CN107167623B - Triaxial angular velocity sensor for automobile crash test - Google Patents
Triaxial angular velocity sensor for automobile crash test Download PDFInfo
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- CN107167623B CN107167623B CN201710361342.XA CN201710361342A CN107167623B CN 107167623 B CN107167623 B CN 107167623B CN 201710361342 A CN201710361342 A CN 201710361342A CN 107167623 B CN107167623 B CN 107167623B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/02—Devices characterised by the use of mechanical means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/0078—Shock-testing of vehicles
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Abstract
The invention discloses a triaxial angular velocity sensor for an automobile crash test, which comprises a shell base, a shell upper cover and sensor clamps, wherein the edge of the shell base is provided with two-step slots, the inner sides of the two-step slots are clamped with the sensor clamps, the outer sides of the two-step slots are connected with the shell upper cover in an inserting way, and the sensor clamps comprise three clamps which are provided with sensor circuit boards and arranged along the direction of X, Y, Z; the edge of the shell base is provided with a shell lead base half hole, the edge of the shell upper cover is provided with a shell lead upper cover half hole, and the shell lead holes are spliced to form a shell lead hole for leading out a lead of the sensor circuit board; the inner space of the shell base and the shell upper cover is connected in a glue filling and sealing way. The invention has simple integral structure, small volume, convenient operation and no influence of external environment, the sensor circuit board has good triaxial verticality and strong anti-interference performance, the problem of crosstalk in triaxial angular velocity measurement is avoided, and meanwhile, the sensor clamp is fixed in place by glue filling, so that the tightness of the device is improved, and the requirement of an automobile collision test is met.
Description
Technical Field
The invention relates to a triaxial angular velocity sensor, in particular to a triaxial angular velocity sensor for an automobile crash test.
Background
When an automobile collision test is carried out, angular velocity detection is carried out on a certain part of a dummy limb, a three-axis angular velocity sensor is required to be fixed at a detection position, and the detection of the angular velocity conditions of the X, Y and Z three axes at the position is completed by switching on related detection equipment. During a car crash test, the data acquired can be used to determine the "injury" potential of the dummy. The condition of the dummy in the automobile is related to the performance and the safety of the automobile, and the condition of a certain part of the dummy can be visually represented on an output signal of the three-axis angular speed. The existing market mainly uses single-axis and two-axis angular velocity sensors, so that accurate measurement is difficult to be carried out on a certain part, and the existing three-axis angular velocity sensors are not high in accuracy or insufficient in collision strength and cannot be used in a collision test.
Chinese patent publication No. CN203550986U, publication date 2014.04.16, entitled "a sensor safety seat with protectiveness", discloses a sensor safety seat for automobile crash test, but the notch of this kind of safety seat cartridge sensor is seted up at top surface and side, exposes outside, only depends on the fix with screw, does not have parcel protection structure, and the spacing degree is not high, appears squinting easily or drops, and influences the detection effect.
Disclosure of Invention
In order to solve the technical problems, the invention provides the three-axis angular velocity sensor for the automobile crash test, the sensor is fixed through a clamp and glue pouring, the crash strength is high, and the requirements of the automobile crash test are met.
The invention discloses a triaxial angular velocity sensor for an automobile crash test, which comprises a shell base, a shell upper cover and a sensor clamp arranged between the shell base and the shell upper cover, wherein the edge of the shell base is provided with two-step slots with high inside and low outside, the sensor clamp is clamped on the inner sides of the two-step slots, the outer sides of the two-step slots are connected with the shell upper cover in an inserting way, the sensor clamp comprises three clamps respectively arranged along the direction X, Y, Z, and sensor circuit boards are respectively arranged on the clamps, so that the three sensor circuit boards respectively face the direction X, Y, Z; the edge of the shell base is provided with a shell lead base half-hole, the edge of the shell upper cover is provided with a shell lead upper cover half-hole, the shell lead base half-hole and the shell lead upper cover half-hole are spliced to form a shell lead hole, and the shell lead hole is used for leading out a lead of the sensor circuit board; the inner spaces of the shell base and the shell upper cover are connected through glue filling and sealing treatment.
