CN106443033A - Sample injector and automatic sample injection method - Google Patents
Sample injector and automatic sample injection method Download PDFInfo
- Publication number
- CN106443033A CN106443033A CN201610760356.4A CN201610760356A CN106443033A CN 106443033 A CN106443033 A CN 106443033A CN 201610760356 A CN201610760356 A CN 201610760356A CN 106443033 A CN106443033 A CN 106443033A
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- cup
- support
- disk
- sample
- cup disk
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/025—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having a carousel or turntable for reaction cells or cuvettes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0437—Cleaning cuvettes or reaction vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0439—Rotary sample carriers, i.e. carousels
- G01N2035/0446—Combinations of the above
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0474—Details of actuating means for conveyors or pipettes
- G01N2035/0491—Position sensing, encoding; closed-loop control
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- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention discloses a sample injector and an automatic sample injection method, and belongs to the technical field of analytical instruments, wherein the sample injector comprises at least one lifting mechanism for driving brackets mounted on the lifting mechanisms to do lifting movement, at least one bracket, a cup loading disc, and at least one sample cup; each bracket is correspondingly mounted on one lifting mechanism, and each bracket is provided with mounting holes for mounting components including a measuring electrode, a stirring rod and a burette; the cup loading disc can rotate relative to each bracket; the sample cups are mounted on the cup loading disc, and cup mouths of the sample cups align to the measuring electrode, the stirring rod and the burette mounted on the bracket. The sample injector has the advantages of high test speed, can realize complex-number automatic sampling, and the positions and number of sample positions and cleaning positions can be set.
Description
Technical field
The present invention relates to technical field of analytical instruments, and in particular to a kind of injector and auto injection method.
Background technology
At present, in titration or other analysis of experimentss, many counting apparatus remain in semi-automatic or hand sampling functionally.People
At the trial, after the action such as carrying out clearing up, change after need to completing a test, just can carry out next test, both waste people
Power, cannot realize whole automatizatioies again.And, there is certain risk in part chemical reagent, carrying out clearing up, the action such as change
When, easily cause danger.
For this purpose, also have some instruments with automatic sampler, for example, automatic sampler mainly include specimen disc, sample bottle,
The parts such as motor, once test can only be analyzed to the sample in a sample bottle, and test can only be once next time
Carried out after the completion of test again, and when user is needed to multiple samples while when being analyzed, it is impossible to realize.It can be seen that, this from
Dynamic injector exist single function, can not at the same complete multiple test etc. defect.
Content of the invention
Therefore, embodiment of the present invention technical problem to be solved is injector single function of the prior art, it is impossible to
While the multiple samples of sample introduction, it is impossible to which multiple tests are carried out simultaneously.
For this purpose, a kind of injector of the embodiment of the present invention, including：
At least one elevating mechanism, for driving the support for loading thereon to move up and down；
At least one support, each support is corresponded to and is loaded on an elevating mechanism, with installing hole on support, for loading bag
Include the part of measuring electrode, stirring rod and burette；
Cup disk is carried, is carried and can rotate against between cup disk and each support；
At least one specimen cup, specimen cup is loaded on load cup disk, the measuring electrode that loads, is stirred on the rim of a cup of specimen cup and support
Mix rod and burette is all aligned.
Preferably, each support described can carry cup disk and maintain static, carry cup disk and each support around cup disc spins are carried
Between can rotate against.
Preferably, each support described is maintained static, and carrying cup disk itself can rotate, and carry energy between cup disk and each support
Enough rotate against.
Preferably, also include：
Rotating mechanism, is connected with cup disk is carried, for driving the rotation for carrying cup disk.
Preferably, also include：
Shield, covers in the top of rotating mechanism, so that rotating mechanism is located in shield.
Preferably, also include：
Identification module, is provided with, at each position for carrying cup disk loading specimen cup, the unique mark that can be identified that module is recognized
Know, identification module is installed on the lower section for carrying cup disk, for identifying that specimen cup carrying the position placed on cup disk.
