CN106005375A - Unmanned gyroplane landing gear and unmanned gyroplane - Google Patents
Unmanned gyroplane landing gear and unmanned gyroplane Download PDFInfo
- Publication number
- CN106005375A CN106005375A CN201610390388.XA CN201610390388A CN106005375A CN 106005375 A CN106005375 A CN 106005375A CN 201610390388 A CN201610390388 A CN 201610390388A CN 106005375 A CN106005375 A CN 106005375A
- Authority
- CN
- China
- Prior art keywords
- supporting leg
- undercarriage
- pipe
- support column
- pneumatic extension
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/22—Operating mechanisms fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
An unmanned gyroplane landing gear comprises downward supporting legs. Each supporting leg is provided with a pneumatic extensible part in the facing direction of the supporting leg. The pneumatic extensible parts of at least two supporting legs communicate with each other through air, and the pneumatic extensible parts which are in air communication can pneumatically extend and retract under interaction. The invention further correspondingly provides an unmanned gyroplane with the landing gear. By arranging the pneumatic extensible parts in mutual air communication on the supporting legs, the pneumatic extensible parts which are in air communication can pneumatically extend and retract under interaction, and therefore automatic adaption of the supporting legs on uneven landing surfaces is achieved, horizontal balance of an unmanned gyroplane body is kept as much as possible, and the structure or the control process is simple.
Description
Technical field
The present invention relates to rotor wing unmanned aerial vehicle technical field, refer in particular to a kind of rotor wing unmanned aerial vehicle undercarriage and rotor is unmanned
Machine.
Background technology
Current unmanned plane mainly includes fixed-wing unmanned plane and rotor wing unmanned aerial vehicle.Compared with fixed-wing unmanned plane, rotor
Unmanned plane has simple in construction, controls flexibly, VTOL, can hover or the advantage such as inverted flight, including single rotor, many
Rotor wing unmanned aerial vehicle, has a wide range of applications at aspects such as Aerial photography, police service, transport goods.
The undercarriage of rotor wing unmanned aerial vehicle is substantially fixed at present, also has the undercarriage of minority rotor wing unmanned aerial vehicle to realize
Synchronization moves up and down or packs up and puts down, such as the patent described by Chinese patent application CN201310302722.8 is just
Describe such unmanned plane, but be also fixing after the deployed condition that its undercarriage is when landing.This kind of undercarriage exists
Well adapting to property on smooth ground.
Due to the extensive application of rotor wing unmanned aerial vehicle, to its can quiet takeoff and landing under circumstances, propose the most accordingly
Requirement, especially in non-horizontal, nonplanar place, such as in rugged and rough part with a varied topography, at inclined-plane etc.
The face of rising and falling of non-flat forms.Such as Chinese patent application CN201520960617.8, and CN201510237766.6 is public
Opened and be adaptable to injustice and rise and fall the undercarriage of rotor wing unmanned aerial vehicle in face, but the implementation of the technology disclosed in it all than
More complicated.
Summary of the invention
In view of this, a kind of simple in construction of offer is provided and is adapted to uneven face of rising and falling
Rotor wing unmanned aerial vehicle undercarriage and rotor wing unmanned aerial vehicle.
The rotor wing unmanned aerial vehicle undercarriage that the present invention provides, including:
Supporting leg, this supporting leg downward have Pneumatic extension portion at supporting leg direction；
The Pneumatic extension portion gas connection of at least two supporting leg, it is achieved the described Pneumatic extension portion of this gas connection is interacting
Under Pneumatic extension.
By upper, by arranging the Pneumatic extension portion of mutual gas connection at each supporting leg, it is achieved it is described pneumatic that this gas connects
Pars contractilis Pneumatic extension under interacting, thus realize each supporting leg and rise and fall in injustice the automatic adaptation in face, with to the greatest extent
Amount keep unmanned plane main body horizontal equilibrium, and structure or control process the simplest relative to for background technology.
