CN107640211B - Steering-by-wire device with integrated steering mechanism and suspension and automobile - Google Patents
Steering-by-wire device with integrated steering mechanism and suspension and automobile Download PDFInfo
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- CN107640211B CN107640211B CN201710865500.5A CN201710865500A CN107640211B CN 107640211 B CN107640211 B CN 107640211B CN 201710865500 A CN201710865500 A CN 201710865500A CN 107640211 B CN107640211 B CN 107640211B
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Abstract
The invention discloses the steer by wire apparatus that a kind of steering mechanism and suspension integrate, comprising: steering motor；Deceleration mechanism connects the output end of the steering motor；Traveller axis connects the deceleration mechanism；Traveller shaft sleeve is coupled with the traveller axis by slip rotary liner, is enable the axially opposed sliding of the traveller axis and the traveller axle sleeve and is radially rotated simultaneously；Wherein, it is connect with the hub motor shell of wheel by knuckle outside the lower end of the traveller shaft sleeve, rotates synchronously the hub motor and the traveller axis.The invention discloses a kind of automobiles.The present invention can reach vehicle complete vehicle performance requirement in design, provide better scheme using steering-by-wire especially for large-scale heavy duty automobile, have structure simple, occupy little space, technology is realized and is easy, while conveniently realizing integrated advantage with vehicle.
Description
Technical field
The present invention relates to automobile steering-by-wire fields, and in particular to a kind of steering-by-wire dress that steering mechanism integrates with suspension
It sets and automobile.
Background technique
Steering-by-wire is derived from the fly-by-wire applied on Space Science and Technology in 1972, with electronic technology, computer
The research of line traffic control steering technique is unfolded in the continuous development of technology, major motor corporation one after another.In Europe, 1998, German ZF was public
Department has carried out the research and development of wire-controlled steering system, the motor corporations such as Fiat, Volvo, Daimler-Chrysler and Ford Europe
" the Brite-Eu Ram ' X-by-wire ' plan " initiated with universities' joints such as Vienna, Chalmers, is dedicated to turning line traffic control
The research of, reliability realisation to system and safety.
In Asia, Japanese Toyota Company was proposed II steering-by-wire concept car of FT-EV in 2010, and such concept car passes through
Knob and key are realized to Vehicular turn, acceleration and the control of braking；2015, Infiniti is proposed the whole world, and first used line
Control volume production vehicle --- the Q50 turned to；Infiniti Q50 complete set vehicle has been equipped with DAS steering-by-wire technology at present.
Steering wheel is caused to cannot achieve steering to avoid electronic system failure, Infiniti is the steering driving section of Q50
Point remain mechanical transmissioning piece, there is a normally disengaged clutch in centre, and power-off when can just close automatically, even if so DAS system
System failure, driver also can normal driving vehicle.
The research of domestic steering-by-wire technology starts from the nineties in last century.In recent years, as national electric car 2025 is planned
Implementation, the automobile group such as east wind, a vapour, Chang'an, lucky, Guangzhou Automobile Workshop and there is the research institution of rich strength to expand line traffic control one after another
Steering system and its relevant research work, each components manufacturer also start to cooperate vehicle factor to vehicle intellectualized control components
Technology is studied.
Wire-controlled steering system eliminates traditional mechanical transfer, without mechanical connection between diverter and steering column.
Whole system is mainly sensed by steering wheel position sensor, road feel simulated machine, steering executing agency, steering ECU, wheel steering angle
The auxiliary systems such as device and failsafe system, power supply composition.
Current steering-by-wire mechanism is mostly that steer by wire apparatus, this line traffic control are increased on the basis of conventional steering mechanism
On the one hand steering mode increases the complexity of line traffic control structure, on the other hand to occupy more after increasing steer by wire apparatus
Big chassis space.It is noted that this steer by wire apparatus being derived on conventional steering device basic is still
The corner of left and right turn wheel is not decoupled, cannot also realize the independence and freedom control of each wheel steering angle.This is exactly limited
One reason of Vehicular turn flexibility.
In recent years the theme around vehicle energy saving, environmental protection and safety is increasingly subject to the pass of government and major automobile vendors
Note.Mixed power electric car (HEV), fuel cell electric vehicle (FCEV), especially In-wheel motor driving pure electric vehicle vapour
Gradually promoting and applying for the novel electric vehicles such as vehicle brings wide application prospect for the application of wire-controlled steering system.
Summary of the invention
Based in the prior art the technical issues of, a kind of present invention has designed and developed steering mechanism and suspension integrates line traffic control
Transfer.Goal of the invention of the invention is that solution heavy-duty vehicle conventional steering mechanism occupied space is big, steering shaft sliding friction
The problem of big and ease of steering and sensitivity can not be taken into account.
The present invention has also designed and developed a kind of automobile.Goal of the invention of the invention is to solve heavy-duty vehicle conventional steering mechanism
The big problem of occupied space.
