CN106425492A - Machining assembly robot - Google Patents
Machining assembly robot Download PDFInfo
- Publication number
- CN106425492A CN106425492A CN201610873264.7A CN201610873264A CN106425492A CN 106425492 A CN106425492 A CN 106425492A CN 201610873264 A CN201610873264 A CN 201610873264A CN 106425492 A CN106425492 A CN 106425492A
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- CN
- China
- Prior art keywords
- motor
- base plate
- machining
- base
- axle
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Milling Processes (AREA)
- Manipulator (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a machining assembly robot. The machining assembly robot is characterized by comprising a crisscross worktable; a material moving device is mounted on the worktable; a machining device is mounted at one side of the material moving device, and an assembling device is mounted at the other side of the material moving device; the material moving device comprises a horizontal rail which is mounted at the worktable; a pedestal is mounted on the horizontal rail; a threaded rod is mounted inside the horizontal rail after passing through the pedestal; one end of the threaded rod is connected with a motor; a work piece rack is mounted on the pedestal. In comparison with the prior art, the machining assembly robot provided by the invention has the advantages that (1) the machining assembly robot is provided with a cuttings machining system of a lathe and a milling machine, has complete functions and is capable of implementing machining by numerical control; (2) the robot also has a polishing function and is capable of saving the manual polishing time; (3) the robot is capable of realizing automatic assembly, is capable of assembling a bearing on a short shaft by mechanical control after the short shaft is machined, and is high in speed.
Description
Technical field
The invention belongs to chemical machinery technical field, and in particular to a kind of machining puts together machines people.
Background technology
Axle (shaft) is to be through the cylindrical object in the middle of bearing or in the middle of wheel or in the middle of gear, but also has small part
It is square.Axle is support rotary part and is turned round with the machine components of transmitting movement, moment of torsion or moment of flexure therewith.Generally
Round metal is shaft-like, and each section can have different diameters.The part for making gyration in machine is just mounted on axle.
The structure design of axle is to determine the reasonable profile of axle and entire infrastructure size, for the important step that axle is designed.It by
The fixed form of installation part type, size and its position, part on axle, the property of load, direction, size and distribution situation,
The type of bearing and size, the blank of axle, manufacture and assembly technology, installation and transport, the factor such as countershaft deformation is relevant.Design
Person can be designed according to the specific requirement of axle, can be done several schemes if necessary and be compared, in order to best design is selected,
The following is general axis principles of structural design：1st, material is saved, mitigates weight, as far as possible using equal strength overall dimensions or big section
The cross sectional shape of coefficient；2nd, it is easy to parts on shaft to be accurately positioned, consolidate, assemble, dismantle and adjust；3rd, various minimizing stress are adopted
Collection neutralization improves the structural measure of intensity；4th, it is easy to processing and manufacturing and ensures precision.
The classification of axle:Common axle according to the planform of axle can be divided into bent axle, d-axis, flexible axle, solid shafting, hollow axle,
Stiff shaft, flexible axle（Flexible axle）.
D-axis can be divided into again：1. rotating shaft, had not only born moment of flexure but also had born moment of torsion during work, be modal axle in machinery, such as
Axle in various decelerators etc..2. heart axle, is solely subjected to moment of flexure and non-transmitting torque for support rotary part, and some heart axles turn
Move, such as axle of rolling stock etc., some heart axles are not then rotated, such as axle of supporting pulley etc..3. power transmission shaft, is mainly used to transmission and turns round
Square and be not subject to moment of flexure, long optical axis such as in crane movable mechanism, drive shaft of automobile etc..The material of axle mainly adopts carbon
Steel or steel alloy, may also be employed spheroidal graphite cast-iron or alloy cast iron etc..The ability to work of axle is generally dependent on strength and stiffness, rotating speed
Stability of vibration is additionally depended on when high.
Patent publication No CN103817369A discloses a kind of five-axis robot machine, it is characterised in that including support, gantry
Frame, suspension drive mechanism, the vertical arm mechanism of mill principal axis and horizontal main axis seat；Gantry is erected on support；Mill principal axis and outstanding
Hang drive mechanism to be located on portal frame；Horizontal main axis seat is located on suspension drive mechanism, to realize the movement of XYZ axle；Mill principal axis
Vertical arm mechanism is located at the horizontal main axis front end of horizontal main axis seat, and the vertical arm mechanism of mill principal axis drives milling cutter by electric rotating machine
Spindle vertical arm mechanism rotates, to realize the movement of AB axle.