Optionally, described Pneumatic extension portion includes: the tube-in-tube structure extended along supporting leg direction, this tube-in-tube structure bag
Include: the positioning element that unmanned plane body position is fixing relatively, can be along the shifting of the axial displacement of sleeve with this positioning element relative
Dynamic component；Between positioning element and mobile parts airtight, and positioning element constitutes by the change of its relative position with mobile parts
Change and the gas chamber of volume change；
The Pneumatic extension portion gas connection of described at least two supporting leg includes: gas chamber's gas connection of its correspondence.
By upper, tube-in-tube structure can be used to realize described Pneumatic extension portion according to the needs of structure.
Optionally, described Pneumatic extension portion includes: the pipe being closed, and it forms gas chamber；Axial, extremely along pipe
Small part tube wall is flexible ripple struction；
The Pneumatic extension portion gas connection of described at least two supporting leg includes: gas chamber's gas connection of its correspondence.
By upper, the pipe with flexible ripple struction can be used as supporting leg to realize described pneumatic according to the needs of structure
Pars contractilis.
It is also preferred that the left also have one for flexible ripple struction pipe axial direction stretch provide guide support column.
By upper, provide guiding by supporting part for flexible ripple struction telescopic direction, such that it is able to avoid flexible ripple knot
Structure is flexible skew tube axial direction, increases buckle resistance.
Optionally, described support column is arranged in described pipe, its one end be fixed on described pipe away from unmanned plane main body
One end.
By upper, support column is arranged in pipe, does not affect overall supporting leg outward appearance, makes terminal with compact integral structure.
Optionally, on the pipe outer wall at the flexible ripple struction two ends of described pipe, it is correspondingly arranged two connecting portions, therein
Connecting portion away from unmanned plane main body is fixed away from one end of unmanned plane main body with described support column, near unmanned plane main body
Connecting portion there is through hole, be set on described support column and be slidably connected with support column.
By upper, support column can be arranged as required to outside pipe, and maintenance is convenient.
Optionally, described support column includes the two sub-support columns being slidably connected on axially；
On the pipe outer wall at the flexible ripple struction two ends of described pipe, it is correspondingly arranged two connecting portions, supports with two sons respectively
Two ends outside post are fixed.
By upper, support column can be arranged as required to outside pipe, and maintenance is convenient, and shared by support column, locus is little.
Optionally, the beam assembling described supporting leg is also included；Described beam is hollow structure, the parts connected as described gas
Connect the Pneumatic extension portion of described at least two supporting leg.
By upper, using beam as gas interconnecting part, so that overall structure is easy.
Optionally, described supporting leg is equipped with leg away from one end of unmanned plane main body.
By upper, can increase supporting leg bottom strength, above-mentioned support column all can be assemblied at this leg.
The present invention has also correspondingly provided a kind of rotor wing unmanned aerial vehicle, including the undercarriage of technical scheme described above.
Accompanying drawing explanation
Fig. 1 is the rotor wing unmanned aerial vehicle undercarriage schematic diagram of the present invention, wherein, Fig. 1 a, Fig. 1 b, Fig. 1 c and Fig. 1 d
Respectively it is mounted with the schematic diagram of the undercarriage of the beam of two supporting legs, three supporting legs, four supporting legs and four supporting legs；
Fig. 2 is rotor wing unmanned aerial vehicle undercarriage first embodiment schematic diagram；
Fig. 3 is rotor wing unmanned aerial vehicle undercarriage the second embodiment schematic diagram；
Fig. 4 is rotor wing unmanned aerial vehicle undercarriage the 3rd embodiment schematic diagram；
Fig. 5 is rotor wing unmanned aerial vehicle undercarriage the 4th embodiment schematic diagram；
Fig. 6 is the rotor wing unmanned aerial vehicle schematic diagram using undercarriage illustrated in Figure 3.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the present invention is described in detail.