As a preferred technical solution, the sensor fixture includes a base, the base is clamped on the bottom surface of the inner side of the two-step slot of the housing base, three fixtures are installed on the base and respectively arranged along the direction X, Y, Z, circuit board slots are all arranged on the fixtures, a wire guide slot connected with the circuit board slots is further arranged on the base, the sensor circuit board is fixed in the circuit board slots through screws, so that the sensor circuit boards respectively face the direction X, Y, Z, and the wires of the sensor circuit board are laid along the wire guide slot and gathered into one wire to be penetrated out through the housing wire guide hole.
As a preferred technical scheme, four screw seats are respectively arranged on the periphery of the circuit board slot, four screw holes are arranged at corresponding positions on the periphery of the sensor circuit board, and the sensor circuit board is fixed on the circuit board slot by the screws penetrating through the screw holes and fixed on the screw seats.
The triaxial angular velocity sensor comprises a triaxial angular velocity device main body consisting of a triaxial angular velocity sensor shell base, a shell upper cover and a sensor clamp.
The shell base of the triaxial angular velocity sensor is used for fixing and placing a sensor clamp and is tightly attached to the shell upper cover to form an integral shell of the triaxial angular velocity sensor, a shell lead base half hole and a shell lead upper cover half hole are respectively formed in the same side face of the shell base and the shell upper cover, and the shell lead holes are formed in an assembling mode to enable leads to be connected with external equipment.
The shell base of the triaxial angular velocity sensor is divided into two steps around, the inner side of the shell base is matched with the sensor clamp, the verticality and the parallelism are guaranteed by the attachment of machining and the sensor clamp, and the outer side of the shell base is matched with the shell upper cover.
Sensor fixture of triaxial angular velocity sensor is used for the circuit board of the angular velocity circuit conversion device of fixed X, Y, Z three axle, the circuit board structure of X, Y, Z three direction is the same completely, because the upper and lower surface of circuit board all need to weld components and parts or have the leg, the overall dimension of whole sensor device will be guaranteed again, consequently, at every circuit board installation department processing recess, with the reasonable installation of guaranteeing the circuit board, to connect the wire surface and install in groove, draw it out through opening the wire casing, bottom processing has two wire casings, a wire casing is processed respectively to two sides, the circuit board installation of being convenient for, the wire of three circuit boards gathers together and becomes a strand and passes through the shell wire guide.
The sensor clamp of the triaxial angular velocity sensor is provided with X, Y, Z sensor circuit boards of three axes to detect the angular velocity conditions of the three axes simultaneously, each sensor circuit board is fixed on each plane through four screws, the parallelism of the sensor circuit boards is ensured by the four screws, and the operation is convenient. The sensor circuit board is respectively fixed in X, Y, Z directions through four screws, determines the crosstalk condition of the three through the calibration detection of the angular velocity calibrator, and then avoids the crosstalk phenomenon by adjusting the angle through four screws.
The processing and mounting method of the internal circuit board of the triaxial angular velocity sensor comprises the steps of increasing the whole area of the circuit board, then forming holes on the periphery of the circuit board, ensuring the effective area of each measuring element in the circuit board, fixing the measuring elements on the bottom surface and two side surfaces by using screws, measuring the levelness and the verticality of the circuit board after being mounted by using an instrument, and during mounting, paying attention to the fact that a welded wire penetrates out through a wire guide groove.
The sensor clamp with the installed circuit board is placed into the shell base, glue is filled for fixation, the shell upper cover is covered, the shell base, the sensor clamp, the circuit board, the conducting wire and the upper cover are completely fixed, and the sensor clamp is guaranteed not to displace inside the shell. The sensor adopts the mode of forever fixing through the glue pouring mode after the shell and the internal clamp are integrally installed and debugged, so that the sensor has strong anti-interference performance and good fastening performance, and meets the requirements of automobile crash tests.
