CN107558519A - Pressure regulating system under a kind of grader - Google Patents
Pressure regulating system under a kind of grader Download PDFInfo
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- CN107558519A CN107558519A CN201710999224.1A CN201710999224A CN107558519A CN 107558519 A CN107558519 A CN 107558519A CN 201710999224 A CN201710999224 A CN 201710999224A CN 107558519 A CN107558519 A CN 107558519A
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- perching knife
- pressure
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Abstract
The invention provides pressure regulating system under a kind of grader, including electrical hardware system and hydraulic executing system；The electrical hardware system includes lower pressure adjustment knob（11）, controller（12）, CAN switch panel（13）, control crank（14）, liquid crystal display（15）, CAN（16）, wherein CAN switch panel（13）Including blade float switch and the enabled switch of lower pressure；The hydraulic executing system includes variable pump（21）, electric proportional pressure-reducing valve（22）, reversal valve（23）, switch valve I（24‑1）, switch valve II（24‑2）, perching knife lift cylinder（25）, balanced valve（26）, multiple directional control valve（27）And hydraulic oil container（28）.The beneficial effects of the invention are as follows：The system can realize the step-less adjustment to perching knife lift cylinder rod chamber pressure, so as to change adhesive force of the perching knife to ground, and then realize that perching knife can automatically adjust the effect of lifting under different operating modes according to the fluctuating on ground.
Description
Technical field
The present invention relates to pressure regulating system under a kind of grader, belong to the electrohydraulic control system of engineering machinery.
Background technology
With the rapid development of economic construction of China, the demand of the energy, electric power, non-ferrous metal is increasingly increased, directly led
Colliery, iron ore, the prosperity of nonferrous metals ore industry are caused, opencut accounts for sizeable proportion, low with cost of winning, safe, fortune
Defeated convenience and rivet the attention from all fields, in surface mining convenient transportation with regard to demand high-power land leveller road pavement cleaning and it is smooth,
High-power land leveller is just used as the important auxiliary equipment of opencut and occurred in this case.
Compared to middle fraction horsepower land leveller, the equipment of high-power land leveller is heavier, in traditional blade float work
Under condition, the power of perching knife effect on the ground is bigger, if now geology is more loose, perching knife can be absorbed in as land leveller is walked
Earth's surface is more and more deeper, finally because load excessive leads to not promote, does not reach expected planarization effects, then or perching knife encounter
The relatively ratchel of underground is partly buried in, perching knife can not lift obstacle detouring in time, turbine box may be caused to skid, the small tooth fracture of turbine box
Etc. failure mode, planarization effects and construction speed are had a strong impact on, or even causes to shut down.
The content of the invention
The invention provides pressure regulating system under a kind of grader, the system can be realized to be had to perching knife lift cylinder
The step-less adjustment of rod cavity pressure, so as to change adhesive force of the perching knife to ground, and then realize that perching knife can basis under different operating modes
The fluctuating on ground automatically adjusts the effect of lifting.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme that：
Pressure regulating system under a kind of grader, it is characterised in that including electrical hardware system and hydraulic executing system；
The electrical hardware system includes lower pressure adjustment knob（11）, controller（12）, CAN switch panel（13）, behaviour
Vertical handle（14）, liquid crystal display（15）, CAN（16）, wherein CAN switch panel（13）Switched including blade float
With the enabled switch of lower pressure；
The hydraulic executing system includes variable pump（21）, electric proportional pressure-reducing valve（22）, reversal valve（23）, switch valve I（24-1）、
Switch valve II（24-2）, perching knife lift cylinder（25）, balanced valve（26）, multiple directional control valve（27）And hydraulic oil container（28）；
The lower pressure adjustment knob（11）With controller（12）It is connected, CAN（16）Respectively with CAN switching surface
Plate（13）, control crank（14）And liquid crystal display（15）It is connected, controller（12）Output signal is delivered separately to electric ratio
Pressure-reducing valve（22）Electromagnet Y0, reversal valve（23）Electromagnet Y1, switch valve I（24-1）Electromagnet Y2, switch valve II（24-2）Electricity
Magnet Y3, multiple directional control valve（27）Electromagnet Y4 and electromagnet Y5；
The variable pump（21）One end and hydraulic oil container（28）It is connected, the other end and electric proportional pressure-reducing valve（22）1 mouthful be connected, electricity
Proportional pressure-reducing valve（22）2 mouthfuls and reversal valve（23）1 mouthful be connected, reversal valve（23）2,3 mouthfuls respectively with hydraulic oil container（28）
With switch valve I（24-1）1 mouthful be connected, switch valve I（24-1）2 mouthfuls with perching knife lift cylinder（25）Rod chamber is connected, perching knife
Lift cylinder（25）Rodless cavity and switch valve II（24-2）1 mouthful be connected, switch valve II（24-2）2 mouthfuls and hydraulic oil container（28）
It is connected；The perching knife lift cylinder（25）Rod chamber, rodless cavity also respectively with balanced valve（26）1,2 mouthful be connected, balanced valve
（26）3,4 mouthfuls respectively with multiple directional control valve（27）A, B mouth be connected.
