CN106427940A - Anti-slip system and anti-slip method for automatic traveling equipment - Google Patents
Anti-slip system and anti-slip method for automatic traveling equipment Download PDFInfo
- Publication number
- CN106427940A CN106427940A CN201510477401.0A CN201510477401A CN106427940A CN 106427940 A CN106427940 A CN 106427940A CN 201510477401 A CN201510477401 A CN 201510477401A CN 106427940 A CN106427940 A CN 106427940A
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- China
- Prior art keywords
- automatic running
- running device
- descending
- wheel
- slip
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/067—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing drum
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D51/00—Brakes with outwardly-movable braking members co-operating with the inner surface of a drum or the like
- F16D51/16—Brakes with outwardly-movable braking members co-operating with the inner surface of a drum or the like shaped as brake-shoes pivoted on a fixed or nearly-fixed axis
- F16D51/18—Brakes with outwardly-movable braking members co-operating with the inner surface of a drum or the like shaped as brake-shoes pivoted on a fixed or nearly-fixed axis with two brake-shoes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to an anti-slip system and anti-slip method for automatic traveling equipment. The anti-slip system comprises a rear brake structure mounted on a rear wheel of the automatic traveling equipment, and a front brake structure mounted on a front wheel of the automatic traveling equipment, wherein the front brake structure comprises two sections of brake pads symmetrically arranged on the inner side of the front wheel; extrusion pads are connected to the brake pads; two corresponding control magnets are respectively arranged at two corresponding ends of the extrusion pads; and reset springs corresponding to the control magnets are respectively arranged between the extrusion pads. Through the adoption of the anti-slip system disclosed by the invention, the phenomenon that the automatic traveling equipment rushes out of a boundary line due to an overhigh speed while traveling downhill can be effectively avoided.
Description
Technical field
The present invention relates to brake field, the anti-slip system and method for more particularly to a kind of automatic running device.
Background technology
With scientific and technical development, the automatic running device of intelligence is well known, due to automatically walk
The inter-related task that the program performing that equipment can pre-set automatically pre-sets, operation that need not be artificial with dry
In advance, the application therefore in commercial Application and family product is widely.Industrial application such as executes various
The robot of function, the application on family product such as hay mover, vacuum cleaner etc., these intelligent automatically walks
Equipment dramatically saves on the time of people, all brings great convenience to commercial production and life staying idle at home.
Automatic running device is usually mounted with brake gear.Brake gear is usually to move in automatic running device
When, when needing braking, trailing wheel can be braked, reduce the translational speed of automatic running device,
Automatic running device is made to stop moving eventually.But, if the ground steeper that automatic running device passes through,
Or ground is smoother, only trailing wheel is braked, is difficult to check automatic running device.If automatic row
Walking equipment needs to work in certain boundary line it is possible to lead to automatic running device to go out boundary line；As
Barrier is had on fruit ground, automatic running device may strike barrier；And so on.
Content of the invention
Based on this it is necessary to provide a kind of anti-slip system and method for automatic running device, prevent automatic row
Walk equipment and go out boundary line in descending.
A kind of anti-slip system of automatic running device, after installing on the trailing wheel of automatic running device
Brake structure, be additionally included on the front-wheel of described automatic running device install front braking structure, described before stop
Bassinet structure includes symmetrically arranged two sections of brake blocks inside front-wheel, and described brake block is connected with extruding plate, institute
The respective ends stating extruding plate are respectively arranged with corresponding control Magnet, are respectively arranged between described extruding plate
With the control corresponding back-moving spring of Magnet.
Wherein in an embodiment, in described brake block, setting is fluted, and described extruding plate is arranged at described recessed
In groove.
Wherein in an embodiment, the both sides equal length of described extruding plate extends the outside of described groove.
Wherein in an embodiment, described control Magnet is arranged at the outside that described extruding plate extends described groove
Position.
Wherein in an embodiment, described anti-slip system also includes connecting with the controller of described automatic running device
The angle detecting sensor connecing, described angle detecting sensor detects the lower angle of slope in descending for the automatic running device,
And angle value is transferred to described controller, described controller electrically connects institute when detecting that described angle value reaches predetermined value
State control Magnet, described control Magnet passes through back-moving spring stretching described in Magnetic Control and drives described extruding plate by brake block
Extrude to front-wheel.