As a preferable technical solution, three clamp grooves are arranged in the housing base, three clamps arranged along the direction X, Y, Z are respectively clamped in the clamp grooves, each clamp includes an upper clamp cover and a lower clamp cover, the sensor circuit board is mounted between the upper clamp cover and the lower clamp cover, and the three sensor circuit boards are arranged along the direction X, Y, Z through the clamps and face the direction X, Y, Z; the utility model discloses a sensor circuit board's lead, including anchor clamps upper cover and anchor clamps lower cover, anchor clamps upper cover edge is equipped with anchor clamps wire upper cover half-hole, anchor clamps lower cover edge is equipped with anchor clamps wire lower cover half-hole, anchor clamps wire upper cover half-hole and anchor clamps wire lower cover half-hole form the anchor clamps wire guide, the anchor clamps wire guide is used for drawing forth the wire of sensor circuit board, the inner space of anchor clamps upper cover and anchor clamps lower cover links to each other through encapsulating sealing treatment.
As a preferable technical scheme, after the lead of the sensor circuit board passes through the lead hole of the clamp, the lead is collected into a lead which passes through the lead hole of the shell.
As the preferred technical scheme, the shell base and the shell upper cover are respectively provided with corresponding fixing holes for fixing the three-axis angular velocity sensor during the automobile crash test.
The periphery of a shell base of the triaxial angular velocity sensor is matched with the shell upper cover, the clamp groove with three fixed sizes is formed in the shell base and used for fixing X, Y, Z clamps in the triaxial direction, perpendicularity and parallelism are guaranteed through machining and clamp matching, and the outer side of the shell base is matched with the shell upper cover.
The fixture of the triaxial angular velocity sensor is formed by matching an upper fixture cover and a lower fixture cover, a space between the upper fixture cover and the lower fixture cover is reserved for placing a sensor circuit board, three fixtures are placed in a fixture groove of a base of a shell along the X, Y, Z direction respectively, and then the angular velocity conditions of three axes can be measured simultaneously when the sensor works.
Triaxial angular velocity sensor's anchor clamps can fix the sensor circuit board, guarantee the levelness of welded element's sensor circuit board through the cooperation of anchor clamps upper cover and anchor clamps lower cover, be used for detecting the angular velocity condition, it has anchor clamps wire upper cover half-hole and anchor clamps wire lower cover half-hole to cover respectively under anchor clamps upper cover and the anchor clamps, form the anchor clamps wire guide together, sensor circuit board welded connecting wire wears out through the anchor clamps wire guide, three strands of wire converge into one before the shell wire guide and wear out, be connected with outside check out test set.
After the sensor circuit board is installed on the clamp of the triaxial angular velocity sensor, glue pouring treatment is carried out, so that the upper cover of the clamp, the lower cover of the clamp and the sensor circuit board are tightly attached without loosening. The sensor adopts the mode of forever fixing through the glue pouring mode after the shell and the internal clamp are integrally installed and debugged, so that the sensor has strong anti-interference performance and good fastening performance, and meets the requirements of automobile crash tests. The fixture with the installed sensor circuit board is respectively placed into the three grooves of the shell base, glue is filled for fixation, the shell upper cover is covered, the shell base, the fixture, the sensor circuit board, the lead and the shell upper cover are completely fixed, and the fact that the internal fixture does not displace inside the shell is guaranteed.
The triaxial angular velocity sensor has small overall dimension, and in order to be suitable for the triaxial angular velocity overall dimension, a small-size clamp matched with the triaxial angular velocity sensor must be embodied.
The triaxial angular velocity sensor for the automobile crash test has the advantages of simple integral structure, small volume, convenient operation, no influence of external environment, good triaxial verticality and strong anti-interference performance of a sensor circuit board, avoids the crosstalk problem during triaxial angular velocity measurement, improves the fastening performance of the device by glue pouring and fixing after the sensor clamp is installed in place, and meets the requirements of the automobile crash test.