Pressure regulating system under a kind of foregoing grader, it is characterised in that the blade float switch includes a left side
Blade float switchs and right blade float switch.
Pressure regulating system under a kind of foregoing grader, it is characterised in that the liquid crystal display is provided with a left side
Blade float indicator lamp and right blade float indicator lamp.
Pressure regulating system under a kind of foregoing grader, it is characterised in that the perching knife lift cylinder includes
Left perching knife lift cylinder and right perching knife lift cylinder.
Pressure regulating system under a kind of foregoing grader, it is characterised in that the lower pressure, which enables switch, to be included
The enabled switch of lower-left pressure and the enabled switch of bottom right pressure.
Pressure regulating system under a kind of foregoing grader, it is characterised in that the liquid crystal display is provided with a left side
Blade float indicator lamp, right blade float indicator lamp, lower-left pressure enables indicator lamp and bottom right pressure enables indicator lamp.
Pressure regulating system under a kind of foregoing grader, it is characterised in that the operation handle includes left operation
Handle and right operation handle.
Pressure regulating system under a kind of foregoing grader, it is characterised in that the lower pressure adjustment knob includes
Lower-left pressure adjustment knob and bottom right pressure adjustment knob.
The beneficial effects of the invention are as follows：Land leveller is to realize the lifting of perching knife by the lift cylinder lifting of left and right two.
Under floating mode, the chamber of perching knife lift cylinder two is connected by switch valve with fuel tank, to perching knife without lifting force, perching knife vertical direction
Upper suffered power only has perching knife self gravitation and ground supports power.After electric proportional pressure-reducing valve and reversal valve obtain electric, pressure oil enters
Enter perching knife lift cylinder rod chamber, give perching knife one upward lifting force, perching knife is reduced the active force on ground, the lower pressure
Regulating system obtains the small step-less adjustment that can be achieved to lifting perching knife cylinder rod chamber pressure of TV university, regulation by electric proportional pressure-reducing valve
Scope can act on the power on ground from zero to the weight that maximum is whole equipment, and then realize perching knife in different operating modes
The lower effect that lifting can be automatically adjusted according to the fluctuating on ground.Therefore the lower pressure regulating system can improve land leveller floating mode
Increasingly earth's surface causes the situation of resistance abruptly increase to perching knife up to one's neck in during lower operation, in addition, when running into high resistance, perching knife can be
Pop up under tractive force and the force action of lifting force forward and worked on hiding the barrier, avoid barrier to work
Make the impact of apparatus structure part, substantially increase operating efficiency and evenness of road surface effect.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and detailed description：
Fig. 1 is electrical hardware system schematic；
Fig. 2 is hydraulic executing system schematic diagram；
Fig. 3 is software control system flow chart；
In figure：11st, lower pressure adjustment knob, 12, controller, 13, CAN switch panel, 14, control crank, 15, liquid crystal
Show device, 16, CAN；
21st, variable pump, 22, electric proportional pressure-reducing valve, 23, reversal valve, 24-1, switch valve I, 24-2, switch valve II, 25, perching knife carry
Oil-lifting jar, 26, balanced valve, 27, multiple directional control valve, 28, hydraulic oil container.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2 and Figure 3, pressure regulating system under a kind of grader, it is characterised in that including electrical hardware system
System and hydraulic executing system；
