CN106271718A - A kind of Digit Control Machine Tool automated high-precision positioning clamping device - Google Patents
A kind of Digit Control Machine Tool automated high-precision positioning clamping device Download PDFInfo
- Publication number
- CN106271718A CN106271718A CN201610745224.4A CN201610745224A CN106271718A CN 106271718 A CN106271718 A CN 106271718A CN 201610745224 A CN201610745224 A CN 201610745224A CN 106271718 A CN106271718 A CN 106271718A
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- Prior art keywords
- negative pressure
- clamping
- plate
- cylinder
- positioning
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Links
- 230000006835 compression Effects 0.000 claims description 22
- 238000007906 compression Methods 0.000 claims description 22
- 239000011148 porous material Substances 0.000 claims description 12
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000003754 machining Methods 0.000 abstract description 2
- 238000005339 levitation Methods 0.000 abstract 3
- 239000000725 suspension Substances 0.000 abstract 2
- 230000010354 integration Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/04—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part adjustable in inclination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
- B23Q3/082—Work-clamping means other than mechanically-actuated hydraulically actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
- B23Q3/088—Work-clamping means other than mechanically-actuated using vacuum means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2703/00—Work clamping
- B23Q2703/02—Work clamping means
- B23Q2703/04—Work clamping means using fluid means or a vacuum
Abstract
nullThe invention discloses a kind of Digit Control Machine Tool automated high-precision positioning clamping device，Workbench relies on magnetic levitation component and the rotating base being located at of guided rotation assembly，Workbench is provided with weight sensor，The rotation of workbench is driven rotating by directly driving assembly，Latch assembly is located at the side of workbench to lock workbench，Magnetic levitation component、Directly drive assembly and latch assembly is controlled by PLC，And the size of the magnetic suspension force of magnetic levitation component detected to weight sensor to the weight size of workpiece be directly proportional，The present invention utilizes PLC technology to achieve and automatically controls circular dividing table，Utilize the weight that PLC detects automatically according to weight sensor to control the magnetic suspension force size of electric magnet，The effective precision improving lower index rotation，Improve the machining accuracy of workpiece，The present invention uses PLC to control direct driving motor，Substantially reduce workbench volume，Improve drive efficiency，The indexing rotation achieving workbench automatically controls.
Description
Technical field
The present invention relates to a kind of Digit Control Machine Tool automated high-precision positioning clamping device, belong to electromechanical integration technology neck
Territory.
Background technology
In high-accuracy machining, need workpiece is carried out high-precision location, the tight device of existing work piece positioning
The most fairly simple, workpiece is clamped by simple use clamping plate or pressing plate, and this clamping mode is difficult to high-precision
The positioning requirements of degree.And along with the development of electromechanical integration technology, the popularization of dynamo-electric integration technology improves control with application
The intelligence degree of system processed, the popularization of new and high technology makes long-range unmanned manipulation system be developed rapidly, therefore, how
Utilize electromechanical integration technology, Workpiece clamping positioner is improved, in order to realize the fastening of its high-precision locating clip
Fixed, improve the precision of work pieces process.
Summary of the invention
The present invention is directed to existing technical problem, it is provided that a kind of Digit Control Machine Tool automated high-precision positioning clamping device,
Purpose is to provide a kind of high-precision Workpiece clamping positioner, intends to solve the problem that prior art exists.
For achieving the above object, the present invention provides following technical scheme: a kind of Digit Control Machine Tool automated high-precision positions
Clamping device, it include base, origin reference location assembly, clamp assembly, hold down assembly, negative pressure fixation kit and PLC, its
Being characterised by, the side of described base is provided with described origin reference location assembly, and the opposite side of described base is provided with folder
Tight assembly, the upper end of described base is provided with and holds down assembly, and the surface of described base is provided with negative pressure fixation kit, institute
The PLC stated control described in origin reference location assembly, clamp assembly, hold down assembly and the action of negative pressure fixation kit.
