CN106628136B - Snatch and deliver unmanned aerial vehicle - Google Patents
Snatch and deliver unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106628136B CN106628136B CN201610934866.9A CN201610934866A CN106628136B CN 106628136 B CN106628136 B CN 106628136B CN 201610934866 A CN201610934866 A CN 201610934866A CN 106628136 B CN106628136 B CN 106628136B
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- CN
- China
- Prior art keywords
- claw
- foot rest
- aerial vehicle
- unmanned aerial
- plate
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
Abstract
The invention relates to a grabbing and delivering unmanned aerial vehicle, and belongs to the technical field of mechanical robot investigation. The invention comprises a manipulator device, an air pressure lifting plate, a pushing air pressure bottle, a foot rest device, a motor base, a motor, a frame, an unmanned aerial vehicle fixing plate, a guide rail connecting plate, a guide rod, a propeller, a clamping plate and an air pressure bottle; the motor is installed on the motor cabinet, and the screw is installed on the output shaft of motor, and the foot rest device is installed in the frame, promotes the atmospheric pressure bottle and installs on the foot rest device, and the unmanned aerial vehicle fixed plate is installed at the frame middle part, has installed the guide rail on the guide rail connecting plate, and guide arm one end is located the guide rail, and atmospheric pressure lifts the board and is connected with the splint other end to connect and install at the guide arm other end, and manipulator device installs on atmospheric pressure lifts the board. The invention has multiple purposes and wide application range; the mechanical mechanism is simple in design, easy to process and complete in function; physical labor of people can be reduced, working efficiency is improved, and unmanned aerial vehicle multifunctionalization is realized.
Description
Technical Field
The invention relates to a grabbing and delivering unmanned aerial vehicle, and belongs to the technical field of mechanical robot investigation.
Background
The unmanned aerial vehicle is in the flight device in rapid development at present, because it has advantages such as flexible, quick, unmanned flight of response, operation requirement are low widely used in fields such as agriculture, exploration, photography, border patrol. Above all to unmanned aerial vehicle's application all in the investigation field, restricted unmanned aerial vehicle's development for unmanned aerial vehicle application function is single. Along with economic technology's continuous development, people's standard of life constantly improves, in order to satisfy specific demand in some specific occasions, uses unmanned aerial vehicle to snatch, transport and deliver some article, reduces the time of transporting, improves the efficiency of transporting. And when adopting unmanned aerial vehicle to transport the object, can break away from because the topography, the restriction of time, reduce the degree of dependence to the environment during operation, for example the people who select the golf motion are more and more, need specific people to look for the golf ball at whole motion process, waste a large amount of time. Can install the manipulator structure on unmanned aerial vehicle, accomplish and replace the people for getting to grab the ball and put in the process, so both can pinpoint and save time, improve unmanned aerial vehicle's application function simultaneously.
Disclosure of Invention
The invention aims to provide a grabbing and delivering unmanned aerial vehicle, which aims to solve the problems of single application function, narrow application range and the like of the unmanned aerial vehicle.
The invention is realized according to the following technical scheme: a grabbing and delivering unmanned aerial vehicle comprises a manipulator device 2, an air pressure lifting plate 3, a pushing air pressure bottle 4, a foot rest device 5, a motor base 6, a motor 7, a frame 9, an unmanned aerial vehicle fixing plate 10, a guide rail connecting plate 11, a guide rod 12, a propeller 13, a clamping plate 14 and an air pressure bottle 33; the motor base 6 is arranged at the end part of the frame 9, the motor 7 is arranged on the motor base 6, the propeller 13 is arranged on the output shaft of the motor 7, the foot rest device 5 is arranged on the frame 9, the pushing air pressure bottle 4 is arranged on the foot rest device 5, one end of the air pressure bottle 33 is arranged on the pushing air pressure bottle 4, one end of the clamping plate 14 is arranged at the end part of the air pressure bottle 33, the unmanned aerial vehicle fixing plate 10 is arranged at the middle part of the frame 9, the guide rail connecting plate 11 is connected and arranged on the unmanned aerial vehicle fixing plate 10, the guide rail 36 is arranged on the guide rail connecting plate 11, one end of a guide rod 12 is positioned in a guide rail 36, an air pressure lifting plate 3 is connected with the other end of a clamping plate 14 and is connected and installed at the other end of the guide rod 12, a manipulator device 2 is installed on the air pressure lifting plate 3, and the manipulator