The electrical hardware system includes lower pressure adjustment knob（11）, controller（12）, CAN switch panel（13）, behaviour
Vertical handle（14）, liquid crystal display（15）, CAN（16）, wherein CAN switch panel（13）Switched including blade float
With the enabled switch of lower pressure；
The hydraulic executing system includes variable pump（21）, electric proportional pressure-reducing valve（22）, reversal valve（23）, switch valve I（24-1）、
Switch valve II（24-2）, perching knife lift cylinder（25）, balanced valve（26）, multiple directional control valve（27）And hydraulic oil container（28）；
The lower pressure adjustment knob（11）With controller（12）It is connected, CAN（16）Respectively with CAN switching surface
Plate（13）, control crank（14）And liquid crystal display（15）It is connected, controller（12）Output signal is delivered separately to electric ratio
Pressure-reducing valve（22）Electromagnet Y0, reversal valve（23）Electromagnet Y1, switch valve I（24-1）Electromagnet Y2, switch valve II（24-2）Electricity
Magnet Y3, multiple directional control valve（27）Electromagnet Y4 and electromagnet Y5；
The variable pump（21）One end and hydraulic oil container（28）It is connected, the other end and electric proportional pressure-reducing valve（22）1 mouthful be connected, electricity
Proportional pressure-reducing valve（22）2 mouthfuls and reversal valve（23）1 mouthful be connected, reversal valve（23）2,3 mouthfuls respectively with hydraulic oil container（28）
With switch valve I（24-1）1 mouthful be connected, switch valve I（24-1）2 mouthfuls with perching knife lift cylinder（25）Rod chamber is connected, perching knife
Lift cylinder（25）Rodless cavity and switch valve II（24-2）1 mouthful be connected, switch valve II（24-2）2 mouthfuls and hydraulic oil container（28）
It is connected；The perching knife lift cylinder（25）Rod chamber, rodless cavity also respectively with balanced valve（26）1,2 mouthful be connected, balanced valve
（26）3,4 mouthfuls respectively with multiple directional control valve（27）A, B mouth be connected.
The blade float switch includes left blade float switch and right blade float switch.Set on the liquid crystal display
There are left blade float indicator lamp and right blade float indicator lamp.The perching knife lift cylinder includes left perching knife lift cylinder and the right side
Perching knife lift cylinder.The enabled switch of the lower pressure includes the enabled switch of lower-left pressure and the enabled switch of bottom right pressure.The liquid
Crystal display is provided with lower pressure and enables indicator lamp.The operation handle includes left operation handle and right operation handle.Under described
Pressure adjustment knob includes lower-left pressure adjustment knob and bottom right pressure adjustment knob.
The present invention specific work process be：
Pressure regulating system is divided into left and right perching knife each pressure regulating system under independent perching knife, work under perching knife on land leveller
Principle is the same.The operation principle of the system is now introduced by taking the lower pressure regulating system on the left of perching knife as an example.
, it is necessary to meet three necessary conditions before pressure regulating system under activating left perching knife：1 engine must operate
Come；2 drivers must sit on the seat；3 controllers do not detect the failure generation related to pressure regulating system under left perching knife
Code.Then CAN switch panel is pressed（13）On left blade float switch, the switching signal passes through as input signal
CAN（16）It is delivered to controller（12）, via controller（12）After processing, 24V voltage signals are exported, make switch valve I（24-
1）Electromagnet Y2 and switch valve II（24-2）Electromagnet Y3 obtain electric, while liquid crystal display（15）On left blade float refer to
Show that lamp lights, represent that left perching knife is in floating mode, now the rod chamber of left perching knife lift cylinder and rodless cavity all with fuel tank phase
Connection, perching knife left side drop to earth's surface in the Gravitative Loads of whole equipment, realize left blade float.