Wherein in an embodiment, described anti-slip system also includes connecting with the controller of described automatic running device
The acceleration detection sensor connecing, described acceleration detection sensor detects automatic running device in descending brief acceleration,
And the value of acceleration is transferred to described controller, described controller is when the value detecting described acceleration reaches predetermined value
Electrically connect described control Magnet, described control Magnet passes through back-moving spring stretching described in Magnetic Control and drives described extruding plate
Brake block is extruded to front-wheel.
Wherein in an embodiment, while electrically connecting described control Magnet, control is described certainly for described controller
Dynamic walking arrangement rotates 180 degree, makes described automatic running device retrusive descending.
Wherein in an embodiment, described brake block is and front-wheel identical circular shape.
Wherein in an embodiment, described back-moving spring is extension spring.
Wherein in an embodiment, described brake block is provided with thermal insulation layer.
A kind of anti-slip method of automatic running device, automatic running device includes the rear braking knot installed on trailing wheel
Structure and the front braking structure installed on front-wheel, described anti-slip method includes：
Gather the descending value in descending for the described automatic running device；
Judge whether the descending value in descending for the automatic running device reaches predetermined value；
When described descending value reaches predetermined value, start described front braking structure.
Wherein in an embodiment, described descending value is to be adopted by angle detecting sensor or acceleration detection sensor
Acceleration when the lower angle of slope in descending for the described automatic running device of collection or descending.
Wherein in an embodiment, described when described descending value reaches predetermined value, start described front braking structure
Step includes：
The controller of described automatic running device controls Magnet electrical connection is detected when described descending value reaches predetermined value,
Brake block is extruded by Magnetic Control back-moving spring stretching drive extruding plate and starts to front-wheel by described control Magnet
Front braking structure.
Wherein in an embodiment, described anti-slip method also includes：
Described when described descending value reaches predetermined value, while starting described front braking structure, described controller controls
Described automatic running device rotates 180 degree, makes described automatic running device retrusive descending.
The anti-slip system and method for the above automatic running device, installs front braking structure in front-wheel, can
Automatic running device is jointly braked in descending with the brake structure with trailing wheel, effectively prevents automatic running device
The excessive velocities in descending and go out boundary line.
Brief description
Fig. 1 be an embodiment automatic running device install before and after structure chart after brake structure；
Fig. 2 is the structure chart of the front braking structure of the automatic running device of an embodiment；
Fig. 3 is structure chart during the normal descending of automatic running device of an embodiment；
Fig. 4 is the structure chart during automatic running device retrusive descending of an embodiment.
100 front braking structure 110 brake block
120 extruding plate 130 controls Magnet
140 back-moving springs
200 front-wheels
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and reality
Apply example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
Only in order to explain the present invention, it is not intended to limit the present invention.
Traditional automatic running device simply installs brake structure in trailing wheel, but only installs brake structure in trailing wheel
Being easily caused automatic running device (when the gradient is larger) in descending makes automatic running device cross the side of setting
Boundary line, or clash into the barrier being likely to occur under slope, automatic running device is caused damage.For this reason, such as
Shown in Fig. 1, the anti-slip system of the automatic running device of the present embodiment includes the trailing wheel in automatic running device
The wire wheel back-braking structure of upper installation, is additionally included in the front braking structure 100 install on the front-wheel of automatic running device.
Effectively automatic running device can be braked by the brake structure of front and back wheel, prevent the braking in descending
Power is too small to make automatic running device exceed boundary line, or strikes obstacles.The present embodiment is installed in front-wheel and is stopped
Bassinet structure, overcomes people and can be only installed at trailing wheel to conventional brake, and do not reside at the understanding prejudice of front-wheel.
As shown in Fig. 2 front braking structure 100 includes two section brake blocks symmetrically arranged in front-wheel 200 inner side
110, between two sections of brake blocks 110, there is space, two sections of brake blocks 110 are connected to corresponding extruding plate
120, the respective ends of two extruding plates 120 are respectively arranged with corresponding control Magnet 130, two control magnetic
Ferrum 130 is located at the clearance position between two sections of brake block 110 two ends respectively, divides between two extruding plates 120
It is not provided with back-moving spring 140 corresponding with controlling Magnet 130.
For preventing the position between brake block 110 and extruding plate 120 from dislocating, can be in brake block 110
Portion arranges groove, and extruding plate 120 is arranged in groove.For more preferably realizing the braking effect of front-wheel, brake
The shape of piece 110 can be and front-wheel 200 identical circular shape.
