5 one end is moved with installing plate 6; dragging drag chain horizontal movement, electric wiring cable uniformly bends, and reduces cable abrasion.
Another side at electric cabinet 4 is additionally provided with the line chain bracket 2 for carrying cable drag chain 5, line chain bracket 2 at least has two, line chain bracket 2 includes U-shaped support and the rotating shaft 20 that can rotate freely around axle center, line chain bracket 2 and electric cabinet 4 homonymy, it is set in qually spaced in electric cabinet 4 side, and with line chain drag chain 5 on same straight line.When installing plate 6 moves to guide rail 1 opposite side, installing plate 6, due to gravity, can be produced drag by cable drag chain 5, after warp chain bracket 2 supports, this drag can be reduced, owing to line chain bracket 2 has the rotating shaft 20 that can rotate around axle center, maximize the resistance reducing cable drag chain 5 horizontal movement.
As shown in Figure 2, electronic weighing device 8 is fixed on installing plate 6 by bracing frame, arrange parallel with six-joint robot 12, electronic weighing device 8 is provided with close to electronic weighing device upper surface push rod 15, electronic weighing device 8 side is provided with the first telescopic cylinder 13, and push rod 15 is fixing with the first telescopic cylinder 13 expansion link to be connected；What be flexibly connected with push rod 15 also includes by push rod shaft 14, and push rod is provided with the hole of symmetry, and push rod shaft 14 is vertical with push rod 15 through hole, and the first telescopic cylinder 13 drives push rod 15 to move in the horizontal direction, vertical with installing plate 6 direction of motion；When door seal is placed on electronic weighing device 8 by clamping jaw device 11, electronic weighing device 8 records the weight of door seal, satisfactory, the first telescopic cylinder 13 drive push rod 15 door seal is shifted onto with on the conveyer belt on electronic-weighing side.
As it is shown on figure 3, clamping jaw device 11 includes frame, the clip claw mechanism that is fixed in frame, two grasping mechanisms being symmetricly set in frame；Frame includes first substrate 318, second substrate the 317, first gripper shoe the 32, second gripper shoe 322, connecting plate 312；First substrate 318 is fixing with first gripper shoe 32 one end to be connected, and first gripper shoe 32 other end is fixing with second substrate 317 one end to be connected, and second substrate 317 is connected by the second gripper shoe 317 with connecting plate 312；Clip claw mechanism includes jacking cylinder 321 and jaw cylinder 35, jacking cylinder 321 is fixed on the first cylinder mounting plate 322, first cylinder mounting plate 322 is connected with second substrate 317 by adjustment plate, jaw cylinder 35 is fixed on the second cylinder mounting plate 320, second cylinder mounting plate 320 is connected with jacking cylinder 321 by fixing plate 319, and jaw cylinder 35 is provided with the Y type jaw for gripping gasket of symmetry；Grasping mechanism includes stationary jaw 310, and stationary jaw 310 is fixed on connecting plate 312, is correspondingly arranged with stationary jaw 310 and also includes demoulding mat 39, and demoulding mat 39 is fixed on the second telescopic cylinder 33；Second telescopic cylinder 33 is fixed on hinge 37；Hinge 37 other end is connected with cylinder adjustable plate 38, and cylinder adjustable plate 38 is connected with connecting plate 312；Connecting plate 312 is curved, and matches with injection moulding machine mould outline, and grasping mechanism is symmetricly set on arc both sides, be more conducive to grasping mechanism fully in contact with step up door seal.
It is arranged on guide rail moveable six-joint robot owing to adopting and replaces manual work, four injection moulding machines work can be coordinated simultaneously, increase substantially production efficiency, reduction use cost.
Further owing to adopting the clamping jaw device simulating the artificial demoulding, action is simple, is connected smooth and easy, and demoulding efficiency can be greatly improved, simultaneously simple in construction, and easy to maintenance, comprehensive use cost is low.