Further, as preferably, described origin reference location assembly includes electrolevel, origin reference location plate, datum plate gas
Cylinder, datum plate cylinder rod, electrolevel fixed block and roating sphere are hinged, and wherein, the side of described base is provided with groove,
The described hinged adjustable-angle of roating sphere is provided with described origin reference location plate, described benchmark in described groove
The upper end of location-plate is fixedly installed described electrolevel, described electronic water by described electrolevel fixed block
Level is connected with described PLC, and the outside of the middle and lower part of described origin reference location plate is hinged is provided with described benchmark
Plate cylinder rod, described datum plate cylinder rod is provided with described datum plate cylinder, the lower end hinge of described datum plate cylinder
Connect and be arranged on described base；Described clamp assembly includes clamping and positioning plate, location-plate, location bar, positioning tube and spring,
Wherein, described clamping and positioning plate is fixedly installed on slide block, and the opposite side of described base is provided with chute, described slide block
Coordinating in described chute and slide, the outside of described slide block is fixedly installed clamping and positioning plate cylinder, and described clamping is fixed
Position plate cylinder is fixedly installed on described base, and described clamping and positioning plate is fixedly installed positioning tube, described location
Slidably being provided with described location bar in Tong, the outer end of described location bar is fixedly installed described location-plate, described
Location-plate and described positioning tube between be provided with spring, and described spring housing is located on described location bar.
Further, as preferably, described holding down assembly includes compression cylinder, compresses force frame and briquetting, wherein, described
The hinged top being arranged on described clamping and positioning plate, one end compressing force frame, the middle part of described clamping force frame is hinged
Being provided with described compression cylinder, the upper end thereof of described compression cylinder is arranged on the upper end of described clamping and positioning plate, institute
The end of the compression force frame stated is hinged is provided with described briquetting.
Further, as preferably, described negative pressure fixation kit includes negative pressure air flue, negative pressure pore and negative pressure trough, wherein,
Described negative pressure air flue is arranged in described base, and the upper surface of described base is provided with negative pressure trough, described negative pressure
Groove is connected with described negative pressure pore, and described negative pressure pore is connected with described negative pressure air flue, and described negative pressure gas
Hole is arranged in a mutually vertical manner with described negative pressure air flue.
Further, as preferably, the negative pressure air flue of described base is provided with negative pressure electromagnetic valve, datum plate cylinder sets
It is equipped with benchmark cylinder solenoid valve, compression cylinder is provided with compression cylinder electromagnetic valve, clamping and positioning plate cylinder is provided with clamping
Cylinder solenoid valve, described negative pressure electromagnetic valve, benchmark cylinder solenoid valve, compression cylinder electromagnetic valve and clamping cylinder electromagnetic valve all with
Described PLC connects.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention utilizes PLC to be controlled clamping and positioning, in use, first passes through electrolevel and controls benchmark
The perpendicularity of location-plate, if perpendicularity is the most up to standard, then PLC controls datum plate air cylinder driven so that origin reference location plate
Reach required perpendicularity, improve the positioning precision of workpiece, utilize the location-plate on clamping and positioning plate to be had good positioning by workpiece afterwards
After, utilize negative pressure trough that workpiece is carried out negative pressure and fix, with briquetting, Work-sheet pressing is fixed afterwards, the high-precision of workpiece can be achieved
Degree location.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of Digit Control Machine Tool automated high-precision positioning clamping device of the present invention；
Wherein, 1, base, 2, PLC, 3, clamping and positioning plate, 4, electrolevel, 5, origin reference location plate, 6, datum plate gas
Cylinder, 7, compression cylinder, 8, briquetting, 9, location-plate, 10, location bar, 11, positioning tube, 12, compression cylinder bar, 13, compress force
Frame, 14, datum plate cylinder rod, 15, roating sphere hinged, 16, negative pressure air flue, 17, negative pressure pore, 18, negative pressure trough, 19, clamping fixed
Position plate cylinder, 20, electrolevel fixed block, 21, chute, 22, slide block, 23, negative pressure electromagnetic valve, 24, benchmark cylinder solenoid valve,
25, compression cylinder electromagnetic valve, 26, clamping cylinder electromagnetic valve.
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 carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1, the present invention provides a kind of technical scheme: a kind of Digit Control Machine Tool automated high-precision location clamping fills
Put, it include base 1, origin reference location assembly, clamp assembly, hold down assembly, negative pressure fixation kit and PLC, its feature
Being, the side of described base 1 is provided with described origin reference location assembly, and the opposite side of described base is provided with clamping group
Part, the upper end of described base is provided with and holds down assembly, and the surface of described base is provided with negative pressure fixation kit, described
PLC 2 controls described origin reference location assembly, clamp assembly, holds down assembly and the action of negative pressure fixation kit.