As Fig. 1 shows the embodiment of rotor wing unmanned aerial vehicle undercarriage of the present invention, including:
Beam 1, it can be assemblied in unmanned plane main body, optionally, can adapt to unmanned plane bottom shape and arrange,
And it is assemblied in unmanned plane bottom part body, it is used for supporting described unmanned plane main body, is simultaneously used for assembling and is positioned at below beam 1
Each supporting leg 2.In the present embodiment, described beam 1 uses the pipe of hollow structure, simultaneously as gas communication means, with under
The Pneumatic extension portion gas connection of each supporting leg 2 stated, to realize the linkage telescopic acted on each other of each supporting leg 2,
Specifically will describe in detail later.
Wherein, the undercarriage as shown in Fig. 1 a, Fig. 1 b, Fig. 1 c, Fig. 1 d shows the embodiment of several beam, point
Not for assemble downward the beam 1 of two supporting legs 2 (for this beam, unmanned plane can separately set a supporting leg or assembling a pair
Beam), downward assembling three supporting legs 2 Y-shaped beam 1, downward assembling four supporting legs 2 H-shaped
Or the beam 1 of X-shaped.It can be appreciated that more supporting leg 2 can be assembled as required, for the stable and center of gravity risen and fallen
Balance, each supporting leg is laid preferably in the mode of first-class point of horizontal circumference, and beam may be configured as hub-and-spoke configuration.Wherein,
Beam is hollow structure, and gas connection is assemblied in each supporting leg of the end of its beam.
The first embodiment of undercarriage of the present invention as shown in Figure 2, in this example, supporting leg 2 is arranged downward, its
Middle vertical direction is downwards optimal, and supporting leg 2 is made up of tube-in-tube structure downward.In this example, by nested two
Tubular is constituted, and mates, keep airtight between inner/outer tube between outer diameter and the inwall of urceolus 22 of inner core 21, interior
The end assembling of cylinder 21 tops and beam 1 and gas connect, for the relative beam 1 of inner core 21 or smaller flight instruments its
Position is fixed, and can be described as positioning element；The relative inner core 21 of urceolus 22 is axially movable, therefore is referred to as mobile parts, outward
Cylinder 22 bottom locks, thus the gas chamber of inner/outer tube Inner Constitution can due to the relative change in location volume of inner/outer tube
Become, accordingly during its gas chamber's volume change, then influence whether the gas chamber of other supporting legs 2 connected with its gas
Change, i.e. each supporting leg 2 linkage telescopic.Herein, the above-mentioned stretching structure caused by gas motion is referred to as gas
Dynamic pars contractilis.For convenience, Fig. 2 illustrate only two supporting legs 2 of linkage telescopic, Fig. 2 shows a left side
The state of right side supporting leg extension is caused due to the driving of internal gas when side leg is compressed.
Wherein, wear-resisting leg 3 can be assembled in the bottom that urceolus 22 is closed, supporting leg 2 is formed protection, the most just
More stable in rise and fall, leg 3 can also be used bottom described urceolus 22 as closing.
Wherein, it is also possible at the position that inner/outer tube is staggered, corresponding limiting component is set, with the movement to urceolus 22
Stroke limits, to avoid it to slip inner core 11.And, can as required, tube-in-tube structure can also be multilamellar sleeve
Nested structure.
If it addition, urceolus 22 is assembled to the end of beam 1, and inner core 21 is as mobile parts, now inner core
21 bottom locks or inner core 21 are cylinder, can realize the present invention, repeat no more.
It addition, described supporting leg 2 can also use air cylinder structure, cylinder block as the positioning element of supporting leg 2 and each
Cylinder gas connects, and the piston assembled with each cylinder then can repeat no more as the mobile parts of each supporting leg 2.
