CN106363051A - Forming tool and method of ultrathin slender elastic tubular rod - Google Patents
Forming tool and method of ultrathin slender elastic tubular rod Download PDFInfo
- Publication number
- CN106363051A CN106363051A CN201610943843.4A CN201610943843A CN106363051A CN 106363051 A CN106363051 A CN 106363051A CN 201610943843 A CN201610943843 A CN 201610943843A CN 106363051 A CN106363051 A CN 106363051A
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- Prior art keywords
- roller
- punch
- die
- roller support
- forming
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/06—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles
- B21D5/10—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles for making tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/10—Die sets; Pillar guides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/06—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles
- B21D5/10—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles for making tubes
- B21D5/12—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles for making tubes making use of forming-rollers
Abstract
The invention belongs to the technical field of tubular rod forming and particularly provides a forming tool of an ultrathin slender elastic tubular rod. The forming tool comprises a bent male mold, a bent female mold and a shaping tool. The bent male mold comprises a male mold body, a male mold roller sliding rail, a male mold roller support and a male mold roller. The male mold roller can move along the male mold roller sliding rail in the horizontal direction, and forming motion integrating moving and rolling is achieved forwards. The bent female mold comprises a female mold body, a female mold roller sliding rail, a female mold roller support and a female mold roller. The female mold roller can move along the female mold roller sliding rail in the horizontal direction, and forming motion integrating moving and rolling is achieved forwards. The shaping tool comprises a shaping mandrel and a shaping mold. A formed alloy strip and the shaping mandrel are fixed through the shaping mold, and thus a shaping mold assembly is formed. Through the forming tool, the tubular rod which is formed by winding an ultrathin-wall metal strip can be obtained, the formed tubular rod has small forming diameter, and the unfolding-folding storage ratio reaches 100 or over.
Description
Technical field
The invention belongs to metal tube field shaping technique, especially relate to a kind of metal forming frock, this frock can become
Shape ultra-thin elongate resilient tubular metal bar, this tubular rod is mainly used in spacecraft development mechanism.It is applicable not only to spacecraft
Field, is equally applicable to the fields such as civilian equipment.
Background technology
Tubular rod is one-dimensional development mechanism, is an important mechanism in spacecraft development mechanism.This class formation is put down and is wound on drum
On wheel or itself be coiled into drum, folding storage becomes rounding state.Without extra power, dependence natural resiliency can be from gathering shape
State reverts to long tubular rod.
The open report of document abroad has the unitary tubular rod of diameter 15mm and diameter 20mm to be applied in spacecraft, adopts more
Stainless steel material, 1m length range weight is about 50g and 100g.But with the less and less demand of the weight of microsatellite, receive
Receive bigger than more, the development of the lighter unitary tubular rod of weight becomes more important.The ultra-thin-wall tubulose that particularly this patent is mentioned
Bar, in 1m length range, weight is less than 10g.For such ultra-thin-wall tubular rod, wall thickness sub-micrometer scale, shape and control technique
Method is more special, domestic there is presently no the research that mechanism carries out this respect.Accordingly, it would be desirable to develop special fixture for forming be used for
The shaping of ultra-thin metal band tubular rod structure.
Content of the invention
In view of this, it is contemplated that proposing a kind of fixture for forming of ultra-thin elongate resilient tubular rod, the one-tenth shape dress of design
Put the winding shaping being capable of ultra-thin-wall (wall thickness≤0.06mm) sheet metal strip, the tubular rod after shaping has less shaping
Diameter, exhibition storage ratio reaches more than 100.