In the present embodiment, described origin reference location assembly includes electrolevel 4, origin reference location plate 5, datum plate cylinder
6, datum plate cylinder rod 14, electrolevel fixed block 20 and roating sphere hinged 15, wherein, the side of described base 1 is arranged
Fluted, that passes through described rotation ball pivot 15 adjustable-angle in described groove is provided with described origin reference location plate 5, institute
The upper end of the origin reference location plate 5 stated is fixedly installed described electrolevel 4 by described electrolevel fixed block 20,
Described electrolevel 4 is connected with described PLC, the hinged setting in outside of the middle and lower part of described origin reference location plate
There is described datum plate cylinder rod 14, described datum plate cylinder rod 14 is provided with described datum plate cylinder 6, described base
The lower end of quasi-plate cylinder 6 is hinged to be arranged on described base 1；Described clamp assembly include clamping and positioning plate 3, location-plate 9,
Location bar 10, positioning tube 11 and spring, wherein, described clamping and positioning plate 3 is fixedly installed on slide block 22, described base 1
Opposite side be provided with chute 21, described slide block 22 coordinates slip, the outside of described slide block 22 in described chute 21
Being fixedly installed clamping and positioning plate cylinder 19, described clamping and positioning plate cylinder 19 is fixedly installed on described base 1, described
Clamping and positioning plate 3 on be fixedly installed positioning tube 11, be slidably provided with described location bar in described positioning tube 11
10, the outer end of described location bar 10 is fixedly installed described location-plate 9, described location-plate 9 and described positioning tube 11
Between be provided with spring, and described spring housing is located on described location bar.
Holding down assembly and include compression cylinder 7, compression force frame 13 and briquetting 8, wherein, described compresses the one of force frame 13
Holding the hinged top being arranged on described clamping and positioning plate 3, the middle part of described clamping force frame is hinged is provided with described pressure
Tight cylinder 7, the upper end thereof of described compression cylinder 7 is arranged on the upper end of described clamping and positioning plate, described compression force
The end of frame 13 is hinged is provided with described briquetting 8.Described negative pressure fixation kit includes negative pressure air flue 16, negative pressure pore 17
With negative pressure trough 18, wherein, described negative pressure air flue 16 is arranged in described base 1, and the upper surface of described base is arranged
Negative pressure trough 18, described negative pressure trough 18 is had to be connected with described negative pressure pore 17, described negative pressure pore and described negative pressure
Air flue is connected, and described negative pressure pore is arranged in a mutually vertical manner with described negative pressure air flue.The negative pressure air flue of described base
On be provided with negative pressure electromagnetic valve 23, datum plate cylinder is provided with benchmark cylinder solenoid valve 24, compression cylinder is provided with compression
Cylinder solenoid valve 25, clamping and positioning plate cylinder is provided with clamping cylinder electromagnetic valve 26, described negative pressure electromagnetic valve, benchmark cylinder
Electromagnetic valve, compression cylinder electromagnetic valve and clamping cylinder electromagnetic valve are all connected with described PLC 2.
The present invention utilizes PLC to be controlled clamping and positioning, in use, first passes through electrolevel control
The perpendicularity of origin reference location plate, if perpendicularity is the most up to standard, then PLC controls datum plate air cylinder driven so that benchmark is fixed
Position plate reaches required perpendicularity, improves the positioning precision of workpiece, utilizes the location-plate on clamping and positioning plate that workpiece is fixed afterwards
After position is good, utilizes negative pressure trough that workpiece is carried out negative pressure and fix, with briquetting, Work-sheet pressing is fixed afterwards, workpiece can be achieved
Hi-Fix.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and these embodiments can be carried out multiple change without departing from the principles and spirit of the present invention, revise, replace
And modification, the scope of the present invention be defined by the appended.
Claims (5)
1. a Digit Control Machine Tool automated high-precision positioning clamping device, it includes base, origin reference location assembly, clamping group
Part, hold down assembly, negative pressure fixation kit and PLC, it is characterised in that the side of described base is provided with described base
Quasi-positioning component, the opposite side of described base is provided with clamp assembly, and the upper end of described base is provided with and holds down assembly, institute
Be provided with negative pressure fixation kit on the surface of the base stated, described PLC control described in origin reference location assembly, clamping
Assembly, hold down assembly and the action of negative pressure fixation kit.