device 2 comprises a manipulator claw 1, an eight-shaft fixing seat 15, an eight-claw chuck 16, a pin I17, a connecting rod I18, a pin II 19, a steering engine 20, a fixing seat 21, a connecting rod II 22, an optical axis 23, a bearing I24, a sliding block 25, a flange plate I27, an eight-claw guide plate 28, a bearing II 29 and a flange plate II 38; the eight-shaft fixing seat 15 is installed in the middle of the front portion of the eight-claw chuck 16, the fixing seat 23 is installed on the peripheral portion of the front portion of the eight-claw chuck 16, one end of an optical shaft 23 is installed on the fixing seat 21, the other end of the optical shaft 23 is installed on the eight-shaft fixing seat 15, the sliding block 25 is installed on the optical shaft 23 through a bearing I24, one end of a connecting rod II 22 is installed on the fixing seat 21 through a pin II 19, one end of a connecting rod I18 is installed on the sliding block 25 through a pin I17, the other end of the connecting rod I18 is installed in the middle of the connecting rod II 22, the manipulator claw 1 is installed at the other end of the connecting rod II 22, the bearing II 29 is installed on the sliding block 25, a guide groove 26 is formed in the eight-claw guide disc 28, the guide groove 26 of the eight-claw guide disc 28 is matched with the bearing II 29, the manipulator 20 is installed on the eight-shaft fixing seat 15, one end of a flange II 38 is installed on an output shaft of the manipulator 20, the other end of the eight-claw guide disc 28, the eight-claw guide disc 28 is connected with the steering wheel 20 through a flange II 38 and installed on the back portion of the eight-claw chuck 16, one end of the flange I27 is installed on the peripheral portion of the manipulator claw chuck 16 through a screw 30, the flange 27, the flange I-claw guide disc, the flange 27 is installed on the pneumatic pressure lifting plate 3, and the manipulator device 2 lifting plate 3 is installed on the lifting plate 3.
The foot rest device 5 comprises a sliding part fixing plate 8, a foot rest shock absorption 31, a foot rest connecting piece 34, a sliding part 35 and a foot rest 37; the sliding part 35 is installed on the frame 9 through the sliding part fixing plate 8, one end of the foot rest 37 is installed on the sliding part 35 through the foot rest connecting piece 34, the foot rest shock absorber 31 is installed on the foot rest 37, the pneumatic connecting piece 32 is installed on the pneumatic bottle 4, and the pneumatic bottle 4 is installed on the foot rest 37 of the foot rest device 5 through the pneumatic connecting piece 32.
The working principle of the grabbing and delivering unmanned aerial vehicle is as follows: after giving the unmanned aerial vehicle power supply through unmanned aerial vehicle power supply system, motor 7 begins to rotate, it rotates to drive screw 13, make unmanned aerial vehicle take off, take off after reacing certain height, carry out aerial investigation, when the object that needs the looking for is discovered, unmanned aerial vehicle descends, start the steering wheel 20 of fixing on eight claw chuck 16, steering wheel 20 begins to rotate, drive eight claw positioning disk 28 and rotate, eight claw positioning disk 28 rotates, force bearing II 29 of installing on slider 25 top at the 26 rotations of guide way 26 of eight claw positioning disk 28 and along the motion of guide way 26, thereby make slider 25 along the motion of optical axis 23, slider 25 motion drives the I18 motion of connecting rod that links to each other with slider 25, connecting rod I18 is connected through pin I17 with connecting rod II 22, connecting rod I18 motion drives the motion of connecting rod II 22, realize opening and closure of whole manipulator, and then snatch the object and put in the object.
The invention has the following beneficial effects:
1. the functions of the existing unmanned aerial vehicle are added, so that the unmanned aerial vehicle can grab golf balls or objects with indefinite shapes and moderate sizes when in investigation, and can accurately throw the objects;
2. the golf ball gripping device has multiple purposes, can grip golf balls continuously, can grip other objects, and has wide application range;
3. the mechanical mechanism is simple in design, easy to process and complete in function;
4. physical labor of people can be reduced, work with strong dependence on terrain and environment is completed by machinery, work efficiency is improved, and unmanned aerial vehicle multi-functionalization is achieved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the robot apparatus of the present invention;
FIG. 3 is a schematic view of an eight jaw chuck according to the present invention;
FIG. 4 is a schematic view of an eight-axis mounting structure of the present invention;
FIG. 5 is a schematic view of an installation structure of the eight-claw guide disc of the present invention;
FIG. 6 is a schematic view of a stand apparatus according to the present invention;
fig. 7 is a schematic view of an installation structure of a fixing plate of the unmanned aerial vehicle;
fig. 8 is a schematic view of the installation structure of the air pressure lifting plate of the present invention.