And for example Patent publication No CN104475641A discloses a kind of bolt processing integrated machine, including frame, decompressor,
Feeding mold base, conveyer device, pure carrier and workbench, the thin material carrier is fixed on the upper right side of workbench, institute
The lower left that conveyer device is located at pure carrier is stated, and the conveyer device is fixed on the left upper end of workbench, the frame
Arrange with table vertical, the feeding mold base is located at the left side of conveyer device, the feeding mold base is fixed on frame
Upper rear end, the decompressor is located at the dead ahead of feeding mold base, and the decompressor is fixed on the top front end of frame.
When the processing of bolt mass is carried out, now bar is thrown in in pure carrier, start conveyer device, also synchronous can order about
Pure carrier feed, so pure carrier export a bar every time, just fall on a conveyor, using conveyer device
Bar is delivered on feeding mold base, and then starts decompressor and realize the punching press to multiple bars so that bolt is for the first time
Molding, and undergauge process is completed, hereafter can put into the semi-finished product after punching press in thread rolling machine carries out thread rolling, to complete spiral shell
Stricture of vagina is processed.
At present, as axle processing needs complicated operation, although numerical control machine tool technique prosperity now, an axle is utilized
One equipment completes the equipment that the chip processing of required form does not also reach such technology at present.Meanwhile, after axle is machined,
Need for its set upper bearing (metal) to carry out cooperation to allow which to be directly installed in machinery equipment.Whole process operation is all before this
It is that segmentation is carried out, non-interference, the process time of such a product is long, low production efficiency.
Content of the invention
The present invention is for the shortcoming of prior art, it is proposed that a kind of machining puts together machines people, and the robot is mainly
For the processing of short axle, accomplish chip, milling key, polishing, drilling, the integration of assembling, manufacturing procedure is reduced, makes production efficiency
Greatly improve.
For realizing the purpose of the present invention, the technical solution used in the present invention is：
A kind of machining puts together machines people, it is characterised in that：Including workbench, the workbench is cross, and which is pacified above
Equipped with material device is moved, processing unit (plant) and assembling device are installed in the both sides for moving material device；
Described move material device include laying oneself on the railway tracks installed in workbench, described lay oneself on the railway tracks on base is installed；Threaded rod is pacified through base
It is mounted in laying oneself on the railway tracks, its one end is connected with motor, work rest is on base, and work rest is installed above coolant conveying dress
Put, coolant discharging opening alignment pieces frame；
Assembling device includes track one, is provided with the base plate one for moving forward and backward by one control of cylinder on the track one, electricity
Machine one and motor two are above the base plate one；The base plate one is provided with to be driven by the belt transmission of actuating device and attacks
Silk mechanism and assemble mechanism rotary work, the borehole drill construction being rotated by motor two is installed in assemble mechanism side, described
It is connected belt between motor one and actuating device；
Processing unit (plant) includes guide rail two, is provided with the base plate two for moving forward and backward by two control of cylinder on the track two, electricity
Machine three is on base plate two, and the lathe tool mechanism being driven by motor three and milling cutter mechanism are installed in the front of motor three；
Inflatable body, the inflatable body includes the angular adjustment frame installed in top of laying oneself on the railway tracks, and installs on the angular adjustment frame
There is blow head, air inlet pipe is connected to after blow head, the air inlet pipe connection outside air pump.
Preferentially, the work rest side is connected with jacking mechanism, and jacking mechanism is fixed on base.
Preferentially, the borehole drill construction periphery is additionally provided with workpiece clamping set.
Preferentially, pass through belt transmission between the motor three and lathe tool mechanism and milling cutter mechanism.
Preferentially, also include processing unit (plant), the upper processing unit (plant) includes crane, and the crane is vertically mounted on
On workbench, guide rail three drives the hanger of lifting on guide rail three by cylinder three on the inside of crane, described
The upper boring machine and buffing machine being rotated by motor three is installed on hanger.
Preferentially, the upper boring machine is telescopic tapping machine.
Compared with prior art, advantages of the present invention is as follows：（1）Chip system of processing with lathe and milling machine, work(
Can be complete, processing is completed by numerical control control；（2）Robot has polishing function again, saves the manual polishing time；（3）Automatically
Assembling, after short axle is machined, can be assembled to bearing in short axle by Mechanical course, and speed is fast.