A kind of Digit Control Machine Tool automated high-precision positioning clamping device the most according to claim 1, it is characterised in that: institute
The origin reference location assembly stated includes electrolevel, origin reference location plate, datum plate cylinder, datum plate cylinder rod, electrolevel
Fixed block and roating sphere are hinged, and wherein, the side of described base is provided with groove, by described rotation in described groove
Ball-joint adjustable-angle be provided with described origin reference location plate, the upper end of described origin reference location plate is by described electronics
Level indicator fixed block is fixedly installed described electrolevel, and described electrolevel is connected with described PLC,
The outside of the middle and lower part of described origin reference location plate is hinged is provided with described datum plate cylinder rod, described datum plate cylinder rod
On be provided with described datum plate cylinder, the lower end of described datum plate cylinder is hinged to be arranged on described base；Described
Clamp assembly includes clamping and positioning plate, location-plate, location bar, positioning tube and spring, and wherein, described clamping and positioning plate is fixing to be set
Putting on slide block, the opposite side of described base is provided with chute, and described slide block coordinates slip in described chute, described
The outside of slide block be fixedly installed clamping and positioning plate cylinder, described clamping and positioning plate cylinder is fixedly installed on described base
On, described clamping and positioning plate is fixedly installed positioning tube, in described positioning tube, is slidably provided with described location
Bar, the outer end of described location bar is fixedly installed described location-plate, sets between described location-plate and described positioning tube
It is equipped with spring, and described spring housing is located on described location bar.
A kind of Digit Control Machine Tool automated high-precision positioning clamping device the most according to claim 1, it is characterised in that: institute
Holding down assembly of stating includes compression cylinder, compresses force frame and briquetting, wherein, and the described hinged setting in one end compressing force frame
On the top of described clamping and positioning plate, the middle part of described clamping force frame is hinged is provided with described compression cylinder, described
The upper end thereof of compression cylinder be arranged on the upper end of described clamping and positioning plate, the described end compressing force frame is hinged to be set
It is equipped with described briquetting.
A kind of Digit Control Machine Tool automated high-precision positioning clamping device the most according to claim 1, it is characterised in that: institute
The negative pressure fixation kit stated includes negative pressure air flue, negative pressure pore and negative pressure trough, and wherein, described negative pressure air flue is arranged on described
In base, the upper surface of described base being provided with negative pressure trough, described negative pressure trough is connected with described negative pressure pore, institute
The negative pressure pore stated is connected with described negative pressure air flue, and described negative pressure pore is mutually perpendicular to set with described negative pressure air flue
Put.
A kind of Digit Control Machine Tool automated high-precision positioning clamping device the most according to claim 1, it is characterised in that: institute
It is provided with negative pressure electromagnetic valve on the negative pressure air flue of the base stated, datum plate cylinder is provided with benchmark cylinder solenoid valve, compress gas
It is provided with compression cylinder electromagnetic valve on cylinder, clamping and positioning plate cylinder is provided with clamping cylinder electromagnetic valve, described negative pressure electromagnetism
Valve, benchmark cylinder solenoid valve, compression cylinder electromagnetic valve and clamping cylinder electromagnetic valve are all connected with described PLC.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811064838.1A CN109128931B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
| CN201610745224.4A CN106271718B (en) | 2016-08-29 | 2016-08-29 | A kind of numerically-controlled machine tool automated high-precision positioning clamping device |
| CN201811064839.6A CN109128932B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610745224.4A CN106271718B (en) | 2016-08-29 | 2016-08-29 | A kind of numerically-controlled machine tool automated high-precision positioning clamping device |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811064838.1A Division CN109128931B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
| CN201811064839.6A Division CN109128932B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106271718A true CN106271718A (en) | 2017-01-04 |
| CN106271718B CN106271718B (en) | 2018-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811064839.6A Active CN109128932B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
| CN201610745224.4A Active CN106271718B (en) | 2016-08-29 | 2016-08-29 | A kind of numerically-controlled machine tool automated high-precision positioning clamping device |
| CN201811064838.1A Active CN109128931B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811064839.6A Active CN109128932B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811064838.1A Active CN109128931B (en) | 2016-08-29 | 2016-08-29 | Automatic high-precision positioning and clamping device for numerical control machine tool |
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| Country | Link |
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| CN (3) | CN109128932B (en) |
Cited By (3)
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| CN107598300A (en) * | 2017-09-20 | 2018-01-19 | 镇江颀龙科技有限公司 | A kind of high-accuracy clamp for Gear Processing |
| CN108297026A (en) * | 2018-02-06 | 2018-07-20 | 宁波敏实汽车零部件技术研发有限公司 | A kind of front windshield arc sealing strip automatic assembling machine |
| CN108772723A (en) * | 2018-06-07 | 2018-11-09 | 肇庆市高新区晓靖科技有限公司 | Positioning device for oil cylinder eccentric orfice |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109128931A (en) | 2019-01-04 |
| CN109128932B (en) | 2020-09-04 |
| CN109128931B (en) | 2020-09-08 |
| CN106271718B (en) | 2018-10-09 |
| CN109128932A (en) | 2019-01-04 |
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