During due to skidding, between brake block 110 meeting and front-wheel 200, produce friction, friction between the two can be produced
Raw substantial amounts of heat, if heat distributes not in time, easily consumes brake block 110, therefore, brake block 110 is permissible
Setting thermal insulation layer, prevents the consumption to brake block 110.
The outside of groove can be extended with equal length in the two ends of extruding plate 120, and will control Magnet 130
It is arranged at the external position that extruding plate 120 extends groove, specifically as shown in Figure 2.Extruding plate 120 prolongs
Stretch out the outside of groove, when back-moving spring 140 acts on, the effect of lever can be played, preferably extruding is stopped
Car piece 110, reaches optimal braking effect.
Back-moving spring 140 needs there is preferable elastic force, can adopt the extension spring of steel, fully ensure that
The braking effect of front-wheel.
The anti-slip system of the above automatic running device, front-wheel install front braking structure, can with rear
The brake structure of wheel brakes automatic running device in descending jointly, effectively prevents automatic running device in descending
When excessive velocities and go out boundary line.
In descending, not all situation all can lead to automatic running device to go out side to generally automatic running device
Boundary line, or strikes obstacles, only when the gradient is larger, are possible to this situation.Therefore,
Front wheel brake need not be started in automatic running device descending every time.For this reason, can be in automatic running device
The angle detecting sensor that upper installation is connected with the controller of automatic running device, angle detecting sensor detects automatic row
Walk the lower angle of slope in descending for the equipment, and angle value is transferred to controller, controller reaches in detection angles value pre-
During definite value, electrical connection controls Magnet 130, controls Magnet 130 to pass through Magnetic Control back-moving spring 140 stretching and drives extruding
Piece 120 extrudes brake block 110 to front-wheel, and brake block 110 produces friction with front-wheel 200 inner side, makes front-wheel
200 brakings, reduce the descending speed of automatic running device.Generally, the descending situation ratio of the appearance of automatic running device
Less, the gradient of descending is smaller, therefore, it can predetermined value of slope is provided between 20 degree to 40 degree, with
Indirectly play the effect of the brake structure of front-wheel.
Sometimes only the gradient of automatic running device descending is detected, the possible gradient is less, but the gradient is relatively
Long, the descending speed leading to automatic running device is comparatively fast it is equally possible to lead to automatic running device to cross border
Line, or strikes obstacles.For this reason, the control with automatic running device can installed on automatic running device
The acceleration detection sensor that device processed connects, acceleration detection sensor detects automatic running device in descending brief acceleration,
And the value of acceleration is transferred to controller, controller electrical connection when the value detecting acceleration reaches predetermined value controls magnetic
Ferrum 130, controls Magnet 130 to pass through Magnetic Control back-moving spring 140 stretching and drives extruding plate 120 by brake block 110
Extrude to front-wheel 200, reduce the descending speed of automatic running device.
Automatic running device can be with separately installed angle detecting sensor or acceleration detection sensor it is also possible to simultaneously
Setting angle detection sensor and acceleration detection sensor.When separately installed angle detecting sensor, if automatically
Gradient during walking arrangement descending is more than predetermined value, you can start front braking structure 100, and fast braking automatically walk sets
Standby.When separately installed acceleration detection sensor, if the acceleration in descending for the automatic running device is more than made a reservation for
Value, you can start front braking structure 100, also can fast braking automatic running device.But for preventing the gradient less, increase
Longer lead to automatic running device speed when, can setting angle detection sensor and acceleration detection simultaneously
Sensor, ensures that the speed of automatic running device will not exceed boundary line very much soon simultaneously.
As shown in Figure 3 it is generally the case that automatic running device is positive movement in descending, as the side of in figure arrow
To shown, automatic running device is that front-wheel, trailing wheel move along descending successively.But if be the gradient larger, longer when,
Even the front braking structure 100 starting front-wheel is likely to cannot fully reduce the descending speed of automatic equipment, automatic row
Walk equipment it is possible to beyond boundary line or clashing into upper barrier.For this reason, when angle detecting sensor or/and accelerating
When the degree corresponding value that detects of detection sensor is larger, while controller controls Magnet 130 in electrical connection, can
To control automatic running device rotation 180 degree, make automatic running device retrusive descending.