Drawings
FIG. 1 is a schematic structural diagram of a housing base according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a sensor holder according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of a sensor holder according to embodiment 1 of the present invention mounted on a base of a housing;
FIG. 4 is a schematic structural view of the upper cover of the housing in embodiments 1 and 2 of the present invention;
FIG. 5 is a schematic structural view of a base of a housing according to embodiment 2 of the present invention;
FIG. 6 is a schematic structural view of a jig according to embodiment 2 of the present invention;
FIG. 7 is a schematic illustration of the disassembled structure of FIG. 6 according to the present invention;
fig. 8 is a schematic structural view of the clamp of embodiment 2 of the present invention mounted on the base of the housing.
In the figure: 1-a housing base; 2-upper cover of the shell; 3-two-step slot; 4-fixing holes; 5-half hole of the shell lead base; 6-half holes of the upper cover of the shell lead; 7-a base; 8-a clamp; 9-circuit board slot; 10-a wire guide groove; 11-screw seat; 12-a clamp groove; 13-clamp upper cover; 14-clamp lower cover; 15-a half hole is covered on the clamp lead; 16-clamp wire lower cover half-hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-4, the triaxial angular velocity sensor for an automobile crash test of the present embodiment includes a housing base 1 and a housing upper cover 2, wherein an edge of the housing base 1 is provided with a two-step slot 3 with a high inside and a low outside, a sensor clamp is clamped inside the two-step slot 3, and the outside of the two-step slot 3 is connected with the housing upper cover 2 in an inserting manner; the edge of the shell base 1 is provided with a shell lead base half-hole 5, the edge of the shell upper cover 2 is provided with a shell lead upper cover half-hole 6, the shell lead base half-hole 5 and the shell lead upper cover half-hole 6 are spliced to form a shell lead hole, and the shell lead hole is used for leading out a lead of the sensor circuit board; the sensor clamp comprises a base 7, the base 7 is clamped on the bottom surface of the inner side of the two-step slot 3 of the shell base 1, three clamps 8 which are respectively arranged along the direction X, Y, Z are arranged on the base 7, circuit board slots 9 are respectively arranged on the clamps 8, a wire guide groove 10 which is connected with the circuit board slots 9 is also arranged on the base 7, a sensor circuit board is fixed in each circuit board slot 9 through a screw, the sensor circuit boards respectively face the direction X, Y, Z, and the wires of the sensor circuit board are laid along the wire guide grooves 10 and are converged into one wire which penetrates out of a shell wire guide hole; four screw seats 11 are respectively arranged on the periphery of the circuit board slot 9, four screw holes are arranged at corresponding positions on the periphery of the sensor circuit board, and the sensor circuit board is fixed on the circuit board slot 9 by the screws penetrating through the screw holes and fixed on the screw seats 11; the inner spaces of the shell base 1 and the shell upper cover 2 are connected through glue filling sealing treatment, and the shell base 1 and the shell upper cover 2 are provided with corresponding fixing holes 4.
The triaxial angular velocity sensor of the present embodiment is mounted by the following steps:
1. welding the chip, other components and connecting thin wires on the sensor circuit board;
2. fixing the welded sensor circuit boards on a Z-axis groove, an X-axis groove and a Y-axis groove of a sensor clamp by using screws respectively, mounting the surface connected with a lead at the groove during mounting, and calibrating the parallelism and the perpendicularity of each sensor circuit board relative to the sensor clamp;
3. leading out the thin wires through X-axis, Y-axis and Z-axis wire slots respectively, and converging the three strands of thin wires into a strand of thick wire;
4. placing the sensor clamp with the sensor circuit board installed in the shell base 1, and placing the thick lead in a shell lead base half-hole 5 of the shell base 1;
5. after the sensor clamp is attached to the shell base 1, glue is poured in to completely fill the whole shell base 1 and the sensor clamp without gaps;
6. coat a layer of glue in shell upper cover 2, with the laminating of shell base 1, guarantee the shell wire upper cover half-hole 6 of shell upper cover 2 and the shell wire base half-hole 5 cooperation of shell base 1 simultaneously and press from both sides the wire and fix, wipe unnecessary glue, fixed stoving.