Then CAN switch panel is pressed again（13）On the enabled switch of lower-left pressure, the switching signal is as input
Signal, pass through CAN（16）It is delivered to controller（12）, via controller（12）After processing, 24V voltage signals are exported, make to change
To valve（23）Electromagnet Y1 obtain it is electric, while the lower pressure regulating system on LCDs lower-left pressure enable indicator lamp it is bright
Rise, represent that pressure regulating system is in enabled state under perching knife, from variable pump（21）Pressure oil out can enter directly into
The rod chamber of left lift cylinder, so as to give left one upward lifting force of perching knife.Pressure adjustment knob R1 under left perching knife is adjusted, is controlled
Device processed（12）According to the linear current value for changing PWM1 mouths and exporting of the change for detecting R1 resistances, the function of current depressurizes in ratio
Valve（22）Electromagnet Y0 so as to changing electric proportional pressure-reducing valve（22）Outlet pressure, the pressure is with the electricity for acting on electromagnet Y0
The change of stream and change, that is, the rod chamber pressure into left lift cylinder, and then make lifting of the left lift cylinder to perching knife
Power and perching knife change to the lower pressure on ground, realize that pressure is adjusted under left perching knife, now, lower pressure of the perching knife to ground
Scope is zero weight for arriving whole equipment.
Such as under left perching knife under pressure regulation mode, left control crank is manipulated（Before push away or post-tensioning）, controller（12）Pass through
CAN（16）Receive the relevant perching knife oil cylinder lifting of left control crank or the CAN information declined, controller（12）Cut
Disconnected delivery outlet OUT2 and OUT3 24V voltage signals, make switch valve I respectively（24-1）Electromagnet Y2 and switch valve II（24-2）
Electromagnet Y3 dead electricity, multiple directional control valve（27）Electromagnet Y4 or Y5 obtain electric, while the left blade float on liquid crystal display refers to
Show that lamp extinguishes, floating mode failure, lower pressure regulation mode also fails therewith, and pressure regulating system is still located under left perching knife now
It is not activated simply in enabled state.Such as now multiple directional control valve（27）Electromagnet Y4 obtains electric, and now pressure oil liquid is through multichannel
Reversal valve（27）P mouths flow to multiple directional control valve（27）B mouths, then by balanced valve（26）4 mouthfuls flow to balanced valve（26）2 mouthfuls, from
And enter the rodless cavity of left perching knife lift cylinder, and the fluid of left perching knife lift cylinder rod chamber passes through balanced valve（26）1 mouthful of stream
To balanced valve（26）3 mouthfuls, then by multiple directional control valve（27）A mouths flow to multiple directional control valve（27）T mouths, realize that left perching knife falls
Action；Such as multiple directional control valve（27）Electromagnet Y5 obtains electric, and now pressure oil liquid is through multiple directional control valve（27）P mouths flow to multichannel and change
To valve（27）A mouths, then by balanced valve（26）3 mouthfuls flow to balanced valve（26）1 mouthful, there is bar hence into left perching knife lift cylinder
Chamber, and the fluid of left perching knife lift cylinder rod chamber passes through balanced valve（26）2 mouthfuls flow to balanced valve（26）4 mouthfuls, then changed by multichannel
To valve（27）B mouths flow to multiple directional control valve（27）T mouths, realize left perching knife enhancing action.
That is, work as controller（12）Lower-left pressure adjustment knob R1 can be detected（11）Resistance signal, CAN switch
Panel（13）On left blade float switching signal, pressure enables switching signal and left control crank under perching knife（14）Perching knife oil
After cylinder lifting or dropping signal, controller（12）By logical operation can close with output current and voltage signal, make floating die
Formula fails and the pause of lower pressure regulation mode, preferentially realizes manually operated, now presses CAN switch panel（13）On a left side
Blade float switchs, and pressure regulating system is activated left perching knife under floating mode simultaneously left perching knife again.Magnetic valve Y2
With Y3 again it is electric after, variable pump（21）Pressure oil can pass through switch valve I（24-1）Into the rod chamber of perching knife oil cylinder
It is interior so as to giving one upward power of equipment.Now pressure system is just again in running order under perching knife.