Owing to whole Work robot is made up of modularity, can simply change module therein, the automated production needs of products of different specifications can be met, reduce enterprise's use cost further.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.The multiple amendment of these embodiments be will be apparent from for those skilled in the art, and generic principles defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (5)
1. the robot system for the washing machine door seal demoulding and carrying, it is characterized in that: include the horizontally disposed matrix guide rail being embedded with slide block, six-joint robot, for capturing the clamping jaw device of door seal, electronic weighing device, electric cabinet, described guide rail is provided with the installing plate for mounting robot, described installing plate is fixing with described slide block to be connected, described six-joint robot one end is fixed on described installing plate, the other end is fixing with described clamping jaw device to be connected, described installing plate is additionally provided with the 7th spindle motor, described 7th spindle motor rotor is fixed with gear, described gear be fixed on inside described guide rail and match with the tooth bar of described guide rail parallel, when described 7th spindle motor rotates, described installing plate and described six-joint robot can be driven to do rectilinear motion；Linking with described six-joint robot and also include described electric cabinet, described electric cabinet is arranged in the middle of outside described guide rail；
Described electronic weighing device is fixed on described installing plate by bracing frame, arrange parallel with described six-joint robot, described electronic weighing device is provided with close to described electronic weighing device upper surface push rod, described electronic weighing device side is provided with the first telescopic cylinder, and described push rod is fixing with described first telescopic cylinder expansion link to be connected；Also including of being flexibly connected with described push rod pass through push rod shaft, described push rod is provided with the hole of symmetry, described push rod shaft is vertical with described push rod through described hole, and described first telescopic cylinder drives described push rod to move in the horizontal direction, vertical with the described installing plate direction of motion；
Described clamping jaw device includes frame, be fixed in described frame clip claw mechanism, two grasping mechanisms being symmetricly set in described frame；Described frame includes first substrate, second substrate, the first gripper shoe, the second gripper shoe, connecting plate；Described first substrate is connected by described first gripper shoe Z-type is fixing with described second substrate, and described connecting plate is arcuate structure, and described connecting plate axis is fixed with described second gripper shoe, and described second gripper shoe is fixing with described second substrate to be connected；Described clip claw mechanism includes jacking cylinder and jaw cylinder, described jacking cylinder is fixed on the first cylinder mounting plate, described first cylinder mounting plate is connected with described second substrate by adjustment plate, described jaw cylinder is fixed on the second cylinder mounting plate, described second cylinder mounting plate is connected with described jacking cylinder by fixing plate, and described jaw cylinder is provided with the Y type jaw for gripping gasket of symmetry；Described grasping mechanism includes stationary jaw, and described stationary jaw is fixed on described connecting plate, is correspondingly arranged with described stationary jaw and also includes demoulding mat, and described demoulding mat is fixed on the second telescopic cylinder；Described second telescopic cylinder is fixed on hinge；The described hinge other end is connected with described cylinder adjustable plate, and described cylinder adjustable plate is connected with described connecting plate.
2. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 1, it is characterized in that: also include adjusting base, described adjustment base is arranged on for supporting described guide rail below described guide rail, and described adjustment base equidistantly extends to the other end from described guide rail one end.
3. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 1, it is characterized in that: also include cable drag chain, described cable drag chain is arranged on described guide rail side, with described guide rail parallel, described cable drag chain one end is fixing with described installing plate to be connected, and the other end is fixing with described electric cabinet to be connected.
4. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 1, it is characterized in that: also include the line chain bracket for carrying described cable drag chain, described line chain bracket at least has two, described line chain bracket includes U-shaped support and the rotating shaft that can rotate freely around axle center, described line chain bracket and described electric cabinet homonymy, it is set in qually spaced in described electric cabinet side, and with described line chain drag chain on same straight line.
5. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 1, it is characterised in that: it is nested with the linear bearing matched with described push rod shaft between described push rod with described push rod shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610205939.0A CN105710874B (en) | 2016-04-05 | 2016-04-05 | A kind of robot system for being stripped and carrying for washing machine door seal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610205939.0A CN105710874B (en) | 2016-04-05 | 2016-04-05 | A kind of robot system for being stripped and carrying for washing machine door seal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105710874A true CN105710874A (en) | 2016-06-29 |
| CN105710874B CN105710874B (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610205939.0A Active CN105710874B (en) | 2016-04-05 | 2016-04-05 | A kind of robot system for being stripped and carrying for washing machine door seal |
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| Country | Link |
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| CN (1) | CN105710874B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186693A (en) * | 2017-06-05 | 2017-09-22 | 上海发那科机器人有限公司 | A kind of walking axle of small scale robot |
| CN107972047A (en) * | 2017-12-27 | 2018-05-01 | 天津福臻工业装备有限公司 | Axle construction outside robot roller type |
| CN112296529A (en) * | 2019-08-01 | 2021-02-02 | 赤壁市万皇智能设备有限公司 | Automatic production line for feeding and discharging of CNC (computer numerical control) formed glass |
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| CN105415069A (en) * | 2015-12-24 | 2016-03-23 | 西北工业大学 | Automatic loading and unloading system of pipe connecting pieces |
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| JP2004276578A (en) * | 2003-03-18 | 2004-10-07 | John Owen Leslie | Guiding device for automatic lumber machine tool |
| CN103722375A (en) * | 2014-01-07 | 2014-04-16 | 深圳雷柏科技股份有限公司 | Press-fit device |
| CN104014685A (en) * | 2014-05-28 | 2014-09-03 | 江苏尚诚精密模具科技有限公司 | Material conveying device of washing machine inner drum production line |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107186693A (en) * | 2017-06-05 | 2017-09-22 | 上海发那科机器人有限公司 | A kind of walking axle of small scale robot |
| CN107186693B (en) * | 2017-06-05 | 2024-04-05 | 上海发那科机器人有限公司 | Walking shaft of small robot |
| CN107972047A (en) * | 2017-12-27 | 2018-05-01 | 天津福臻工业装备有限公司 | Axle construction outside robot roller type |
| CN107972047B (en) * | 2017-12-27 | 2024-04-30 | 天津福臻工业装备有限公司 | Roller type external shaft structure of robot |
| CN112296529A (en) * | 2019-08-01 | 2021-02-02 | 赤壁市万皇智能设备有限公司 | Automatic production line for feeding and discharging of CNC (computer numerical control) formed glass |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105710874B (en) | 2017-08-22 |
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