As Fig. 3 shows the second embodiment of undercarriage of the present invention, in this embodiment, supporting leg 2 includes bottom lock
Pipe 25, this pipe 25 top connects with the assembling of beam 1 end and gas, and this at least part of tube wall of pipe 25 is flexible ripple struction
26, thus form the gas chamber of variable volume, and by the beam 1 of described hollow, it is achieved the gas of each supporting leg 2
Chamber gas connects and airtight.
When flexible ripple struction 26 length is longer, one can also be arranged inside pipe 25 along managing axially extended cylinder
As support column 27, the flexible offer of its most flexible ripple struction 26 guides so that it is along pipe axial stretching, with
Shi Zengqiang stretch ripple struction 26 skew pipe axle flexing resistance.This support column 27 external diameter is less than flexible ripple struction 26
Minimum outer diameter and pipe 25 internal diameter.This support column 27 is fixed on the end away from beam 1 of described pipe 25, i.e. pipe 25 end
Portion, the upwardly extending length of support column 27 should exceed the flexible ripple struction 26 upper end position after being extended.Support
Post 27 top and pipe 25 ripple struction 26 top position of stretching can also arrange the anti-slip spacing knot cooperated
Structure.In order to alleviate weight, described support column 27 can be airtight inflation post.
Bottom supporting leg 2, i.e. leg 3 the most as above can be assembled in the bottom of the closing of pipe 25, and leg 3 can also be made
Being used bottom described urceolus 22 for closing, described support column 27 can be assemblied on this leg 3, repeats no more.
In this embodiment, described pipe 25 stretches at the crest of each ripple of ripple struction 26, trough, i.e. kink
For flexibility.
As Fig. 4 shows the 3rd embodiment of undercarriage of the present invention, in this embodiment, support column 27 is parallel to pipe 25
Axle is arranged on outside pipe 25, specifically, on pipe 25 outer wall at flexible ripple struction 26 two ends of pipe 25, right
Should arrange two connecting portions, the connecting portion 29 of lower end is fixed with support column 27 lower end, and the connecting portion 28 of upper end has logical
Hole, is set on support column 27 and is slidably connected with support column 27.The length of support column 27 should exceed flexible ripple knot
Length between connecting portion 29 and the connecting portion 28 of upper end of the structure 26 lower end after being extended.The top of support column 27
End can arrange the position limiting structure preventing the through hole of the connecting portion 28 from upper end from slipping.
As Fig. 5 shows the 4th embodiment of undercarriage of the present invention, described in this embodiment, support column includes that axle slides up
The two sub-support columns being dynamically connected, one has guide rail, limits another sub-support column and is slidably connected with it；At described pipe
Flexible ripple struction two ends pipe outer wall on, be correspondingly arranged two connecting portions, respectively with two sub-support columns two ends outwardly
Fixing.Two sub-support columns of example in Fig. 5 have employed two sleeve pipes being slidably connected that are nested and realize, and this two sleeve pipe is outwardly
Two ends (i.e. support column two ends) be separately fixed on the connecting portion 29 of lower end and the connecting portion 28 of upper end.
It addition, sub-support column can also be realized by two support bars, this two support bars lateral wall all has at least one and has
The projection of through hole, realizes relatively being slidably connected by through hole another support bar the most sheathed.
As Fig. 6 shows the schematic diagram of the rotor wing unmanned aerial vehicle using above-mentioned undercarriage illustrated in Figure 3, illustrated therein is
Flexible ripple struction 26 on supporting leg.