For reaching above-mentioned purpose, the technical scheme is that and be achieved in that:
A kind of fixture for forming of ultra-thin elongate resilient tubular rod, including bending punch, bending die and setting tooling；
Described bending punch includes: punch, punch roller slide rail, punch roller support, nut, punch roller support shaft, pad, convex
Die bearing, punch roller；Described punch is provided with punch arc groove, is provided with punch rectangle at described punch arc groove opening
Expansion slot, described punch rectangular extension groove both sides are respectively provided with a punch roller slide rail, and punch roller slide rail is provided with slidably
Punch roller support, is provided with punch roller bearing, the running roller cambered surface of described punch roller and punch arc groove about punch roller center
Cooperation, that is, the running roller of punch roller can be put in punch arc groove, and described punch roller support shaft passes through punch roller bearing, described convex
Die support shaft two ends are erected in two punch roller supports, rely on first nut in outside and the first pad to fix, make punch
Roller can roll around punch roller support shaft, and punch roller support moves in punch roller slide rail horizontal direction, formed forward mobile plus roll
Building motion；
Described bending die, including die, die roller slide rail, die roller support, the second nut, die roller support shaft,
Two pads, die roller bearing, die roller；Described die is provided with die arc groove, sets at described die arc groove opening
There is die rectangular extension groove, described die rectangular extension groove both sides are respectively provided with a die roller slide rail, on described die slide rail
It is fixed with die roller support, die roller bearing is installed about die roller center, it is recessed that being provided with of described die roller caves inward
Die groove, described die roller groove is coordinated with die arc groove, and section forms a full circle, and the wheel roller of described die roller is put
In die rectangular extension groove, described die roller support shaft passes through die roller bearing, relies on the second nut and second pad of both sides
Piece is fixed, and so that die roller is rolled around die roller support shaft, and die roller support horizontal direction on die roller slide rail moves, forward
Form building motion that is mobile plus rolling；
Described setting tooling includes: sizing mandrel and stock mould, in the external diameter of described sizing mandrel and the tube rod processed
Footpath is equal, and the internal diameter of described stock mould is equal with the tube rod external diameter processed, and is alloy sheets between sizing core and stock mould
The structural member through bending punch and bending die molding for the band, the alloy sheet strip of shaping and sizing mandrel rely on stock mould to fix, shape
Become sizing membrane module；
Further, described sizing die topography can be outer ring according to specific Equipment for Heating Processing, outer four directions or just many outward
The structure of side shape.
Further, described bending punch also includes: flattens roller core shaft, flattens roller bearing, strip slicking-in roller and auxiliary
Brace；Described strip slicking-in roller both sides are provided with pressing roller bearing, and described pressing roller core shaft passes through pressing roller bearing to be fixed on two
In individual auxiliary support arm, auxiliary support arm is fixed on punch support, composition auxiliary roll-in assembly.
Further, described punch and die are same die holder, and described punch track and die track are same die holder
Track, described punch roller support and die roller support are same support, and described punch roller support shaft and die roller support shaft are same
One axle, described auxiliary support arm and punch roller support are the assembling structure that can be removably mounted；Only pass through to change punch roller and die roller
Direct bending forming and the once school formation shape work of tubular rod can be completed on same foundation assembly.
Required according to tubular rod serviceability, shape → secondary sizing shaping mode formed using direct bending forming → secondary school,
Realize the Plastic Forming of ultra-thin-wall elastic alloy band.This structure realizes the shaping of lower half circle using direct bending forming, once
School forms the shaping that shape completes upper semi-circle, and finally by setting tooling, heat treatment completes the sizing of final full circle.First order buckling becomes
Shape process, relies on auxiliary roll-in assembly, flattens thin wall alloy band, it is to avoid follow-up bending forming strip buckling deformation, realizes ultra-thin
The ratio Plastic Forming of strip, enables this mechanism to produce the ultra-thin alloy tubular bar than storage than more than 100.Therefore, this
Bright have very strong competitiveness in the ultra-thin shaping application than tubular metal bar.
In the present invention, sizing membrane module will be fixed by the strip bending punch and bending die shaping by stock mould,
Complete the last one procedure of whole forming device, realize sizing eventually through heat treatment.
With respect to prior art, the fixture for forming of ultra-thin elongate resilient tubular rod of the present invention has the advantage that
Fixture for forming of the present invention is capable of ultra-thin-wall, the winding shaping of wall thickness≤0.06mm sheet metal strip, according to
By assisting roll-in assembly, flatten thin wall alloy band, it is to avoid follow-up bending forming strip buckling deformation, realize ultra-thin moulding than strip
Property shape, the tubular rod after shaping has a less form diameter, and exhibition is received storage ratio and reached more than 100.
Brief description
The accompanying drawing constituting the part of the invention is used for providing the invention is further understood, and the present invention creates
The schematic description and description made is used for explaining the invention, does not constitute the improper restriction to the invention.?
In accompanying drawing:
Fig. 1 is the fixture for forming bending punch outside drawing described in the embodiment of the present invention；
Fig. 2 is the bending convex portions sectional view described in the embodiment of the present invention；
Fig. 3 is the bending punch end view described in the embodiment of the present invention；
Fig. 4 is the bending punch slicking-in roller phantom described in the embodiment of the present invention；
Fig. 5 is the fixture for forming bending die outside drawing described in the embodiment of the present invention；
Fig. 6 is the bending die phantom described in the embodiment of the present invention；
Fig. 7 is the bending die end view described in the embodiment of the present invention；
Fig. 8 is the fixture for forming stock mould outside drawing described in the embodiment of the present invention.
