CN107191426B - Pneumatic type fixes corner servo motor - Google Patents
Pneumatic type fixes corner servo motor Download PDFInfo
- Publication number
- CN107191426B CN107191426B CN201710435802.9A CN201710435802A CN107191426B CN 107191426 B CN107191426 B CN 107191426B CN 201710435802 A CN201710435802 A CN 201710435802A CN 107191426 B CN107191426 B CN 107191426B
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- China
- Prior art keywords
- wall
- circular cylinder
- circular
- plectane
- damping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
- F15B15/226—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having elastic elements, e.g. springs, rubber pads
Abstract
The invention belongs to pneumatic servo technology fields, more particularly to pneumatic type fixes corner servo motor, it includes first annular rail, circular cylinder piston, piston angle, the second end wall, the support of first annular rail, the first plectane, the second circular rails, retaining spring, the second plectane, damper etc., wherein when high pressure gas moment pouring circular cylinder, circular cylinder piston can occur of reciprocating vibration under air pressure and retaining spring collective effect, damper can prevent the of reciprocating vibration of circular cylinder piston at this time, and circular cylinder piston is made to reach a position and is stopped.When having high pressure gas in circular cylinder, the damping snap-gauge on shell is motionless, and the damping slide plate on swinging axle is rotated with swinging axle；Since damping oil pipe is very thin, damping oil rapidly can not be discharged to damping oil inlet from damping oil export, so as to prevent the of reciprocating vibration of circular cylinder piston, have stronger practical function.
Description
The application is entitled：A kind of pneumatic type fixes corner servo motor, the applying date is：On July 31st, 2016, application
Number it is：201610612278.3 application for a patent for invention divisional application.
Technical field
The invention belongs to pneumatic servo technology fields more particularly to pneumatic type to fix corner servo motor.
Background technology
At present in mechanical engineering, servo-drive system is often accurately positioned using hydraulic stem or electro-motor to realize, for
In pneumatic servo system, servo motion that linear servo drive still rotates, because of gas compressibility in air motor,
It is accurately positioned to implement and is difficult.
The present invention designs a kind of pneumatic type fixation corner servo motor and solves the problems, such as above.
Invention content
To solve drawbacks described above of the prior art, the present invention discloses a kind of pneumatic type and fixes corner servo motor, it is
It is realized using following technical scheme.
A kind of pneumatic type fixes corner servo motor, it is characterised in that：It includes circular cylinder outer wall, circular cylinder side
Wall, first annular rail, circular cylinder piston, the first end wall, piston angle, the support of the first axle sleeve, the support of the second axle sleeve, second end
Wall, the support of first annular rail, the support of the first plectane, swinging axle axle sleeve, the second circular rails, the second annular rail clip end, the second annular
Rail, circular cylinder inner wall, circular cylinder air admission hole, retaining spring, the second plectane, circular rails guide hole, damper, wherein the first ring
One end of shape rail is equipped with first annular rail support, and first annular rail support is fixedly mounted on swinging axle, first annular rail
The other end is connected by circular cylinder piston with one end of the second circular rails, and the other end of the second circular rails is equipped with the second ring
Shape rail clip end, one end of the second circular rails support are mounted on the second annular rail clip end, and the other end is fixedly mounted on swinging axle；
One end of retaining spring is mounted on the first end wall, and the other end is mounted on the second annular rail clip end, and is placed on the second circular rails
Outside；Circular cylinder side wall is mounted on the first plectane, and circular cylinder is equipped between circular cylinder side wall and the second plectane
Outer wall, circular cylinder inner wall, the first end wall, the second end wall, the first end wall and the second end wall are mounted on circular cylinder outer wall and ring
It is located between shape cylinder inner wall and respectively the both ends of circular cylinder outer wall and circular cylinder inner wall；First end wall and the second end wall
Circular rails guide hole is provided at center, first annular rail is slided in the circular rails guide hole of the second end wall, and the second circular rails are slided
In the circular rails guide hole of the first end wall, circular cylinder piston is slided in circular cylinder；First axle sleeve supports and the second axle sleeve
Support is separately mounted to the inner edge surface both ends of circular cylinder inner wall, and the support of the first axle sleeve and the second axle sleeve are supported and fixed on swing
On the outside of axis axle sleeve；Swinging axle axle sleeve is fixed on the first plectane, and damper is mounted on the first plectane, and swinging axle sequentially passes through resistance
Buddhist nun's device, the first plectane, swinging axle axle sleeve, the second plectane；Piston angle, circular cylinder outer wall one end are provided on circular cylinder piston
Circular cylinder air admission hole is installed.