A kind of auto injection method of the embodiment of the present invention, comprises the following steps：
Obtain the set sample bit and the cleaning position information that carry on cup disk；
The specimen cup of the test sample for having been injected into having configured is delivered on sample bit, control is carried to be carried out between cup disk and each support
Rotate against, so that the rim of a cup of specimen cup is all aligned with the measuring electrode, stirring rod and the burette that load in respective holder；
Control elevating mechanism carries out elevating movement, drives the measuring electrode being loaded on support and stirring rod to decline and stretches into specimen cup
Interior.
Preferably, the number of the sample bit is a plurality of.
Preferably, the sample bit and cleaning position are spaced setting on cup disk is carried.
Preferably, further comprising the steps of：
Control elevating mechanism carries out elevating movement, drives the measuring electrode being loaded on support and stirring rod to rise and stretches out sample
Cup；
Control is carried and is rotated against between cup disk and each support, and the specimen cup for being completed to test is delivered on cleaning position.
The technical scheme of the embodiment of the present invention, has the advantage that：
1. injector provided in an embodiment of the present invention, by arrange at least one elevating mechanism, at least one support, carry cup disk and
At least one specimen cup, can be tested while multiple specimen cups are delivered to operating position, it is achieved that the automatic loading work(of plural number
Can, test efficiency can not only be improved, test speed can lift several times, and can realize while carrying out multiple sample examinations
Test, relative analyses test is realized, eliminates the impact of time factor.
2. injector provided in an embodiment of the present invention, by the identification of identification module, arbitrarily can set on load cup disk
Which position is sample bit, and which position is that cleaning position, these positions not immobilize, and arbitrarily can be adjusted as needed
Whole, such that it is able to cleaning position is arranged at the position close proximity to sample bit, according to nearby principle, it is to avoid conventional cleaning position
Distant sample when fixing at one needs to take and gets to cleaning position more long, causes waste of time, improves cleaning
Efficiency.
Description of the drawings
For the technical scheme being illustrated more clearly that in the specific embodiment of the invention, specific embodiment will be retouched below
Needed for stating, accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are some realities of the present invention
Mode is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
Fig. 1 is the structural representation of a specific example of injector in the embodiment of the present invention 1；
Fig. 2 is the top view of a specific example of injector in the embodiment of the present invention 1；
Fig. 3 is the flow chart of a specific example of auto injection method in the embodiment of the present invention 2.
Reference：1- elevating mechanism, 2- support, 3- carries cup disk, 4- specimen cup, 5- rotating mechanism, 6- identification module, 7-
Shield.
Specific embodiment
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that described enforcement
Example is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment obtained under the premise of creative work is not made by personnel, belongs to the scope of protection of the invention.
In describing the invention, it should be noted that term " on ", D score, " interior ", the orientation of instruction or the position such as " outward "
The relation of putting is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies description, rather than
Indicate or imply that therefore the device of indication or element must can not with specific orientation, with specific azimuth configuration and operation
It is interpreted as limitation of the present invention.
Unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for example, can
Being to be fixedly connected, or be detachably connected, or it is integrally connected；Can be mechanically connected, or electrically connect；Can
To be to be joined directly together, it is also possible to be indirectly connected to by intermediary, the connection of two element internals is can also be, can be wireless
Connection, or wired connection.For the ordinary skill in the art, can understand that above-mentioned term exists with concrete condition
Concrete meaning in the present invention.
As long as additionally, the non-structure each other of involved technical characteristic in invention described below different embodiments
Conflict is become just to be combined with each other.
Embodiment 1
The present embodiment provides a kind of injector, be applicable in the analysis of experiments instrument of auto injection in need, especially drip
Setting analysis instrument, as shown in figure 1, injector includes：At least one elevating mechanism 1, at least one support 2, load cup disk 3 and at least
Individual specimen cup 4.At least one elevating mechanism 1 is used for driving the support 2 for loading thereon to move up and down.Each support 2 is corresponded to
It is loaded on an elevating mechanism 1, with installing hole on support 2, includes measuring electrode, stirring rod and burette etc. for loading
Part.Carry and can rotate against between cup disk 3 and each support 2.Specimen cup 4 is loaded on load cup disk 3, the cup of specimen cup 4
Mouth is all aligned with the measuring electrode, stirring rod and the burette that load on support 2.