The reference numbers in the figures are: 1: manipulator claw, 2: manipulator device, 3: air pressure lifting plate, 4: pushing the air pressure bottle, 5: foot rest device, 6: motor cabinet, 7: a motor, 8: slide fixing plate, 9: frame, 10: unmanned aerial vehicle fixed plate, 11: guide rail connecting plate, 12: guide rod, 13 propeller, 14: a clamping plate, 15: eight-shaft fixing seat, 16: eight-jaw chuck, 17: pins i, 18: connecting rods I and 19: pins ii, 20: steering engine, 21: fixing base, 22: connecting rods II, 23: optical axis, 24: bearing I, 25: slider, 26: guide groove, 27: flange plate I, 28: eight-claw guide plate, 29: bearing II, 30: screw, 31: foot rest shock absorption, 32: pneumatic connector, 33: pneumatic bottle, 34: foot stool connector, 35: slide member, 36: guide rail, 37: foot rest, 38: and a flange plate II.
Detailed Description
The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.
Example 1: as shown in fig. 1-8, a grabbing and delivering unmanned aerial vehicle comprises a manipulator device 2, an air pressure lifting plate 3, a pushing air pressure bottle 4, a foot rest device 5, a motor base 6, a motor 7, a frame 9, an unmanned aerial vehicle fixing plate 10, a guide rail connecting plate 11, a guide rod 12, a propeller 13, a clamping plate 14 and an air pressure bottle 33; the robot comprises a motor base 6, a motor 7, a propeller 13, a foot rest device 5, a pushing air pressure bottle 4, a foot rest device 5, a pressure air bottle 33, a clamping plate 14, an unmanned aerial vehicle fixing plate 10, a guide rail connecting plate 11, a guide rail 36, a guide rod 12, a guide rod 3, an air pressure lifting plate 3, a clamping plate 14, a guide rod 12, a manipulator device 2 and a connecting rod II, wherein the motor base 6 is installed at the end part of a rack 9; eight fixing bases 15 are installed in the middle of the front portion of an eight-claw chuck 16, a fixing base 23 is installed on the peripheral portion of the front portion of the eight-claw chuck 16, one end of an optical shaft 23 is installed on a fixing base 21, the other end of the optical shaft 23 is installed on the eight fixing base 15, a sliding block 25 is installed on the optical shaft 23 through a bearing I24, one end of a connecting rod II 22 is installed on the fixing base 21 through a pin II 19, one end of a connecting rod I18 is installed on the sliding block 25 through a pin I17, the other end of the connecting rod I18 is installed in the middle of the connecting rod II 22 through a pin I17, a manipulator claw 1 is installed at the other end of the connecting rod II 22, a bearing II 29 is installed on the sliding block 25, a guide groove 26 is formed in the eight-claw guide disc 28, the guide groove 26 of the eight-claw guide disc 28 is matched with the bearing II 29, a steering engine 20 is installed on the eight-shaft fixing base 15, one end of a flange II 38 is installed on an output shaft of the steering engine 20, the other end of the eight-claw guide disc 28, the eight-claw guide disc 28 is connected with the eight-claw guide disc 20 through a flange II 38 and installed on the back portion of the eight-claw chuck 16, one end of the flange I27 is installed on the peripheral portion of the eight-claw fixing base through a screw 30, the peripheral portion of the eight-claw chuck 16, the flange 27, the flange I3, the flange is installed on the pneumatic pressure chuck 3, and the lifting plate 3.
The foot rest device 5 comprises a sliding part fixing plate 8, a foot rest shock absorption 31, a foot rest connecting piece 34, a sliding part 35 and a foot rest 37; the sliding part 35 is installed on the frame 9 through the sliding part fixing plate 8, one end of the foot rest 37 is installed on the sliding part 35 through the foot rest connecting piece 34, the foot rest shock absorber 31 is installed on the foot rest 37, the pneumatic connecting piece 32 is installed on the pneumatic bottle 4, and the pneumatic bottle 4 is installed on the foot rest 37 of the foot rest device 5 through the pneumatic connecting piece 32.