Description of reference numerals:
100- punch arc groove；1000- punch rectangular extension groove；101- punch；102- punch roller slide rail；103- punch
Roller support；104- first nut；105- punch roller support shaft；106- first pad；107- punch roller bearing；108- punch roller；
109- flattens roller core shaft；110- flattens roller bearing；111- strip slicking-in roller；112- auxiliary support arm；200- die arc groove；
2000- die rectangular extension groove；201- die；202 die roller slide rails；203- die roller support；204- second nut；205- is recessed
Die support shaft；206- second pad；207- die roller bearing；208- die roller；001- alloy sheet strip；002- sizing mandrel；
003- stock mould.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the invention and the feature in embodiment can
To be mutually combined.
In the description of the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", " on ", D score,
The orientation of instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " or position relationship are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the invention and simplifies description, rather than instruction
Or the hint device of indication or element must have specific orientation, with specific azimuth configuration and operation, be not therefore understood that
It is the restriction to the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating
Or hint relative importance or the implicit quantity indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In the description of the invention, unless separately
It is described, " multiple " are meant that two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly
Connect；Can be to be mechanically connected or electrically connect；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning in the invention for the term.
To describe the invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
The fixture for forming of ultra-thin elongate resilient tubular rod of the present invention, including bending punch, bending die and sizing work
Dress；
As shown in Figure 1,2 and 3, described bending punch include: punch 101, punch roller slide rail 102, punch roller support 103,
First nut 104, punch roller support shaft 105, the first pad 106, punch roller bearing 107, punch roller 108；On described punch 101
It is provided with punch arc groove 100, at described punch arc groove 100 opening, be provided with punch rectangular extension groove 1000, described punch
Rectangular extension groove 1000 both sides are respectively provided with a punch roller slide rail 102, and punch roller slide rail 102 is provided with slidably punch roller
Support 103, is provided with punch roller bearing 107, the running roller cambered surface of described punch roller 108 and punch arc about punch roller 108 center
Connected in star 100 coordinates, and that is, the running roller of punch roller 108 can be put in punch arc groove 100, and described punch roller support shaft 105 is worn
Excess convexity die bearing 107, described punch roller support shaft 105 two ends are erected in two punch roller supports 103, rely on the of outside
One nut 104 and the first pad 106 are fixing, so that punch roller 108 is rolled around punch roller support shaft 105, punch roller support 103 exists
Punch roller slide rail 102 horizontal direction moves, and forms forward building motion that is mobile plus rolling；
As shown in figs. 1 and 4, described bending punch also includes: flattens roller core shaft 109, flattens roller bearing 110, strip pressing
Roller 111 and auxiliary support arm 112；Described strip slicking-in roller 111 both sides are provided with pressing roller bearing 110, described pressing roller core shaft
109 pass through pressing roller bearing 110 to be fixed in two auxiliary support arm 112, and auxiliary support arm 112 is fixed in punch roller support
On 103, composition auxiliary roll-in assembly.
As shown in Fig. 5,6 and 7, described bending die, including die 201, die roller slide rail 202, die roller support 203,
Second nut 204, die roller support shaft 205, the second pad 206, die roller bearing 207, die roller 208；On described die 201
It is provided with die arc groove 200, at described die arc groove 200 opening, be provided with die rectangular extension groove 2000, described die
Rectangular extension groove 2000 both sides are respectively provided with a die roller slide rail 202, and described die slide rail 202 is fixed with die roller support
203, die roller bearing 207 is installed about die roller 208 center, the running roller of described die roller 208 is provided with cave inward recessed
Die groove, described die roller groove is coordinated with die arc groove 200, and section forms a full circle, described die roller 208
Wheel roller is placed in die rectangular extension groove 2000, and described die roller support shaft 205 passes through die roller bearing 207, relies on both sides
Second nut 204 and the second pad 206 are fixing, so that die roller 208 is rolled around die roller support shaft 205, die roller support 203
On die roller slide rail 202, horizontal direction moves, and forms forward building motion that is mobile plus rolling.