Above-mentioned damper includes attenuator end cap, damping oil export, damping oil inlet, shell, damping snap-gauge, resistance
Buddhist nun's slide plate, damping side plate, wherein damping snap-gauge is fixed on the inside of shell, damping slide plate is fixed on swinging axle, is damped
Damping oil export and damping oil inlet on device shell are installed and are located at damping slide plate both sides respectively, damping oil export passes through damping
Oil pipe is connect with damping oil inlet；It damps side plate to be mounted on the first plectane, shell is mounted on damping side plate, damping
Device end cap is mounted on damping shell.
In the present invention, when high pressure gas moment pouring circular cylinder, circular cylinder piston is total in air pressure and retaining spring
It can occur of reciprocating vibration under same-action, damper can prevent the of reciprocating vibration of circular cylinder piston, arrive circular cylinder piston
Stop up to a position.When having high pressure gas in circular cylinder, the damping snap-gauge on shell is motionless, installation
Damping slide plate on swinging axle is rotated with swinging axle；Full of damping oil in damper, if from attenuator end cap to damping side
Plate direction sees that damping slide plate, which rotates clockwise, to squeeze out damping oil from damping oil export, enters damping by damping oil pipe
Oil inlet.Since damping oil pipe is very thin, damping oil rapidly can not be discharged to damping oil inlet, the pressure of damping oil from damping oil export
Power can prevent damping slide plate from moving back and forth, so as to prevent the of reciprocating vibration of circular cylinder piston.In addition after high-pressure air source stops,
Circular cylinder piston can restore origin-location under retaining spring effect, be ready for being pressurized swing next time.In entire mechanism
In the case that structure is constant, the amplitude size that the radian of annular cylinder piston can control servo motor to swing is adjusted.Namely
For the present invention, corner can be controlled by only adjusting the radian of annular piston.
As being further improved for this technology, above-mentioned circular cylinder air admission hole is by controlling switch to be connect with high-pressure air source.
As being further improved for this technology, above-mentioned retaining spring is compressed spring.
As being further improved for this technology, it is mounted on it by the first plectane and uses in mechanism.
As being further improved for this technology, above-mentioned connection damping oil export can be with the damping oil pipe for damping oil inlet
It can bear the hose or metal tube of damping oil pressure.
Relative to traditional pneumatic servo technology, in the present invention when high pressure gas moment pouring circular cylinder, annular gas
The cylinder piston can occur of reciprocating vibration under air pressure and retaining spring collective effect, and damper can prevent circular cylinder piston at this time
It is of reciprocating vibration, circular cylinder piston is made to reach position and is stopped.When having high pressure gas in circular cylinder, mounted on damping
Damping snap-gauge on device shell is motionless, and the damping slide plate on swinging axle is rotated with swinging axle；Since damping oil pipe is very thin,
Damping oil rapidly can not be discharged to damping oil inlet from damping oil export, so as to prevent the of reciprocating vibration of circular cylinder piston, tool
There is stronger practical function.
Description of the drawings
Fig. 1 is servo motor structure schematic diagram.
Fig. 2 is retaining spring, circular cylinder scheme of installation.
Fig. 3 is damper scheme of installation.
Fig. 4 is servo motor side view.
Fig. 5 is damper structure schematic diagram.
Fig. 6 is circular cylinder structure diagram.
Fig. 7 is first annular rail, the second circular rails scheme of installation.
Figure label title：1st, circular cylinder outer wall, 2, circular cylinder side wall, 3, first annular rail, 4, circular cylinder lives
Plug, the 5, first end wall, 6, piston angle, the support of the 7, first axle sleeve, the support of the 8, second axle sleeve, the 9, second end wall, 10, first annular
Rail supports, the 11, first plectane, and 12, swinging axle axle sleeve, 13, swinging axle, the support of the 14, second circular rails, the 15, second annular rail clip
End, the 16, second circular rails, 17, circular cylinder inner wall, 18, damper, 19, circular cylinder air admission hole, 20, retaining spring, 21,
Attenuator end cap, the 22, second plectane, 23, damping oil export, 24, damping oil inlet, 25, shell, 26, damping snap-gauge,
27th, slide plate is damped, 28, damping side plate, 29, circular rails guide hole.