Description of the drawings
Now next the accompanying drawing by means of embodiment is carrying out brief description to the present invention.In accompanying drawing：
Fig. 1 show machining of the present invention put together machines people structure arrangement schematic diagram；
Fig. 2 illustrates that Fig. 1's disassembles schematic diagram further；
Fig. 3 shows that Fig. 2's disassembles schematic diagram further；
Fig. 4 shows that another view direction of Fig. 2 disassembles schematic diagram further；
Fig. 5 shows the structure arrangement schematic diagram of processing unit (plant) in the present invention；
Fig. 6 shows the side view of processing unit (plant) in the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some deformation can also be made and is improved.These belong to the present invention
Protection domain.
Embodiment 1
Please emphasis refer to Fig. 1, a kind of machining puts together machines people, including workbench 100, the workbench 100 is cross,
Which is provided with shifting material device 500 above, and processing unit (plant) 400 and assembling device 200 are installed in the both sides for moving material device 500.
Please emphasis refer to Fig. 2, Fig. 3 and Fig. 4, moving material device 500 includes to lay oneself on the railway tracks 504 installed in workbench 100, described sleeping
Base 502 is installed on rail 504；Threaded rod 505 is through base 502 installed in laying oneself on the railway tracks in 504, and its one end is connected with motor 506,
Work rest 503 is on base 502.503 side of work rest is connected with jacking mechanism 501, and jacking mechanism 501 is fixed on base
On 502.
Workpiece is fixing on work rest 503 first, will be motionless for workpiece dieback by jacking mechanism 501, and motor 506 rotates
The rotation of threaded rod 505 is driven to make base 502 with workpiece motion s, such workpiece passes sequentially through each manufacturing procedure and is processed.Work
Part frame is installed above coolant conveyer device, coolant discharging opening alignment pieces frame；So effectively prevent workpiece from cutting
Cheng Zhong, workpiece heating deformation.
Please emphasis refer to Fig. 3, processing unit (plant) 400 includes guide rail 2 406, is provided with by cylinder on the track 2 406
The base plate 2 403 that 2 408 controls move forward and backward, motor 3 407 is driven by motor 3 407 on base plate 2 403
Lathe tool mechanism 401 and milling cutter mechanism 404 are installed in the front of motor 3 407.Motor 3 407 and lathe tool mechanism 401 and milling cutter
It is driven by belt 402 between structure 404.
Workpiece is driven laying oneself on the railway tracks on 504 by base 502 and moves, and lathe tool mechanism 401 and milling cutter mechanism 404 are in motor 3 407
Lower rotary work is driven, lathe tool mechanism 401 carries out chip molding to workpiece, and the keyway in workpiece is milled out by milling cutter mechanism 404, is made
Axle initial processing is completed.
Please emphasis refer to Fig. 2 and Fig. 4, assembling device 200 include track 1, be provided with the track 1 and pass through
Cylinder 1 controls the base plate 1 for moving forward and backward, motor 1 and motor 2 204 on the base plate 1
Face；The base plate 1 is provided with and drives tapper mechanism 201 and assemble mechanism 206 to revolve by the belt transmission of actuating device 209
Change a job work, the borehole drill construction 205 being rotated by motor 2 204 is arranged on 206 side of assemble mechanism, the motor 1
It is connected belt between actuating device 209.205 periphery of the borehole drill construction is additionally provided with workpiece clamping set 210.
Short axle workpiece is processed simultaneously in chip, and the other end of short axle is blocked fixation, borehole drill construction by workpiece clamping set 210
205 drill to which first.While workpiece enters milling key station, tapper mechanism 201 is while to being added by borehole drill construction 205
Work circular hole out carries out tapping, makes short axle be easy to the assembling with other workpiece.Assembling device 200 is drilled in control workpiece
In the middle of the operation of tapping, assembly process also being carried out to workpiece, i.e., by assemble mechanism 206, the bearing that puts well in advance is inserted in short
Above shaft-like work.
Please emphasis refer to Fig. 5 and Fig. 6, upper processing unit (plant) 300, the upper processing unit (plant) 300 includes crane 301, described
Crane 301 is vertically mounted on workbench 100, and guide rail 3 302 is carried by cylinder 3 305 installed in 301 inner side of crane
The hanger 308 of dynamic lifting on guide rail 3 302, be provided with the hanger 308 by motor 3 304 be rotated upper
Boring machine 306 and buffing machine 307, the upper boring machine 306 is telescopic tapping machine.