Land leveller realizes the lifting of perching knife by the lift cylinder lifting of left and right two.Under floating mode, perching knife lifting
The chamber of oil cylinder two is connected by switch valve with fuel tank, to perching knife without lifting force, in perching knife vertical direction suffered power only have perching knife from
Body gravity and ground supports power.After electric proportional pressure-reducing valve and reversal valve obtain electric, pressure oil enters perching knife lift cylinder rod chamber,
Give perching knife one upward lifting force, perching knife is reduced the active force on ground, the lower pressure regulating system is subtracted by electric ratio
Pressure valve obtains the small step-less adjustment that can be achieved to putting forward perching knife oil-lifting jar rod chamber pressure of TV university, and adjustable range can be from zero to maximum
The weight of i.e. whole equipment acts on the power on ground, so realize perching knife under different operating modes can according to the fluctuating on ground from
The effect of dynamic regulation lifting.Therefore the lower pressure regulating system when can improve operation under land leveller floating mode perching knife it is more and more deeper
Being absorbed in earth's surface causes the situation of resistance abruptly increase, in addition, when running into high resistance, perching knife can be in tractive force and lifting force forward
Force action under pop up and worked on hiding the barrier, avoid impact of the barrier to equipment structural member,
Substantially increase operating efficiency and evenness of road surface effect.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (8)
1. pressure regulating system under a kind of grader, it is characterised in that including electrical hardware system and hydraulic executing system；
The electrical hardware system includes lower pressure adjustment knob（11）, controller（12）, CAN switch panel（13）, behaviour
Vertical handle（14）, liquid crystal display（15）, CAN（16）, wherein CAN switch panel（13）Switched including blade float
With the enabled switch of lower pressure；
The hydraulic executing system includes variable pump（21）, electric proportional pressure-reducing valve（22）, reversal valve（23）, switch valve I（24-1）、
Switch valve II（24-2）, perching knife lift cylinder（25）, balanced valve（26）, multiple directional control valve（27）And hydraulic oil container（28）；
The lower pressure adjustment knob（11）With controller（12）It is connected, CAN（16）Respectively with CAN switching surface
Plate（13）, control crank（14）, controller（12）And liquid crystal display（15）It is connected, controller（12）Output signal passes respectively
Pass electric proportional pressure-reducing valve（22）Electromagnet Y0, reversal valve（23）Electromagnet Y1, switch valve I（24-1）Electromagnet Y2, switch valve
Ⅱ（24-2）Electromagnet Y3, multiple directional control valve（27）Electromagnet Y4 and electromagnet Y5；
The variable pump（21）One end and hydraulic oil container（28）It is connected, the other end and electric proportional pressure-reducing valve（22）1 mouthful be connected, electricity
Proportional pressure-reducing valve（22）2 mouthfuls and reversal valve（23）1 mouthful be connected, reversal valve（23）2,3 mouthfuls respectively with hydraulic oil container（28）
With switch valve I（24-1）1 mouthful be connected, switch valve I（24-1）2 mouthfuls with perching knife lift cylinder（25）Rod chamber is connected, perching knife
Lift cylinder（25）Rodless cavity and switch valve II（24-2）1 mouthful be connected, switch valve II（24-2）2 mouthfuls and hydraulic oil container（28）
It is connected；The perching knife lift cylinder（25）Rod chamber, rodless cavity also respectively with balanced valve（26）1,2 mouthful be connected, balanced valve
（26）3,4 mouthfuls respectively with multiple directional control valve（27）A, B mouth be connected.
2. pressure regulating system under a kind of grader according to claim 1, it is characterised in that the blade float
Switch includes left blade float switch and right blade float switch.
3. pressure regulating system under a kind of grader according to claim 1, it is characterised in that the liquid crystal display
Device is provided with left blade float indicator lamp and right blade float indicator lamp.
4. pressure regulating system under a kind of grader according to claim 1, it is characterised in that the perching knife lifting
Oil cylinder includes left perching knife lift cylinder and right perching knife lift cylinder.