Specific embodiment
As shown in Figure 1, 2, 3, it includes circular cylinder outer wall 1, circular cylinder side wall 2, first annular rail 3, circular cylinder
Piston 4, the first end wall 5, piston angle 6, the first axle sleeve support the 7, second axle sleeve to support the 8, second end wall 9, first annular rail branch
Support the 10, first plectane 11, swinging axle axle sleeve 12, the 14, second annular rail clip end 15 of the second circular rails support, the second circular rails 16,
Circular cylinder inner wall 17, circular cylinder air admission hole 19, retaining spring 20, the second plectane 22, circular rails guide hole 29, damper 18,
Wherein as shown in fig. 7, one end of first annular rail 3 is equipped with first annular rail support 10, peace is fixed in first annular rail support 10
On swinging axle 13, the other end of first annular rail 3 is connected by circular cylinder piston 4 with one end of the second circular rails 16
It connects, the other ends of the second circular rails 16 is equipped with the second annular rail clip end 15, and one end of the second circular rails support 14 is mounted on the
On second ring rail clip end 15, the other end is fixedly mounted on swinging axle 13；As shown in Fig. 2, one end of retaining spring 20 is mounted on
On first end wall 5, the other end is mounted on the second annular rail clip end 15, and is placed on the outside of the second circular rails 16；Such as Fig. 3,4,6
Shown, circular cylinder side wall 2 is mounted on the first plectane 11, and annular is equipped between 2 and second plectane 22 of circular cylinder side wall
Cylinder outer wall 1, circular cylinder inner wall 17, the first end wall 5, the second end wall 9, the first end wall 5 and the second end wall 9 are mounted on annular gas
It is located between cylinder outer wall 1 and circular cylinder inner wall 17 and respectively the both ends of circular cylinder outer wall 1 and circular cylinder inner wall 17；Such as figure
Shown in 6, circular rails guide hole 29 is provided at the center of the first end wall 5 and the second end wall 9, first annular rail 3 slides on second end
In the circular rails guide hole 29 of wall 9, the second circular rails 16 are slided in the circular rails guide hole 29 of the first end wall 5, circular cylinder piston 4
It slides in circular cylinder；The support 7 of first axle sleeve and the second axle sleeve support 8 are separately mounted to the inner edge surface of circular cylinder inner wall 17
Both ends, and the support 7 of the first axle sleeve and the second axle sleeve support 8 are fixed on 12 outside of swinging axle axle sleeve；As shown in figure 3, swinging axle axis
Set 12 is fixed on the first plectane 11, and damper 18 is mounted on the first plectane 11, and swinging axle 13 sequentially passes through damper 18, the
One plectane 11, swinging axle axle sleeve 12, the second plectane 22；Piston angle 6, circular cylinder outer wall 1 one are provided on circular cylinder piston 4
End is equipped with circular cylinder air admission hole 19.
As shown in figure 5, above-mentioned damper 18 includes attenuator end cap 21, damping oil export 23, damping oil inlet 24, damping
Device shell 25, damping snap-gauge 26, damping slide plate 27, damping side plate 28, wherein damping snap-gauge 26 is fixed in shell 25
Side, damping slide plate 27 are fixed on swinging axle 13, and damping oil export 23 and damping oil inlet 24 are equipped on shell 25
And it is located at 27 both sides of damping slide plate respectively, damping oil export 23 is connect by damping oil pipe with damping oil inlet 24；Damp side plate
28 are mounted on the first plectane 11, and shell 25 is mounted on damping side plate 28, and it is outer that attenuator end cap 21 is mounted on damping
On shell.
In the present invention, when high pressure gas moment pouring circular cylinder, circular cylinder piston 4 is in air pressure and retaining spring 20
It can occur of reciprocating vibration under collective effect, damper 18 can prevent the of reciprocating vibration of circular cylinder piston 4, and circular cylinder is made to live
Plug 4, which reaches a position, to be stopped.When safety post 36 is knocked, the damping snap-gauge 26 on shell 25 is motionless,
Damping slide plate 27 on swinging axle 13 is rotated with swinging axle 13；Full of damping oil in damper 18, if from damper
End cap 21 sees that damping slide plate 27, which rotates clockwise, to squeeze out damping oil from damping oil export 23 to 28 direction of damping side plate,
Enter damping oil inlet 24 by damping oil pipe.Since damping oil pipe is very thin, damping oil can not be rapidly from damping oil export 23
Damping oil inlet 24 is discharged to, the pressure of damping oil can prevent damping slide plate 27 from moving back and forth, so as to prevent circular cylinder piston 4
It is of reciprocating vibration.