In the short axle course of processing, the higher workpiece of product requirement surface roughness to having, control using cylinder 3 305
Buffing machine processed 307 declines carries out sanding and polishing to short axle workpiece, improves roughness, while flash removed can also be removed.In some products
In product, in addition it is also necessary to meet other installation requirements to the drilling of short axle side, i.e., by upper boring machine 306, workpiece is drilled i.e.
Can.
Please emphasis refer to Fig. 5, in order to prevent during lathe tool mechanism 401 and 404 chip of milling cutter mechanism workpiece from producing
Iron filings are assembled in a large number laying oneself on the railway tracks on 504, make base 502 that workpiece cannot be driven to carry out operation displacement, therefore, also include inflatable body
600, the inflatable body 600 includes the angular adjustment frame 602 installed in 504 tops of laying oneself on the railway tracks, and pacifies on the angular adjustment frame 602
Equipped with blow head 603, air inlet pipe 601 is connected to after blow head 603.Compressed pneumatic pump, blow head will be connected by air inlet pipe 601
603 are blown iron filings blows open, effectively prevents iron filings from assembling.
Claims (1)
1. a kind of machining puts together machines people, it is characterised in that：Including workbench（100）, the workbench（100）For cross
Shape, which is provided with shifting material device above（500）, processing unit (plant)（400）With assembling device（200）Device is expected installed in moving（500）
Both sides；
Described shifting expects device（500）Including installed in workbench（100）Lay oneself on the railway tracks（504）, described lay oneself on the railway tracks（504）On bottom is installed
Seat（502）；Threaded rod（505）Through base（502）It is arranged on and lays oneself on the railway tracks（504）Interior, its one end is connected with motor（506）, workpiece
Frame（503）Installed in base（502）On；
Assembling device（200）Including track one（207）, the track one（207）On be provided with by cylinder one（208）Before control
The base plate one for entering and retreating（202）, motor（203）With motor two（204）Installed in the base plate one（202）Above；Described
Base plate one（202）It is provided with by actuating device（209）Belt transmission drive tapper mechanism（201）And assemble mechanism（206）
Rotary work, by motor two（204）The borehole drill construction being rotated（205）Installed in assemble mechanism（206）Side, the electricity
Machine one（203）With actuating device（209）Between connect belt；
Processing unit (plant)（400）Including guide rail two（406）, the track two（406）On be provided with by cylinder two（408）Before control
The base plate two for entering and retreating（403）, motor three（407）Installed in base plate two（403）On, by motor three（407）The car of transmission
Cutter mechanism（401）And milling cutter mechanism（404）Installed in motor three（407）Front；
Inflatable body（600）, the inflatable body（600）Lay oneself on the railway tracks including being arranged on（504）The angular adjustment frame of top（602）,
The angular adjustment frame（602）On blow head is installed（603）, air inlet pipe（601）It is connected to blow head（603）Below；
The work rest（503）Side is connected with jacking mechanism（501）, jacking mechanism（501）It is fixed on base（502）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610873264.7A CN106425492A (en) | 2015-06-12 | 2015-06-12 | Machining assembly robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510321834.7A CN104858666B (en) | 2015-06-12 | 2015-06-12 | One kind is machined the people that puts together machines |
| CN201610873264.7A CN106425492A (en) | 2015-06-12 | 2015-06-12 | Machining assembly robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510321834.7A Division CN104858666B (en) | 2015-06-12 | 2015-06-12 | One kind is machined the people that puts together machines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106425492A true CN106425492A (en) | 2017-02-22 |
Family
ID=53905059
Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510321834.7A Active CN104858666B (en) | 2015-06-12 | 2015-06-12 | One kind is machined the people that puts together machines |
| CN201610873247.3A Active CN106392654B (en) | 2015-06-12 | 2015-06-12 | It is a kind of to be machined the people that puts together machines |
| CN201610873248.8A Pending CN106271674A (en) | 2015-06-12 | 2015-06-12 | A kind of machining puts together machines people |