Below, see accompanying drawing 1-6, the descent of the rotor wing unmanned aerial vehicle using undercarriage of the present invention be described,
So that operation principle of the present invention is described in detail.After Guan Doujing beam 1 gas of each supporting leg 2 connects, in descent,
When certain supporting leg 2 first contacts with ground, then this supporting leg 2 its Pneumatic extension portion under the gravity of unmanned plane is compressed,
The gas of compression is transferred to other supporting legs 2 by beam 1, and makes the direction earthward, Pneumatic extension portion of these supporting legs 2
Extend, it is achieved linkage flexible, so, until each supporting leg 2 contacts the corresponding each point of uneven ground respectively, now,
Owing to each supporting leg all can be by the action of gravity of unmanned plane, due to gas chamber's various places inside of the supporting leg 2 of gas connection
Suffered pressure is identical, therefore, though each supporting leg 2 telescopic level is different, but can the balance of retentivity in this condition,
So that unmanned plane main body keeps level.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, such as, above-mentioned gas is even
Logical realization can also use single connecting tube to realize, rather than uses beam to realize；And for example, supporting leg closes with the assembling of beam
System, beam can also assemble with supporting leg sidewall position；Support column can also be the assembling fixing with supporting leg of its top also as noted above,
Its lower end is on-fixed end.Furthermore it is also possible to arrange connect with beam fill exhaust apparatus, to maintain internal gas to balance,
And can be in state of flight aerofluxus, so that each supporting leg is shunk to unmanned plane main direction.All spirit in the present invention
Within principle, any modification, equivalent substitution and improvement etc. made, should be included in protection scope of the present invention it
In.
Claims (10)
1. a rotor wing unmanned aerial vehicle undercarriage, it is characterised in that including:
Supporting leg, this supporting leg downward have Pneumatic extension portion at supporting leg direction；
The Pneumatic extension portion gas connection of at least two supporting leg, it is achieved the described Pneumatic extension portion of this gas connection is interacting
Under Pneumatic extension.
Undercarriage the most according to claim 1, it is characterised in that described Pneumatic extension portion includes: along supporting leg
The tube-in-tube structure that direction extends, this tube-in-tube structure includes: the positioning element that unmanned plane body position is fixing relatively,
Parts can be moved along the axial displacement of sleeve with relative to this positioning element；Between positioning element and mobile parts airtight, and
Positioning element constitutes the gas chamber of volume change by its relative change in location with mobile parts；
The Pneumatic extension portion gas connection of described at least two supporting leg includes: gas chamber's gas connection of its correspondence.
Undercarriage the most according to claim 1, it is characterised in that described Pneumatic extension portion includes: be closed
Pipe, it forms gas chamber；Axial along pipe, at least part of tube wall is flexible ripple struction；
The Pneumatic extension portion gas connection of described at least two supporting leg includes: gas chamber's gas connection of its correspondence.
Undercarriage the most according to claim 3, it is characterised in that also have one for flexible ripple struction at pipe
Axial direction stretches provides the support column guided.
Undercarriage the most according to claim 4, it is characterised in that described support column is arranged in described pipe,
One end away from unmanned plane main body of described pipe is fixed in its one end.
Undercarriage the most according to claim 4, it is characterised in that at the flexible ripple struction two ends of described pipe
Pipe outer wall on, be correspondingly arranged two connecting portions, the connecting portion away from unmanned plane main body therein and described support column away from
One end of unmanned plane main body is fixed, and has through hole near the connecting portion of unmanned plane main body, be set on described support column with
Support column is slidably connected.
Undercarriage the most according to claim 4, it is characterised in that described support column includes that axle upward sliding is even
The two sub-support columns connect；
On the pipe outer wall at the flexible ripple struction two ends of described pipe, it is correspondingly arranged two connecting portions, supports with two sons respectively
Two ends outside post are fixed.
Undercarriage the most according to claim 1, it is characterised in that also include the beam assembling described supporting leg；Institute
Stating beam is hollow structure, as the Pneumatic extension portion of at least two supporting leg described in the members that described gas connects.
Undercarriage the most according to claim 1, it is characterised in that described supporting leg is away from the one of unmanned plane main body
End is equipped with leg.