As shown in figure 8, described setting tooling includes: sizing mandrel 002 and stock mould 003, outside described sizing mandrel 002
Footpath is equal with the tube rod internal diameter processed, and the internal diameter of described stock mould 003 is equal with the tube rod external diameter processed, that is, core of shaping
It is the structural member through bending punch and bending die molding for the alloy sheet strip 001 between 002 and stock mould 003, the alloy sheets of shaping
Band 001 and sizing mandrel 002 rely on stock mould 003 fixing, form sizing membrane module, and the stock mould 003 shown in figure is cylindrical
Shape, profile can be changed to outer cubic or polygonal structure outward according to specific Equipment for Heating Processing.
Optimal, described punch 101 and die 201 are same die holder, and described punch track 102 and die track 202 are
The track of same die holder, described punch roller support 103 and die roller support 203 are same support, described punch roller support shaft 105
It is same axle with die roller support shaft 205, described auxiliary support arm 112 and punch roller support 103 are the assembling structure that can be removably mounted；
Only pass through to change punch roller 108 and die roller 208 can complete the direct bending forming of tubular rod on same foundation assembly
Once school forms shape work.
The process principle of ultra-thin elongate resilient tubular rod forming frock of the present invention and manufacturing process:
The motion of bending punch of the present invention, by manual actuation, can be changed to electronic according to subsequent request, also can will be convex
Mould 101 is placed on motion, solid punch roller support 103, realizes the relative motion of punch 101 and punch roller support 103；If
There are punch roller 108 and the punch roller support 103 of strip slicking-in roller 111 to move along a straight line along punch slide rail 102, rely on strip to flatten
The rolling motion of roller 111, limits the torsional deformation of thin-walled strip；As shown in figure 3, described punch roller support 103 one end is in u-shaped tying
Structure or rectangle hole structure, described punch roller support shaft 105 is erected in the u-shaped mouth of punch roller support 103 or in rectangle hole,
By adjusting upper-lower position in punch roller support 103 for the punch roller support shaft 105, control punch roller 108 and punch arc recessed
The spacing of groove 100, relies on the rolling of punch roller 108 to form the lower half circle shaping realizing tubular rod, completes direct bending forming；
The motion of bending die assembly of the present invention, by manual actuation, can be changed to according to subsequent request electronic, also may be used
Die 201 is placed on motion, anchor die support 203, realizes the relative fortune of die 201 and die roller support 203
Dynamic；The die roller support 203 being provided with die roller 208 moves along a straight line along die slide rail 202, simultaneously by alloy sheet strip 001 and fixed
Core barrel 002 is put on die arc groove 200 correspondence position, as shown in figure 5, described die roller support 203 one end is in u shape tying
Structure or rectangle hole structure, described die roller support shaft 205 is erected in the u shape mouth of die roller support 203 or in rectangle hole,
By adjusting upper-lower position in die roller support 203 for the die support shaft 205, control die roller 208 and die arc groove
200 spacing, relies on the rolling of die roller 208 to form the upper semi-circle shaping realizing tubular rod, completes once school and form shape；
The use of setting tooling of the present invention, stock mould 003 is set in once the alloy sheet strip 001 that school forms shape
On sizing core 002, the thermally treated sizing completing final full circle.
The present invention passes through design, and cleverly direct bending forming → secondary school forms the shaping that shape → secondary sizing shapes three passages
Structure, and function is rolled by certain auxiliary, enable this mechanism to produce the ultra-thin alloy tubular than storage than more than 100
Bar.Therefore, the present invention has very strong competitiveness in the ultra-thin shaping application than tubular metal bar.
The foregoing is only the preferred embodiment of the invention, not in order to limit the invention, all this
Within the spirit of innovation and creation and principle, any modification, equivalent substitution and improvement made etc., should be included in the invention
Protection domain within.
Claims (8)
1. ultra-thin elongate resilient tubular rod fixture for forming it is characterised in that: include bending punch, bending die；
Described bending punch, comprising: punch (101), punch roller slide rail (102), punch roller support (103), punch roller support shaft
(105), punch roller (108)；Described punch (101) is provided with punch arc groove (100), described punch arc groove (100)
Both sides are respectively provided with punch roller slide rail (102), and punch roller slide rail (102) is provided with punch roller support (103), described punch
Roller support (103) is along punch roller slide rail (102) slip, the running roller cambered surface of described punch roller (108) and punch arc groove (100)
Cooperation, described punch roller support shaft (105) two ends are fixed on two punch roller supports (103)；
Described bending die, comprising: die (201), die roller slide rail (202), die roller support (203), die roller support shaft
(205), die roller (208)；Described die (201) is provided with die arc groove (200), described die arc groove (200)
Both sides are respectively provided with die roller slide rail (202), and described die slide rail (202) is provided with die roller support (203), described recessed
The running roller of die (208) is provided with the die roller groove caving inward, and described die roller groove is coordinated with die arc groove (200)
Form full circle section, die roller support shaft (205) two ends are fixed in die roller support (203).