Above-mentioned circular cylinder air admission hole is by controlling switch to be connect with high-pressure air source.
Above-mentioned retaining spring is compressed spring.
It is mounted on it by the first plectane and uses in mechanism.
Above-mentioned connection damping oil export 23 can bear damping oil pressure with the damping oil pipe for damping oil inlet 24
Hose or metal tube.
In conclusion in the present invention when high pressure gas moment pouring circular cylinder, circular cylinder piston is in air pressure and determines
It can occur of reciprocating vibration under the spring collective effect of position, damper can prevent the of reciprocating vibration of circular cylinder piston at this time, make ring
Shape cylinder piston, which reaches a position, to be stopped.When having high pressure gas in circular cylinder, the damping on shell
Snap-gauge is motionless, and the damping slide plate on swinging axle is rotated with swinging axle；Since damping oil pipe is very thin, damping oil can not be quick
Ground is discharged to damping oil inlet from damping oil export, so as to prevent the of reciprocating vibration of circular cylinder piston, has stronger practical effect
Fruit.
Claims (2)
1. pneumatic type fixes corner servo motor, it is characterised in that：It includes circular cylinder outer wall, circular cylinder side wall, first
Circular rails, circular cylinder piston, the first end wall, piston angle, the support of the first axle sleeve, the support of the second axle sleeve, the second end wall, first
Circular rails support, the support of the first plectane, swinging axle axle sleeve, the second circular rails, the second annular rail clip end, the second circular rails, annular
Cylinder inner wall, circular cylinder air admission hole, retaining spring, the second plectane, circular rails guide hole, damper, wherein first annular rail
One end is equipped with first annular rail support, and first annular rail support is fixedly mounted on swinging axle, the other end of first annular rail
It is connected by circular cylinder piston with one end of the second circular rails, the other end of the second circular rails is equipped with the second annular rail clip
End, one end of the second circular rails support are mounted on the second annular rail clip end, and the other end is fixedly mounted on swinging axle；Position bullet
One end of spring is mounted on the first end wall, and the other end is mounted on the second annular rail clip end, and is placed on the outside of the second circular rails；
Circular cylinder side wall is mounted on the first plectane, and circular cylinder outer wall, ring are equipped between circular cylinder side wall and the second plectane
Shape cylinder inner wall, the first end wall, the second end wall, the first end wall and the second end wall are mounted in circular cylinder outer wall and circular cylinder
It is located between wall and respectively the both ends of circular cylinder outer wall and circular cylinder inner wall；It is equal at the center of first end wall and the second end wall
Circular rails guide hole is provided with, first annular rail is slided in the circular rails guide hole of the second end wall, and the second circular rails slide on first end
In the circular rails guide hole of wall, circular cylinder piston is slided in circular cylinder；First axle sleeve supports and the second axle sleeve support difference
Mounted on the inner edge surface both ends of circular cylinder inner wall, and the support of the first axle sleeve and the second axle sleeve are supported and fixed on outside swinging axle axle sleeve
Side；Swinging axle axle sleeve is fixed on the first plectane, and damper is mounted on the first plectane, and swinging axle sequentially passes through damper, the
One plectane, swinging axle axle sleeve, the second plectane；Piston angle is provided on circular cylinder piston, circular cylinder outer wall one end is equipped with
Circular cylinder air admission hole；
The damper includes attenuator end cap, damping oil export, damping oil inlet, shell, damping snap-gauge, damps and slide
Piece, damping side plate, wherein damping snap-gauge is fixed on the inside of shell, damping slide plate is fixed on swinging axle, outside damper
Damping oil export and damping oil inlet on shell are installed and are located at damping slide plate both sides respectively, damping oil export is by damping oil pipe
It is connect with damping oil inlet；It damps side plate to be mounted on the first plectane, shell is mounted on damping side plate, damper end
Lid is mounted on damping shell；
The circular cylinder air admission hole is by controlling switch to be connect with high-pressure air source；
The retaining spring is compressed spring.