10. a rotor wing unmanned aerial vehicle, including the undercarriage described in claim 1-9 any claim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610390388.XA CN106005375B (en) | 2016-06-03 | 2016-06-03 | Rotor wing unmanned aerial vehicle undercarriage and rotor wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610390388.XA CN106005375B (en) | 2016-06-03 | 2016-06-03 | Rotor wing unmanned aerial vehicle undercarriage and rotor wing unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106005375A true CN106005375A (en) | 2016-10-12 |
| CN106005375B CN106005375B (en) | 2018-11-06 |
Family
ID=57090708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610390388.XA Expired - Fee Related CN106005375B (en) | 2016-06-03 | 2016-06-03 | Rotor wing unmanned aerial vehicle undercarriage and rotor wing unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106005375B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364584A (en) * | 2017-07-27 | 2017-11-21 | 钱月珍 | Unmanned plane fall protection system |
| CN114132488A (en) * | 2021-11-24 | 2022-03-04 | 国网福建省电力有限公司南平供电公司 | Transmission of electricity inspection device based on internet big data |
| CN116443298A (en) * | 2023-06-20 | 2023-07-18 | 山东省国土测绘院 | Landform mapping device for aviation measurement |
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| FR2761745B1 (en) * | 1997-04-07 | 2001-12-21 | Sfim Ind | HYDRAULIC ANTI-VIBRATION SUSPENSION SYSTEM FOR ISOLATING A SUB-ASSEMBLY FROM AN AIRCRAFT STRUCTURE |
| CN102225704A (en) * | 2009-07-06 | 2011-10-26 | 周景荣 | Designing method of high-speed multifunctional helicopter aero-flying saucer |
| CN204161620U (en) * | 2014-10-16 | 2015-02-18 | 云南电网公司红河供电局 | The full landform retractable landing gear of depopulated helicopter |
| CN204916167U (en) * | 2015-07-21 | 2015-12-30 | 天津晓奇科技发展有限公司 | Many rotor unmanned aerial vehicle carbon pipe damping shock attenuation undercarriage |
| CN205113703U (en) * | 2015-11-21 | 2016-03-30 | 长沙学院 | Four -axis rotor craft with buffering foot rest |
| CN205239913U (en) * | 2015-11-10 | 2016-05-18 | 西安德润航空科技有限公司 | Top load unmanned aerial vehicle convenient to take off and land fast |
| CN205952297U (en) * | 2016-06-03 | 2017-02-15 | 全蕊 | Rotor unmanned aerial vehicle undercarriage and rotor unmanned aerial vehicle |
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2016
- 2016-06-03 CN CN201610390388.XA patent/CN106005375B/en not_active Expired - Fee Related
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| FR2761745B1 (en) * | 1997-04-07 | 2001-12-21 | Sfim Ind | HYDRAULIC ANTI-VIBRATION SUSPENSION SYSTEM FOR ISOLATING A SUB-ASSEMBLY FROM AN AIRCRAFT STRUCTURE |
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| CN102225704A (en) * | 2009-07-06 | 2011-10-26 | 周景荣 | Designing method of high-speed multifunctional helicopter aero-flying saucer |
| CN204161620U (en) * | 2014-10-16 | 2015-02-18 | 云南电网公司红河供电局 | The full landform retractable landing gear of depopulated helicopter |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364584A (en) * | 2017-07-27 | 2017-11-21 | 钱月珍 | Unmanned plane fall protection system |
| CN114132488A (en) * | 2021-11-24 | 2022-03-04 | 国网福建省电力有限公司南平供电公司 | Transmission of electricity inspection device based on internet big data |
| CN114132488B (en) * | 2021-11-24 | 2023-06-30 | 国网福建省电力有限公司南平供电公司 | Transmission of electricity inspection device based on internet big data |
| CN116443298A (en) * | 2023-06-20 | 2023-07-18 | 山东省国土测绘院 | Landform mapping device for aviation measurement |
| CN116443298B (en) * | 2023-06-20 | 2023-09-01 | 山东省国土测绘院 | Landform mapping device for aviation measurement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106005375B (en) | 2018-11-06 |
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Granted publication date: 20181106 |