5. pressure regulating system under a kind of grader according to claim 1, it is characterised in that the lower pressure makes
Energy switch includes the enabled switch of lower-left pressure and bottom right pressure enables switch.
6. pressure regulating system under a kind of grader according to claim 1, it is characterised in that the liquid crystal display
Device is provided with enabled indicator lamp.
7. pressure regulating system under a kind of grader according to claim 1, it is characterised in that the operation handle
Including left operation handle and right operation handle.
8. pressure regulating system under a kind of grader according to claim 1, it is characterised in that the lower pressure is adjusted
Section knob includes lower-left pressure adjustment knob and bottom right pressure adjustment knob.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710999224.1A CN107558519B (en) | 2017-10-24 | 2017-10-24 | Land leveler shovel sword down force governing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710999224.1A CN107558519B (en) | 2017-10-24 | 2017-10-24 | Land leveler shovel sword down force governing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107558519A true CN107558519A (en) | 2018-01-09 |
| CN107558519B CN107558519B (en) | 2023-06-06 |
Family
ID=60986874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710999224.1A Active CN107558519B (en) | 2017-10-24 | 2017-10-24 | Land leveler shovel sword down force governing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107558519B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109973447A (en) * | 2019-04-01 | 2019-07-05 | 山东临工工程机械有限公司 | A kind of hydraulic control system and engineering machinery |
| CN111527814A (en) * | 2020-04-22 | 2020-08-14 | 江苏赛欧智能科技有限公司 | Automatic floating mechanism of greening comprehensive maintenance vehicle and control system and method thereof |
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| US4317466A (en) * | 1979-04-05 | 1982-03-02 | Hitachi Construction Machinery Co., Ltd. | Hydraulic drive circuit for load-handling machines |
| JPS5977103A (en) * | 1983-09-22 | 1984-05-02 | Kobe Steel Ltd | Swing stop operation method for civil engineering machinery |
| CN203049649U (en) * | 2013-01-17 | 2013-07-10 | 徐州徐工筑路机械有限公司 | Multiple floating function device of land leveller shovel plate |
| CN103643709A (en) * | 2013-12-24 | 2014-03-19 | 太原重工股份有限公司 | Hydraulic control system for movable arm of mining hydraulic excavator |
| CN203569609U (en) * | 2013-09-23 | 2014-04-30 | 山东临工工程机械有限公司 | Floating control device for shovel blade of grader |
| CN207499025U (en) * | 2017-10-24 | 2018-06-15 | 徐州徐工筑路机械有限公司 | Pressure regulating system under a kind of grader |
-
2017
- 2017-10-24 CN CN201710999224.1A patent/CN107558519B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4317466A (en) * | 1979-04-05 | 1982-03-02 | Hitachi Construction Machinery Co., Ltd. | Hydraulic drive circuit for load-handling machines |
| JPS5977103A (en) * | 1983-09-22 | 1984-05-02 | Kobe Steel Ltd | Swing stop operation method for civil engineering machinery |
| CN203049649U (en) * | 2013-01-17 | 2013-07-10 | 徐州徐工筑路机械有限公司 | Multiple floating function device of land leveller shovel plate |
| CN203569609U (en) * | 2013-09-23 | 2014-04-30 | 山东临工工程机械有限公司 | Floating control device for shovel blade of grader |
| CN103643709A (en) * | 2013-12-24 | 2014-03-19 | 太原重工股份有限公司 | Hydraulic control system for movable arm of mining hydraulic excavator |
| CN207499025U (en) * | 2017-10-24 | 2018-06-15 | 徐州徐工筑路机械有限公司 | Pressure regulating system under a kind of grader |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109973447A (en) * | 2019-04-01 | 2019-07-05 | 山东临工工程机械有限公司 | A kind of hydraulic control system and engineering machinery |
| CN111527814A (en) * | 2020-04-22 | 2020-08-14 | 江苏赛欧智能科技有限公司 | Automatic floating mechanism of greening comprehensive maintenance vehicle and control system and method thereof |
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| Publication number | Publication date |
|---|---|
| CN107558519B (en) | 2023-06-06 |
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