The triaxial angular velocity sensor for the automobile crash test of this embodiment overall structure is simple, and is small, and convenient operation just does not receive external environment to influence, and sensor circuit board triaxial hangs down straightness well, and interference immunity is strong, has avoided the crosstalk problem when triaxial angular velocity measures, and sensor anchor clamps installation is in place the back through the fixed fastening nature that has improved the device of encapsulating simultaneously, satisfies automobile crash test's requirement.
Example 2
As shown in fig. 4-8, the triaxial angular velocity sensor for the automobile crash test of the present embodiment includes a housing base 1 and a housing upper cover 2, an edge of the housing base 1 is set as a two-step slot 3 with a high inside and a low outside, a sensor clamp is clamped inside the two-step slot 3, an outer side of the two-step slot 3 is connected to the housing upper cover 2 in an inserting manner, three clamp slots 12 are provided in the housing base 1, three clamps 8 of the sensor clamp are respectively clamped in the clamp slots 12 and arranged along the direction X, Y, Z, each clamp 8 includes a clamp upper cover 13 and a clamp lower cover 14, a sensor circuit board is installed between the clamp upper cover 13 and the clamp lower cover 14, and the three sensor circuit boards are arranged along the direction X, Y, Z through the clamp 8 and face the direction of X, Y, Z; the edge of the upper clamp cover 13 is provided with a semi-hole 15 of an upper clamp wire cover, the edge of the lower clamp cover 14 is provided with a semi-hole 16 of a lower clamp wire cover, the semi-hole 15 of the upper clamp wire cover and the semi-hole 16 of the lower clamp wire cover form a clamp wire hole, the clamp wire hole is used for leading out a wire of the sensor circuit board, and the inner spaces of the upper clamp cover 13 and the lower clamp cover 14 are connected through glue pouring and sealing treatment; the edge of the shell base 1 is provided with a shell lead base half-hole 5, the edge of the shell upper cover 2 is provided with a shell lead upper cover half-hole 6, the shell lead base half-hole 5 and the shell lead upper cover half-hole 6 are spliced to form a shell lead hole, and the shell lead hole is used for leading out a lead of the sensor circuit board; the inner spaces of the shell base 1 and the shell upper cover 2 are connected through glue filling and sealing treatment; after the lead of the sensor circuit board passes through the lead hole of the clamp, the lead is converged into a lead and passes through the lead hole of the shell; the shell base 1 and the shell upper cover 2 are provided with corresponding fixing holes 4.
As a preferred technical solution, it is proposed that,
1. clamping and fixing the sensor circuit board welded with the components and the wires by using an upper clamp cover 13 and a lower clamp cover 14, pouring glue, leading out the thin wires through wire holes of the clamps, and fixing and drying;
2. repeating the step 1 to finish three same clamps 8 with measuring element sensor circuit boards;
3. the installed clamps 8 are respectively placed into the clamp grooves 12 of the base of the shell in the direction X, Y, Z, and the determination of the rotating direction is paid attention to;
4. the thin wires led out from the three clamps 8 are converged into a strand of thick wire and fixed in a shell wire base half hole 5 of the shell base 1, and the levelness and the verticality of each clamp 8 are measured by an instrument;
5. after the sensor clamp is attached to the shell base 1, glue is poured in to completely fill the whole shell base 1, the sensor clamp and the lead without gaps;
6. and coating a layer of glue in the upper cover of the shell, attaching the glue to the base, simultaneously ensuring that the upper cover half hole 6 of the upper cover 2 of the shell conductor is matched with the upper cover half hole 5 of the upper cover of the shell conductor of the base 1 of the shell conductor and clamping and fixing the conductor, wiping off the redundant glue and fixing and drying.