| CN201610873264.7A Pending CN106425492A (en) | 2015-06-12 | 2015-06-12 | Machining assembly robot |
| CN201610873250.5A Pending CN106271676A (en) | 2015-06-12 | 2015-06-12 | A kind of machining puts together machines people |
| CN201610873249.2A Pending CN106271675A (en) | 2015-06-12 | 2015-06-12 | A kind of machining puts together machines people |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510321834.7A Active CN104858666B (en) | 2015-06-12 | 2015-06-12 | One kind is machined the people that puts together machines |
| CN201610873247.3A Active CN106392654B (en) | 2015-06-12 | 2015-06-12 | It is a kind of to be machined the people that puts together machines |
| CN201610873248.8A Pending CN106271674A (en) | 2015-06-12 | 2015-06-12 | A kind of machining puts together machines people |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610873250.5A Pending CN106271676A (en) | 2015-06-12 | 2015-06-12 | A kind of machining puts together machines people |
| CN201610873249.2A Pending CN106271675A (en) | 2015-06-12 | 2015-06-12 | A kind of machining puts together machines people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI672261B (en) * | 2017-04-03 | 2019-09-21 | 日商川崎重工業股份有限公司 | Capping device and capping method |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858666B (en) * | 2015-06-12 | 2017-08-04 | 安徽修武工业技术有限公司 | One kind is machined the people that puts together machines |
| CN112171185B (en) * | 2020-08-21 | 2022-10-18 | 湖北隐冠轴业有限公司 | Geometric shape precision machining device for hollow rotating shaft of driving motor and operation method |
| CN112318135B (en) * | 2020-10-27 | 2022-02-08 | 南京美诚铝业科技有限公司 | Drilling and tapping all-in-one machine with deburring function |
| CN112643345B (en) * | 2020-11-13 | 2021-10-29 | 浙江鸿业阀门制造有限公司 | Valve processing is with drilling all-in-one of polishing |
| CN113103005A (en) * | 2021-02-07 | 2021-07-13 | 万晖五金（深圳）有限公司 | A accurate full automatic processing equipment for padlock body |
| CN115122106B (en) * | 2022-07-25 | 2024-02-27 | 厦门德菲尔特新材料有限公司 | Intelligent processing equipment for central tube |
| CN115446351B (en) * | 2022-10-11 | 2024-06-14 | 安泰爱科科技有限公司 | Drilling equipment capable of reducing concentricity deviation for rotor production |
| CN116748899B (en) * | 2023-08-21 | 2023-11-03 | 昆明理工大学 | Sheet metal piece casting equipment of interactive design workstation |
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| US4057893A (en) * | 1976-04-07 | 1977-11-15 | Still-Walter Tool & Manufacturing Company | Milling table lathe |
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| CN101502933A (en) * | 2009-03-10 | 2009-08-12 | 吉林省鸿源机床制造有限责任公司 | Numerical control gantry heavy-duty machine for machining, milling, boring, planing and grinding |
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| CN202438835U (en) * | 2012-03-05 | 2012-09-19 | 老河口双华数控组合机床有限责任公司 | Horizontal bilateral drilling, tapping and milling combined machine tool |
| CN203044952U (en) * | 2013-01-08 | 2013-07-10 | 上海百晟精密机械有限公司 | Fully-automatic high-speed numerical control drilling machine |
| CN103158009A (en) * | 2013-03-16 | 2013-06-19 | 丽水立谛科技有限公司 | Machining assembly and detection production line |
| CN203679754U (en) * | 2013-12-30 | 2014-07-02 | 温州职业技术学院 | Automatic drilling and tapping machine tool |
| CN104858666B (en) * | 2015-06-12 | 2017-08-04 | 安徽修武工业技术有限公司 | One kind is machined the people that puts together machines |
| CN204711579U (en) * | 2015-06-12 | 2015-10-21 | 舟山市智海技术开发有限公司 | A kind of machining assembly robot |
-
2015
- 2015-06-12 CN CN201510321834.7A patent/CN104858666B/en active Active
- 2015-06-12 CN CN201610873247.3A patent/CN106392654B/en active Active
- 2015-06-12 CN CN201610873248.8A patent/CN106271674A/en active Pending
- 2015-06-12 CN CN201610873264.7A patent/CN106425492A/en active Pending
- 2015-06-12 CN CN201610873250.5A patent/CN106271676A/en active Pending
- 2015-06-12 CN CN201610873249.2A patent/CN106271675A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI672261B (en) * | 2017-04-03 | 2019-09-21 | 日商川崎重工業股份有限公司 | Capping device and capping method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104858666A (en) | 2015-08-26 |
| CN106271676A (en) | 2017-01-04 |
| CN104858666B (en) | 2017-08-04 |
| CN106271675A (en) | 2017-01-04 |
| CN106392654A (en) | 2017-02-15 |
| CN106271674A (en) | 2017-01-04 |
| CN106392654B (en) | 2018-12-11 |
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