Automatic running device in normal descending, trailing wheel and the minimizing compared with level land of domatic normal pressure on the slope,
Front-wheel and the increase compared with level land of domatic normal pressure, so normal as Fig. 3 in descending when, can lead to from
The reduction compared with level land with domatic adhesive force of dynamic walking arrangement, is unfavorable for fully braking.As shown in figure 4, automatic row
Walk equipment after rotation 180 degree, its front and rear wheel is turned round, automatic running device retrusive descending, can make automatically walk
Equipment and domatic adhesive force increase, and brake weight also can increase, can fully reduce automatic running device go out boundary line or
The risk of strikes obstacles.
The present embodiment additionally provides a kind of anti-slip method of automatic running device, and automatic running device includes the above
The wire wheel back-braking structure installed on trailing wheel and the front braking structure installed on front-wheel, described anti-slip method bag
Include：
Gather the descending value in descending for the described automatic running device；
Judge whether the descending value in descending for the automatic running device reaches predetermined value；
When descending value reaches predetermined value, start front braking structure.
Automatic running device in descending, the angular transducer being connected with the controller in automatic running device or acceleration
Acceleration when the lower angle of slope in descending for the automatic data collection automatic running device or descending understood by sensor, and controller is connecing
After receiving descending value (acceleration when lower angle of slope or descending), the size of meeting automatic decision descending value and predetermined value,
And when descending value reaches predetermined value, start front braking structure.Specifically, controller is when descending value reaches predetermined value,
Start step during front braking structure to include：
The controller of automatic running device is detecting electrical connection control Magnet when descending value reaches predetermined value, controls Magnet
Stretch drive extruding plate and brake block is extruded by Magnetic Control back-moving spring and start front braking structure to front-wheel.
In descending, if the gradient larger, longer when, even start front-wheel front braking structure can also fill
Divide the descending speed of reduction automatic equipment, automatic running device is it is possible to beyond boundary line or clash into upper barrier.
For this reason, when the corresponding value that angle detecting sensor or acceleration detection sensor detect is larger, controlling
Device, while electrical connection controls Magnet, can control automatic running device rotation 180 degree, after making automatic running device
Move back formula descending.That is, described anti-slip method also includes：
When descending value reaches predetermined value, while starting described front braking structure, controller controls automatic running device
Rotation 180 degree, makes described automatic running device retrusive descending.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not right
The all possible combination of each technical characteristic in above-described embodiment is all described, as long as however, these skills
There is not contradiction in the combination of art feature, be all considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed,
But can not therefore be construed as limiting the scope of the patent.It should be pointed out that for this area
For those of ordinary skill, without departing from the inventive concept of the premise, can also make and some deform and change
Enter, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended power
Profit requires to be defined.
Claims (14)
1. the anti-slip system of a kind of automatic running device, including install on the trailing wheel of automatic running device
Wire wheel back-braking structure is it is characterised in that be additionally included in the front brake install on the front-wheel of described automatic running device
Structure, described front braking structure includes symmetrically arranged two sections of brake blocks inside front-wheel, and described brake block is even
It is connected to extruding plate, the respective ends of described extruding plate are respectively arranged with corresponding control Magnet, described extruding plate
Between be respectively arranged with back-moving spring corresponding with controlling Magnet.
2. anti-slip system according to claim 1 is it is characterised in that be provided with described brake block
Groove, described extruding plate is arranged in described groove.
3. anti-slip system according to claim 2 is it is characterised in that the both sides equal length of described extruding plate
Extend the outside of described groove.
4. anti-slip system according to claim 3 is it is characterised in that described control Magnet is arranged at described squeezing
Tabletting extends the external position of described groove.
5. anti-slip system according to claim 1 is it is characterised in that also include and described automatic running device
The controller angle detecting sensor that connects, described angle detecting sensor detects automatic running device in descending
Lower angle of slope, and angle value is transferred to described controller, described controller reaches predetermined value in the described angle value of detection
When electrically connect described control Magnet, described control Magnet pass through described in Magnetic Control back-moving spring stretching drive described extruding
Piece extrudes brake block to front-wheel.
6. anti-slip system according to claim 1 is it is characterised in that also include and described automatic running device
The acceleration detection sensor that connects of controller, described acceleration detection sensor detection automatic running device is in descending
Brief acceleration, and the value of acceleration is transferred to described controller, described controller reaches in the value detecting described acceleration
Described control Magnet is electrically connected, described control Magnet passes through back-moving spring stretching described in Magnetic Control and drives during to predetermined value
Described extruding plate extrudes brake block to front-wheel.