2. ultra-thin elongate resilient tubular rod according to claim 1 fixture for forming it is characterised in that: also include shape work
Dress, described setting tooling includes: sizing mandrel (002) and stock mould (003), and the external diameter of described sizing mandrel (002) is less than to be determined
The internal diameter of pattern (003).
3. ultra-thin elongate resilient tubular rod according to claim 2 fixture for forming it is characterised in that: stock mould (003)
For outer ring or four directions or outer polygonized structure outward.
4. ultra-thin elongate resilient tubular rod according to claim 2 fixture for forming it is characterised in that: described bending punch
Also include: flatten roller core shaft (109), flatten roller bearing (110), strip slicking-in roller (111) and auxiliary support arm (112)；Described
Strip slicking-in roller (111) both sides are provided with pressing roller bearing (110), and described pressing roller core shaft (109) passes through and flattens roller bearing
(110) it is fixed on two auxiliary support arm (112), the other end of auxiliary support arm (112) is arranged on punch roller support (103)
On.
5. ultra-thin elongate resilient tubular rod according to claim 3 fixture for forming it is characterised in that: described punch arc
It is provided with punch rectangular extension groove (1000) at groove (100) opening to outside two, set at described die arc groove (200) opening
There is die rectangular extension groove (2000).
6. ultra-thin elongate resilient tubular rod according to claim 1 fixture for forming it is characterised in that: described bending punch
Also include punch roller bearing (107), punch roller bearing (107) is arranged on about punch roller (108) center；Described bending die is also
Including die roller bearing (207), die roller bearing (207) is arranged on about die roller (208) center.
7. ultra-thin elongate resilient tubular rod according to claim 1 fixture for forming it is characterised in that: described punch roller props up
Frame (103) upper end is in u shape structure or oblong openings structure, and described punch roller support shaft (105) is erected at punch roller support
(103) in u-shaped mouth or in rectangle hole, by the first nut (104) and the first pad (106) outside die roller support (103)
Fixing；Described die roller support (203) upper end is in u-shaped structure or oblong openings structure, described die roller support shaft (205) frame
Be located in the u-shaped mouth of die roller support (203) or in rectangle hole, outside die roller support (203) by the second nut (204) and
Second pad (206) is fixing.
8. a kind of manufacturing process of the fixture for forming using ultra-thin elongate resilient tubular rod it is characterised in that: comprise the following steps:
S1, alloy sheet strip (001) is placed on punch rectangular extension groove (1000), adjusts punch roller (108) and punch arc
Punch roller support shaft (105) is fixed on both sides by the first nut (104) and the first pad (106) by the gap of groove (100)
In punch roller support (103), in adjustable plate band slicking-in roller (111) to punch rectangular extension groove (1000), promote punch roller support
(103) punch roller (108), is made to slide along punch roller slide rail (102), strip slicking-in roller (111) pushes down alloy sheet strip (001), convex
Die (108) roll-in alloy sheet strip (001), to punch arc groove (100), completes direct bending forming；
S2, the alloy sheet strip (001) after bending forming successively is placed in die arc groove (200), will shape
Mandrel (002) is placed in the alloy sheet strip (001) of bending, adjusts between die roller (208) and die arc groove (200)
Die roller support shaft (205) is fixed on the die roller support of both sides by the second nut (204) and the second pad (206) by gap
(203) on, promote die roller support (203), so that die roller (208) is slided along die roller slide rail (202), die roller (208) roller
Alloy sheet strip (001) after pressure first order buckling, to laminating laminating completely and sizing mandrel (002), completes once school and forms shape；
S3, stock mould (003) is set in once school and is formed on the alloy sheet strip (001) and sizing core (002) of shape, at hot
Reason completes the sizing of final full circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610943843.4A CN106363051B (en) | 2016-11-02 | 2016-11-02 | The fixture for forming and manufacturing process of ultra-thin elongate resilient tubular rod |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610943843.4A CN106363051B (en) | 2016-11-02 | 2016-11-02 | The fixture for forming and manufacturing process of ultra-thin elongate resilient tubular rod |
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| CN106363051A true CN106363051A (en) | 2017-02-01 |
| CN106363051B CN106363051B (en) | 2018-03-09 |
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| CN106363051B (en) | 2018-03-09 |
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