Claims (1)
1. The utility model provides a snatch unmanned aerial vehicle of delivering, its characterized in that: the device comprises a manipulator device (2), an air pressure lifting plate (3), a pushing air pressure bottle (4), a foot rest device (5), a motor base (6), a motor (7), a frame (9), an unmanned aerial vehicle fixing plate (10), a guide rail connecting plate (11), a guide rod (12), a propeller (13), a clamping plate (14) and an air pressure bottle (33); install at frame (9) tip motor cabinet (6), install on motor cabinet (6) motor (7), install on the output shaft of motor (7) screw (13), install on frame (9) foot rest device (5), promote atmospheric pressure bottle (4) and install on foot rest device (5), install on promoting atmospheric pressure bottle (4) atmospheric pressure bottle (33) one end, splint (14) one end is installed at atmospheric pressure bottle (33) tip, unmanned aerial vehicle fixed plate (10) are installed at frame (9) middle part, guide rail connecting plate (11) are connected and are installed on unmanned aerial vehicle fixed plate (10), installed guide rail (36) on guide rail connecting plate (11), guide arm (12) one end is located guide rail (36), atmospheric pressure is lifted board (3) and is connected with the splint (14) other end, and connect and install the guide arm (12) the other end, manipulator device (2) are installed on atmospheric pressure is lifted board (3), manipulator device (2) include manipulator claw (1), eight axle fixing base (15), eight claw (16), connecting rod (17), connecting rod I (18), pin II), slider (19), steering wheel bearing (23), steering wheel bearing (21), steering wheel bearing (25), steering wheel bearing (21), the device comprises a flange plate I (27), an eight-claw guide plate (28), a bearing II (29) and a flange plate II (38); eight-shaft fixing seat (15) is installed in the middle of the front portion of eight-claw chuck (16), fixing seat (23) is installed on the periphery of the front portion of eight-claw chuck (16), one end of optical shaft (23) is installed on fixing seat (21), the other end of optical shaft (23) is installed on eight-shaft fixing seat (15), sliding block (25) is installed on optical shaft (23) through bearing I (24), one end of connecting rod II (22) is installed on fixing seat (21) through pin II (19), one end of connecting rod I (18) is installed on sliding block (25) through pin, the other end of connecting rod I (18) is installed in the middle of connecting rod II (22) through pin I (17), manipulator claw (1) is installed at the other end of connecting rod II (22), bearing II (29) is installed on sliding block (25), guide groove (26) is formed in eight-claw guide disc (28), guide groove (26) of eight-claw guide disc (28) is matched with bearing II (29), steering engine (20) is installed on eight-shaft fixing seat (15), one end of steering engine II (38) is installed on steering engine (20), one end of steering engine II) is installed on output shaft of eight-claw chuck (28), and one end of eight-claw chuck (16) is installed on eight-claw chuck, steering engine chuck (16) through screw (27), steering engine I) is installed on steering engine chuck (28), steering engine claw guide disc (16), steering engine claw (16) through guide disc (27), steering engine I) and steering engine claw (16), steering engine claw (19), steering engine claw) back is installed on steering engine back through screw (19), steering engine I) and steering engine (16) The other end of the flange I (27) is arranged on the air pressure lifting plate (3) through a screw (30) arranged on the flange I, the manipulator device (2) is arranged on the air pressure lifting plate (3) through the flange I (27), and the foot rest device (5) comprises a sliding part fixing plate (8), a foot rest shock absorption plate (31), a foot rest connecting piece (34), a sliding part (35) and a foot rest (37); the sliding part (35) is installed on the rack (9) through a sliding part fixing plate (8), one end of a foot rest (37) is installed on the sliding part (35) through a foot rest connecting piece (34), a foot rest shock absorption (31) is installed on the foot rest (37), an air pressure connecting piece (32) is installed on a pushing air pressure bottle (4), the pushing air pressure bottle (4) is installed on the