The number of elevating mechanism 1, support 2 and specimen cup 4 can be configured according to demand, for example, if desired while carrying out
Parallel burette test number be 4 when, then the number of elevating mechanism 1, support 2 and specimen cup 4 can be configured to 4 or more than 4.
When needing to carry out multiple sampling tests, the number of suitable elevating mechanism 1, support 2 and specimen cup 4, energy can be voluntarily chosen
Enough tested while multiple specimen cups are delivered to operating position, sequentially or simultaneously carried out the test of multiple samples, it is achieved that be multiple
The automatic loading function of number.It can be seen that, above-mentioned injector, test efficiency can not only be improved, test speed can lift several times, and
Can realize while multiple sampling tests are carried out, relative analyses test be realized, eliminates the impact of time factor.
Preferably, rotating against and can realize by following several ways between cup disk 3 and each support 2 is carried.Mode
One：Each support 2 can be rotated around cup disk 3 is carried, and carried cup disk 3 and maintained static, so as to realize carrying cup disk 3 and each support 2 it
Between rotate against.Mode two：Each support 2 is maintained static, and is carried cup disk 3 and itself can be rotated, so as to realize carrying cup disk 3 with often
Rotating against between individual support 2.Mode three：Each support 2 can be rotated around cup disk 3 is carried, and carried cup disk 3 and itself can also be revolved
Turn, so as to realize carrying rotating against between cup disk 3 and each support 2.Support 2 can for example adopt mechanical hand.Pass-through mode
One load cup disk is maintained static, and can prevent the reagent in specimen cup from shaking out in rotation process, improves the stability of test.Pass through
The support of mode two is maintained static, and is carried out the motion of driving arm without the need for extra drive mechanism, so as to simplifying apparatus structure, is subtracted
Small size, reduces cost.
Preferably, as shown in figure 1, injector also includes：Rotating mechanism 5.Rotating mechanism 5 is connected with cup disk 3 is carried, for driving
The rotation of dynamic load cup disk 3.As shown in Fig. 2 carrying cup disk 3 for circle, the rotary shaft of rotating mechanism 5 is with the center for carrying cup disk 3 even
Connect, it is to carry out rotation around its center of circle to carry cup disk 3.The rotary shaft of rotating mechanism 5 can also with the other parts for carrying cup disk 3 even
Connect, for example edge.For example, rotating mechanism 5 includes electric rotating machine and decelerator.The output that load cup disk 3 is loaded in decelerator turns
On axle, electric rotating machine is connected with decelerator, for controlling the rotating speed for carrying cup disk 3, puies forward high-revolving control accuracy.
Preferably, as shown in figure 1, injector also includes：Shield 7.Shield 7 covers in the top of rotating mechanism 5, makes whirler
Structure 5 is located in shield 7, is prevented the reagent in 4 grade part of specimen cup from flowing in rotating mechanism 5, is caused the damage of rotating mechanism 5,
Extend its service life.
Preferably, as shown in figure 1, injector also includes：Identification module 6.Carry each position that cup disk 3 loads specimen cup 4
Place is provided with the unique mark that can be identified that module 6 is recognized, identification module 6 is installed on the lower section for carrying cup disk 3, for knowing
Do not go out the position placed on cup disk 3 is carried by specimen cup 4.By the identification of identification module, arbitrarily can set on load cup disk
Which position is sample bit, and which position is that cleaning position, these positions not immobilize, and arbitrarily can be adjusted as needed
Whole, such that it is able to cleaning position is arranged at the position close proximity to sample bit, according to nearby principle, it is to avoid conventional cleaning position
Distant sample when fixing at one needs to take and gets to cleaning position more long, causes waste of time, improves cleaning
Efficiency.For example, identification module 6 can be recognized by photographic head, or be recognized by scanning barcode.