The triaxial angular velocity sensor for the automobile crash test of this embodiment overall structure is simple, and is small, and convenient operation just does not receive external environment to influence, and sensor circuit board triaxial hangs down straightness well, and interference immunity is strong, has avoided the crosstalk problem when triaxial angular velocity measures, and sensor anchor clamps installation is in place the back through the fixed fastening nature that has improved the device of encapsulating simultaneously, satisfies automobile crash test's requirement.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. Triaxial angular velocity sensor for automobile crash test, its characterized in that: the sensor comprises a shell base, a shell upper cover and a sensor clamp arranged between the shell base and the shell upper cover, wherein the edge of the shell base is provided with a two-step slot with a high inner part and a low outer part, the sensor clamp is clamped on the inner side of the two-step slot, the outer side of the two-step slot is connected with the shell upper cover in an inserting way, the sensor clamp comprises three clamps which are respectively arranged along the direction X, Y, Z, and sensor circuit boards are respectively arranged on the clamps, so that the three sensor circuit boards respectively face the direction X, Y, Z; the edge of the shell base is provided with a shell lead base half-hole, the edge of the shell upper cover is provided with a shell lead upper cover half-hole, the shell lead base half-hole and the shell lead upper cover half-hole are spliced to form a shell lead hole, and the shell lead hole is used for leading out a lead of the sensor circuit board; the inner spaces of the shell base and the shell upper cover are connected through glue filling and sealing treatment.
2. The three-axis angular velocity sensor for the automobile crash test according to claim 1, characterized in that: the inboard and the sensor anchor clamps cooperation of the two-step slot of shell base, through machining and the laminating of sensor anchor clamps, the sensor anchor clamps include the base, the base card is established on the inboard bottom surface of the two-step slot of shell base, install the three anchor clamps that set up along X, Y, Z directions respectively on the base, all be equipped with the circuit board groove on the three anchor clamps, still seted up two connections on the base the metallic channel in circuit board groove, the circuit board inslot has through the fix with screw the sensor circuit board makes the sensor circuit board is respectively towards X, Y, Z directions, the wire of sensor circuit board is followed the metallic channel is laid to collect into a wire by the shell wire guide wears out.
3. The three-axis angular velocity sensor for the automobile crash test according to claim 2, characterized in that: four screw seats are respectively arranged on the periphery of the circuit board groove, four screw holes are arranged at corresponding positions on the periphery of the sensor circuit board, and the sensor circuit board passes through the screws and penetrates through the screw holes and is fixed on the screw seats to be fixed on the circuit board groove.
4. The three-axis angular velocity sensor for the automobile crash test according to claim 1, characterized in that: the sensor circuit board is characterized in that three clamp grooves with fixed sizes are formed in the shell base and are matched with clamps through machining, three clamps arranged along the direction X, Y, Z are clamped in the clamp grooves respectively, each clamp comprises an upper clamp cover and a lower clamp cover, the sensor circuit board is mounted between the upper clamp cover and the lower clamp cover, and the three sensor circuit boards are arranged along the direction X, Y, Z through the clamps and face the direction X, Y, Z; the utility model discloses a sensor circuit board's lead, including anchor clamps upper cover and anchor clamps lower cover, anchor clamps upper cover edge is equipped with anchor clamps wire upper cover half-hole, anchor clamps lower cover edge is equipped with anchor clamps wire lower cover half-hole, anchor clamps wire upper cover half-hole and anchor clamps wire lower cover half-hole form the anchor clamps wire guide, the anchor clamps wire guide is used for drawing forth the wire of sensor circuit board, the inner space of anchor clamps upper cover and anchor clamps lower cover links to each other through encapsulating sealing treatment.
5. The three-axis angular velocity sensor for the automobile crash test according to claim 4, wherein: and after the lead of the sensor circuit board penetrates out of the lead hole of the clamp, the lead is converged into a lead and penetrates out of the lead hole of the shell.
6. The three-axis angular velocity sensor for vehicle crash test according to any one of claims 1 to 5, wherein: and the shell base and the shell upper cover are respectively provided with a corresponding fixing hole.
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| CN201710361342.XA CN107167623B (en) | 2017-05-22 | 2017-05-22 | Triaxial angular velocity sensor for automobile crash test |
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| CN201710361342.XA CN107167623B (en) | 2017-05-22 | 2017-05-22 | Triaxial angular velocity sensor for automobile crash test |
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| CN107167623B true CN107167623B (en) | 2021-11-26 |
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