foot rest (37) of the foot rest device (5) through the air pressure connecting piece (32), after the unmanned aerial vehicle is powered by an unmanned aerial vehicle power supply system, a motor (7) starts to rotate to drive a propeller (13) to rotate, the unmanned aerial vehicle is enabled to take off and perform aerial investigation after reaching a certain height, when an object needing to be found is found, the unmanned aerial vehicle lands, a steering engine (20) fixed on an eight-claw chuck (16) is started, the steering engine (20) starts to rotate to drive the eight-claw guide disc (28) to rotate, the eight-claw guide disc (28) rotates, a bearing II (29) installed at the top end of the sliding block (25) is forced to rotate in a guide groove (26) and move along a guide groove (26), thereby enabling the sliding block (25) to move along a pin (18), and a pin (18) is connected with a connecting rod (17), the connecting rod I (18) moves to drive the connecting rod II (22) to move, so that the whole manipulator is opened and closed, and then the object is grabbed and put in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610934866.9A CN106628136B (en) | 2016-11-01 | 2016-11-01 | Snatch and deliver unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610934866.9A CN106628136B (en) | 2016-11-01 | 2016-11-01 | Snatch and deliver unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106628136A CN106628136A (en) | 2017-05-10 |
| CN106628136B true CN106628136B (en) | 2023-03-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610934866.9A Active CN106628136B (en) | 2016-11-01 | 2016-11-01 | Snatch and deliver unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106628136B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573012A (en) * | 2018-10-30 | 2019-04-05 | 华南农业大学 | A kind of automobile assisting in flying device |
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| KR20140115711A (en) * | 2013-03-22 | 2014-10-01 | 김명호 | Aerial Vehicle With Mltipurpose Grip Type Taking Off an Landing Devic |
| CN105314102A (en) * | 2015-12-04 | 2016-02-10 | 哈尔滨云控机器人科技有限公司 | Unmanned aerial vehicle provided with mechanical arm |
| KR20160046582A (en) * | 2014-10-21 | 2016-04-29 | 연세대학교 산학협력단 | Apparatus and method for dropping multiple objects from UAV |
| CN205366076U (en) * | 2016-01-20 | 2016-07-06 | 卢致辉 | Device is put in to unmanned aerial vehicle object |
| CN105799935A (en) * | 2016-04-18 | 2016-07-27 | 南京航空航天大学 | Flight carrier system of unmanned aerial vehicle |
| CN105799923A (en) * | 2016-04-28 | 2016-07-27 | 南京信息工程大学 | Four-rotor aircraft-based carrying manipulator |
| CN105923160A (en) * | 2016-05-16 | 2016-09-07 | 安庆米锐智能科技有限公司 | Clamping device for logistics unmanned aerial vehicle |
| CN105947218A (en) * | 2016-05-30 | 2016-09-21 | 哈工大机器人集团有限公司 | Movable unmanned aerial vehicle capable of being grabbed |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202013012545U1 (en) * | 2012-11-15 | 2017-07-03 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle with multiple rotors |
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2016
- 2016-11-01 CN CN201610934866.9A patent/CN106628136B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140115711A (en) * | 2013-03-22 | 2014-10-01 | 김명호 | Aerial Vehicle With Mltipurpose Grip Type Taking Off an Landing Devic |
| KR20160046582A (en) * | 2014-10-21 | 2016-04-29 | 연세대학교 산학협력단 | Apparatus and method for dropping multiple objects from UAV |
| CN105314102A (en) * | 2015-12-04 | 2016-02-10 | 哈尔滨云控机器人科技有限公司 | Unmanned aerial vehicle provided with mechanical arm |
| CN205366076U (en) * | 2016-01-20 | 2016-07-06 | 卢致辉 | Device is put in to unmanned aerial vehicle object |
| CN105799935A (en) * | 2016-04-18 | 2016-07-27 | 南京航空航天大学 | Flight carrier system of unmanned aerial vehicle |
| CN105799923A (en) * | 2016-04-28 | 2016-07-27 | 南京信息工程大学 | Four-rotor aircraft-based carrying manipulator |
| CN105923160A (en) * | 2016-05-16 | 2016-09-07 | 安庆米锐智能科技有限公司 | Clamping device for logistics unmanned aerial vehicle |
| CN105947218A (en) * | 2016-05-30 | 2016-09-21 | 哈工大机器人集团有限公司 | Movable unmanned aerial vehicle capable of being grabbed |
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| Publication number | Publication date |
|---|---|
| CN106628136A (en) | 2017-05-10 |
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