Embodiment 2
The present embodiment provides a kind of auto injection method, can be applicable to the injector of embodiment 1, as shown in figure 3, auto injection side
Method is comprised the following steps：
S1, sample bit and the cleaning position information for obtaining on set load cup disk 3.Sample bit and cleaning position on load cup disk 3
Position can be set according to practical situation and be adjusted, and sample bit refers to carry out position, the i.e. operating position of parallel sampless test,
Cleaning position refers to the position for being carried out operating.Sample bit and cleaning position, can be any from being about to by user all and at on-fixed one
The position for carrying on cup disk is set as sample bit or cleaning position and can arrange multiple sample bit or cleaning position.Its cleaning of traditional instrument
Position is fixing, and instrument needs to return to cleaning position cleaning when multiple samples are tested, and distant sample do so is more unrestrained
Time-consuming.This method freely can be set by sample bit and cleaning position, may conform to nearby principle, time-consuming.For example, sample bit
Number for a plurality of.Sample bit and cleaning position are spaced setting on cup disk 3 is carried.Sample bit and the setting of cleaning position
It is sequentially：No. 1 sample bit, No. 2 cleaning positions, No. 3 sample bit, after the completion of so each sampling test of No. 4 cleaning positions ... all
Can be carried out in nearest position, time-consuming, improve efficiency.Sample bit and cleaning position setting order can also be：1
Number, No. 2 sample bit, No. 3, No. 4 cleaning positions ... so arrange, so as to automatically loading, odd number automatic cleaning function are obtained to make plural number
To realize, it is achieved the full-automation of plural number experiment.
S2, control are carried and are rotated against between cup disk 3 and each support 2, by the test sample for having been injected into having configured
Multiple（Two or more）Specimen cup 3 is delivered on multiple sample bit respectively, makes rim of a cup and the dress in respective holder 2 of each specimen cup 3
The measuring electrode, stirring rod of load and burette are all aligned.After alignment, measuring electrode can extend into specimen cup, stirring rod after declining
Specimen cup is can extend into after decline, and the reagent for oozing in burette accurately can be instilled in specimen cup.Carry cup disk and each support
Between rotate against can be wherein any one rotation or both all rotate.According to the acquired sample bit for carrying on cup disk
With cleaning position information, the unique mark for carrying on cup disk at each position is recognized by identification module, sample bit and cleaning position are believed
Breath is mated with the unique mark at each position respectively, so that it is determined that going out to carry on cup disk, which is sample bit, which is clear
Position is washed, multiple specimen cups of the test sample for having been injected into having configured is delivered on multiple sample bit respectively, makes each specimen cup
Rim of a cup is all aligned with the measuring electrode, stirring rod and the burette that load in respective holder.
S3, the multiple elevating mechanisms 1 of control sequentially or simultaneously carry out elevating movement, realize the successively or same of multiple sampling tests
Shi Jinhang, drives the measuring electrode being loaded on support 2 and stirring rod to decline and stretches in specimen cup 3.Multisample examination is carried out afterwards
Test.
After a sampling test or multiple sampling tests is completed, above-mentioned auto injection method is further comprising the steps of：
S4, control elevating mechanism 1 carry out elevating movement, drive and complete measuring electrode testing, being loaded on support 2 and stir
Mix rod rising and stretch out specimen cup 3.
S5, control are carried and are rotated against between cup disk 3 and each support 2, and the specimen cup 3 for having been completed burette test send
To cleaning position, it is carried out, can be further continued for afterwards carrying out next test sample introduction process.
Above-mentioned auto injection method, by obtaining the set sample bit and the cleaning position information that carry on cup disk, can basis
Actual demand independently sets position and the quantity of sample bit and cleaning position, realizes plural number loading function automatically, and can carry out simultaneously
The test of multiple samples, improves test speed, and can achieve relative analyses test, eliminate the impact of time factor.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.Right
For those of ordinary skill in the art, can also make on the basis of the above description other multi-forms change or
Change.There is no need to be exhaustive to all of embodiment.And the obvious change thus extended out or
Change among still in the protection domain of the invention.
Claims (10)
1. a kind of injector, it is characterised in that include：
At least one elevating mechanism（1）, for driving the support for loading thereon（2）Move up and down；
At least one support（2）, each support（2）Correspondence is loaded into an elevating mechanism（1）On, support（2）On with installation
Hole, for loading the part for including measuring electrode, stirring rod and burette；
Carry cup disk（3）, carry cup disk（3）With each support（2）Between can rotate against；
At least one specimen cup（4）, specimen cup（4）It is loaded into load cup disk（3）On, specimen cup（4）Rim of a cup and support（2）Upper dress
The measuring electrode, stirring rod of load and burette are all aligned.