2. pneumatic type fixes corner servo motor, it is characterised in that：It includes circular cylinder outer wall, circular cylinder side wall, first
Circular rails, circular cylinder piston, the first end wall, piston angle, the support of the first axle sleeve, the support of the second axle sleeve, the second end wall, first
Circular rails support, the support of the first plectane, swinging axle axle sleeve, the second circular rails, the second annular rail clip end, the second circular rails, annular
Cylinder inner wall, circular cylinder air admission hole, retaining spring, the second plectane, circular rails guide hole, damper, wherein first annular rail
One end is equipped with first annular rail support, and first annular rail support is fixedly mounted on swinging axle, the other end of first annular rail
It is connected by circular cylinder piston with one end of the second circular rails, the other end of the second circular rails is equipped with the second annular rail clip
End, one end of the second circular rails support are mounted on the second annular rail clip end, and the other end is fixedly mounted on swinging axle；Position bullet
One end of spring is mounted on the first end wall, and the other end is mounted on the second annular rail clip end, and is placed on the outside of the second circular rails；
Circular cylinder side wall is mounted on the first plectane, and circular cylinder outer wall, ring are equipped between circular cylinder side wall and the second plectane
Shape cylinder inner wall, the first end wall, the second end wall, the first end wall and the second end wall are mounted in circular cylinder outer wall and circular cylinder
It is located between wall and respectively the both ends of circular cylinder outer wall and circular cylinder inner wall；It is equal at the center of first end wall and the second end wall
Circular rails guide hole is provided with, first annular rail is slided in the circular rails guide hole of the second end wall, and the second circular rails slide on first end
In the circular rails guide hole of wall, circular cylinder piston is slided in circular cylinder；First axle sleeve supports and the second axle sleeve support difference
Mounted on the inner edge surface both ends of circular cylinder inner wall, and the support of the first axle sleeve and the second axle sleeve are supported and fixed on outside swinging axle axle sleeve
Side；Swinging axle axle sleeve is fixed on the first plectane, and damper is mounted on the first plectane, and swinging axle sequentially passes through damper, the
One plectane, swinging axle axle sleeve, the second plectane；Piston angle is provided on circular cylinder piston, circular cylinder outer wall one end is equipped with
Circular cylinder air admission hole；
It is described connection damping oil export with damp oil inlet damping oil pipe be can bear damp oil pressure metal it is soft
Pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710435802.9A CN107191426B (en) | 2016-07-31 | 2016-07-31 | Pneumatic type fixes corner servo motor |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710435802.9A CN107191426B (en) | 2016-07-31 | 2016-07-31 | Pneumatic type fixes corner servo motor |
| CN201610612278.3A CN106050787B (en) | 2016-07-31 | 2016-07-31 | A kind of pneumatic type fixes corner servo motor |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610612278.3A Division CN106050787B (en) | 2016-07-31 | 2016-07-31 | A kind of pneumatic type fixes corner servo motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107191426A CN107191426A (en) | 2017-09-22 |
| CN107191426B true CN107191426B (en) | 2018-06-22 |
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ID=57196849
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710755200.1A Active CN107504007B (en) | 2016-07-31 | 2016-07-31 | A kind of fixed corner servo motor of pneumatic type |
| CN201710435802.9A Expired - Fee Related CN107191426B (en) | 2016-07-31 | 2016-07-31 | Pneumatic type fixes corner servo motor |
| CN201610612278.3A Active CN106050787B (en) | 2016-07-31 | 2016-07-31 | A kind of pneumatic type fixes corner servo motor |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710755200.1A Active CN107504007B (en) | 2016-07-31 | 2016-07-31 | A kind of fixed corner servo motor of pneumatic type |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610612278.3A Active CN106050787B (en) | 2016-07-31 | 2016-07-31 | A kind of pneumatic type fixes corner servo motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107504007A (en) * | 2016-07-31 | 2017-12-22 | 苏州高精特专信息科技有限公司 | A kind of pneumatic type fixes corner servo motor |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111075986B (en) * | 2020-01-13 | 2022-01-21 | 宁波杜肯阀门制造有限公司 | Pneumatic actuator for driving regulating valve |
| CN111617417B (en) * | 2020-06-05 | 2021-09-03 | 深圳市广安消防装饰工程有限公司 | Networking multi-point type full-automatic fire extinguisher |
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- 2016-07-31 CN CN201710435802.9A patent/CN107191426B/en not_active Expired - Fee Related
- 2016-07-31 CN CN201610612278.3A patent/CN106050787B/en active Active
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| Publication number | Publication date |
|---|---|
| CN107191426A (en) | 2017-09-22 |
| CN107504007B (en) | 2019-05-14 |
| CN106050787A (en) | 2016-10-26 |
| CN107504007A (en) | 2017-12-22 |
| CN106050787B (en) | 2017-12-12 |
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