7. the anti-slip system according to claim 5 or 6 is it is characterised in that described controller is in electrical connection institute
While stating control Magnet, control described automatic running device to rotate 180 degree, make described automatic running device retrusive
Descending.
8. anti-slip system according to claim 1 is it is characterised in that described brake block is and front-wheel identical
Circular shape.
9. anti-slip system according to claim 1 is it is characterised in that described back-moving spring is extension spring.
10. anti-slip system according to claim 1 is it is characterised in that described brake block is provided with thermal insulation layer.
A kind of anti-slip method of 11. automatic running devices is it is characterised in that automatic running device is included on trailing wheel
The wire wheel back-braking structure installed and the front braking structure installed on front-wheel, described anti-slip method includes：
Gather the descending value in descending for the described automatic running device；
Judge whether the descending value in descending for the automatic running device reaches predetermined value；
When described descending value reaches predetermined value, start described front braking structure.
12. anti-slip methods according to claim 11 are it is characterised in that described descending value is to be examined by angle
When surveying the described automatic running device of the sensor or acceleration detection sensor acquisition lower angle of slope in descending or descending
Acceleration.
13. anti-slip methods according to claim 11 or 12 it is characterised in that described in described descending value
When reaching predetermined value, the step starting described front braking structure includes：
The controller of described automatic running device controls Magnet electrical connection is detected when described descending value reaches predetermined value,
Brake block is extruded by Magnetic Control back-moving spring stretching drive extruding plate and starts to front-wheel by described control Magnet
Front braking structure.
14. anti-slip methods according to claim 13 are it is characterised in that described anti-slip method also includes：
Described when described descending value reaches predetermined value, while starting described front braking structure, described controller controls
Described automatic running device rotates 180 degree, makes described automatic running device retrusive descending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510477401.0A CN106427940B (en) | 2015-08-06 | 2015-08-06 | Anti-slip system and method for automatic walking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510477401.0A CN106427940B (en) | 2015-08-06 | 2015-08-06 | Anti-slip system and method for automatic walking equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106427940A true CN106427940A (en) | 2017-02-22 |
| CN106427940B CN106427940B (en) | 2022-12-06 |
Family
ID=58093585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510477401.0A Active CN106427940B (en) | 2015-08-06 | 2015-08-06 | Anti-slip system and method for automatic walking equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN106427940B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109712442A (en) * | 2019-03-12 | 2019-05-03 | 郑州工程技术学院 | A kind of Accounting Course device |
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| JP2002302022A (en) * | 2001-04-09 | 2002-10-15 | Yanmar Agricult Equip Co Ltd | Brake device for crawler tractor |
| EP2090799A1 (en) * | 2008-02-12 | 2009-08-19 | Robert Bosch GmbH | Drum brake for an automotive vehicle and vehicle equipped with such a brake |
| CN101861260A (en) * | 2007-10-04 | 2010-10-13 | 丰田自动车株式会社 | Parking brake system |
| CN203543917U (en) * | 2013-10-30 | 2014-04-16 | 刘振华 | Front-wheel braking mechanism of small four-wheel tractor |
| CN204143255U (en) * | 2014-09-23 | 2015-02-04 | 苏州宝时得电动工具有限公司 | Automatic running device |
| CN204287964U (en) * | 2014-12-01 | 2015-04-22 | 苏州宝时得电动工具有限公司 | Automatic running device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002302022A (en) * | 2001-04-09 | 2002-10-15 | Yanmar Agricult Equip Co Ltd | Brake device for crawler tractor |
| CN101861260A (en) * | 2007-10-04 | 2010-10-13 | 丰田自动车株式会社 | Parking brake system |
| EP2090799A1 (en) * | 2008-02-12 | 2009-08-19 | Robert Bosch GmbH | Drum brake for an automotive vehicle and vehicle equipped with such a brake |
| CN203543917U (en) * | 2013-10-30 | 2014-04-16 | 刘振华 | Front-wheel braking mechanism of small four-wheel tractor |
| CN204143255U (en) * | 2014-09-23 | 2015-02-04 | 苏州宝时得电动工具有限公司 | Automatic running device |
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| CN109712442A (en) * | 2019-03-12 | 2019-05-03 | 郑州工程技术学院 | A kind of Accounting Course device |
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| Publication number | Publication date |
|---|---|
| CN106427940B (en) | 2022-12-06 |
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