2. injector according to claim 1, it is characterised in that each support described（2）Can be around load cup disk（3）Rotation
Turn, carry cup disk（3）Maintain static, carry cup disk（3）With each support（2）Between can rotate against.
3. injector according to claim 1, it is characterised in that each support described（2）Maintain static, carry cup disk（3）
Itself can rotate, and carry cup disk（3）With each support（2）Between can rotate against.
4. injector according to claim 3, it is characterised in that also include：
Rotating mechanism（5）, with load cup disk（3）Connection, carries cup disk for driving（3）Rotation.
5. injector according to claim 4, it is characterised in that also include：
Shield（7）, cover in rotating mechanism（5）Top, make rotating mechanism（5）Positioned at shield（7）Interior.
6. the injector according to any one of claim 1-5, it is characterised in that also include：
Identification module（6）, carry cup disk（3）Load specimen cup（4）Each position at be provided with and can be identified module（6）Institute
The unique mark of identification, identification module（6）It is installed on load cup disk（3）Lower section, for identifying specimen cup（4）Carrying cup disk
（3）On the position placed.
7. a kind of auto injection method, it is characterised in that comprise the following steps：
Obtain set load cup disk（3）On sample bit and cleaning position information；
Control carries cup disk（3）With each support（2）Between rotated against, by the sample of the test sample for having been injected into having configured
Cup（3）Deliver on sample bit, make specimen cup（3）Rim of a cup and respective holder（2）The measuring electrode, stirring rod of upper loading and titration
Pipe is all aligned；
Control elevating mechanism（1）Elevating movement is carried out, is driven and be loaded in support（2）On measuring electrode and stirring rod decline stretch into
Specimen cup（3）Interior.
8. auto injection method according to claim 7, it is characterised in that the number of the sample bit is a plurality of.
9. the auto injection method according to claim 7 or 8, it is characterised in that the sample bit and cleaning position are carrying cup
Disk（3）On be spaced setting.
10. the auto injection method according to any one of claim 7-9, it is characterised in that further comprising the steps of：
Control elevating mechanism（1）Elevating movement is carried out, is driven and be loaded in support（2）On measuring electrode and stirring rod rise stretch out
Specimen cup（3）；
Control carries cup disk（3）With each support（2）Between rotated against, completed test specimen cup（3）Deliver to clear
Wash on position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610760356.4A CN106443033B (en) | 2016-08-30 | 2016-08-30 | A kind of sample injector and automatic sampling method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610760356.4A CN106443033B (en) | 2016-08-30 | 2016-08-30 | A kind of sample injector and automatic sampling method |
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| CN106443033A true CN106443033A (en) | 2017-02-22 |
| CN106443033B CN106443033B (en) | 2019-03-22 |
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| CN201610760356.4A Active CN106443033B (en) | 2016-08-30 | 2016-08-30 | A kind of sample injector and automatic sampling method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106770537A (en) * | 2017-03-29 | 2017-05-31 | 济南海能仪器股份有限公司 | A kind of self-positioning electrode suppor, measuring system and measuring method |
| CN106443033B (en) * | 2016-08-30 | 2019-03-22 | 济南海能仪器股份有限公司 | A kind of sample injector and automatic sampling method |
| CN111007222A (en) * | 2019-12-24 | 2020-04-14 | 安徽大学 | Device for realizing simultaneous determination of water quality indexes by multiple samples |
| CN111505201A (en) * | 2020-04-24 | 2020-08-07 | 李莉 | Potentiometric titrator structure capable of automatically cleaning and discharging waste |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111007222A (en) * | 2019-12-24 | 2020-04-14 | 安徽大学 | Device for realizing simultaneous determination of water quality indexes by multiple samples |
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| CN111505201B (en) * | 2020-04-24 | 2022-12-16 | 士业电子科技徐州有限公司 | Potentiometric titrator structure capable of automatically cleaning and discharging waste |
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| Publication number | Publication date |
|---|---|
| CN106443033B (en) | 2019-03-22 |
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