Technical solution provided by the invention are as follows:
A kind of steer by wire apparatus that steering mechanism integrates with suspension, comprising:
Steering motor；And
Deceleration mechanism connects the output end of the steering motor；
Damper traveller axis connects the deceleration mechanism by universal joint, and along axis on the damper sliding axle
To direction, multiple first sliding grooves are set；
Damper sleeve, one segment length of upper part is interior to be arranged inner ring, is arranged between the inner ring and damper sleeve inner wall
Axial circulation track；Multiple second sliding grooves are axially arranged in the inner ring；
Ball is arranged in the cyclic track, can roll in the cyclic track, and the ball can
Protrude second sliding groove in part；
The damper traveller axis is passed through to the inner ring, and first sliding groove and the second sliding groove location are one by one
It is correspondingly formed accommodation space, the part that the ball protrudes second sliding groove is located in first sliding groove；
The lower end of the damper sleeve is connect with knuckle；
Wherein, enable the damper traveller axis relative to the vibration damping in the rolling of the accommodation space by ball
Device sleeve slides axially, and when damper traveller axis rotation, is able to drive the damper sleeve rotation.
Preferably, the deceleration mechanism includes:
Worm screw is connected with the output end of the steering motor；
Turbine is matched with the worm screw；
Transmission shaft is connected with the turbine, and the worm screw is connected with the traveller axis by universal joint.
Preferably, further include；
Connecting plate assembly, is fixedly connected with the vehicle body；
Helical spring, the upper end are supported on the connecting plate assembly by helical spring top tray, and lower end passes through spiral
Spring lower tray is supported on the damper sleeve.
Preferably, the helical spring lower tray is supported on the vibration damping by the shaft shoulder outside the damper sleeve
On device sleeve.
Preferably, further includes: sealing-plug is separately positioned on the both ends of the damper sleeve.
Preferably, further includes: buffer stopper is mounted on inside the helical spring top tray；And
Dust cover is mounted between the buffer stopper and the sealing-plug.
Preferably, further includes:
Ball retainer is mounted between the inner ring and the damper sleeve inner wall, and by lock ring with
The damper sleeve connects, and has ball through slot on the ball retainer；
Limited block is slided, traveller axis lower end is detachably mounted to.
Preferably, end cap is arranged in the knuckle lower part, passes through the sealing of screw and traveller shaft sleeve lower part
Plug connection.
Preferably, further includes: suspension lower swing arm passes through the ball stud branch on ball stud and the motor casing of hub motor
Seat connection.
A kind of automobile, including the steer by wire apparatus for using the steering mechanism and suspension to integrate.
The present invention compared with prior art possessed by the utility model has the advantages that
1, the steer by wire apparatus that steering mechanism of the present invention and suspension integrate passes through to steering mechanism and suspension
The integration realization steering-by-wire technology of automobile solves the problems, such as the integrated of the steering mechanism of automobile and suspension；
2, the steer by wire apparatus that steering mechanism of the present invention and suspension integrate, by steering mechanism and suspension
It is integrated, the independent control of deflecting roller steering is realized, the steering between wheel is decoupled, so that ease of steering and flexibility are more
It is good to realize；
3, the steer by wire apparatus that steering mechanism of the present invention and suspension integrate, by using worm type of reduction gearing
Output torque increase is carried out to steering motor, realizes the steering-by-wire of heavy-duty vehicle, when sufficiently meeting vehicle driving and pivot stud
Steering force demand.
Detailed description of the invention
Fig. 1 is the main view for the steer by wire apparatus that steering mechanism of the present invention integrates with suspension.
Fig. 2 is the traveller axis main view for the steer by wire apparatus that steering mechanism of the present invention integrates with suspension.
Fig. 3 is the traveller axis left view for the steer by wire apparatus that steering mechanism of the present invention integrates with suspension.
Fig. 4 is the traveller shaft sleeve main view for the steer by wire apparatus that steering mechanism of the present invention integrates with suspension.
Fig. 5 is the traveller shaft sleeve left view for the steer by wire apparatus that steering mechanism of the present invention integrates with suspension.
Fig. 6 is the main view for the steer by wire apparatus slip rotary liner that steering mechanism of the present invention integrates with suspension.
Fig. 7 is the section view of the slip rotary liner for the steer by wire apparatus that steering mechanism of the present invention integrates with suspension
Figure.
Fig. 8 is that the axis of the slip rotary liner for the steer by wire apparatus that steering mechanism of the present invention integrates with suspension regards
Figure.
Fig. 9 is total for the connecting plate assembly and vibration isolation block of the steering mechanism of the present invention steer by wire apparatus integrated with suspension
At cross-sectional view.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
Compared with electric power steering, apparatus of the present invention eliminate complicated assistant steering mechanism or hydraulic control unit,
Structure is simpler, the signal driving steering motor rotation of steering controller, by the worm gear being connected with steering motor output end
After the deceleration of worm mechanism, worm gear drives traveller assembly to rotate by universal joint, so that knuckle be driven to rotate, realizes that wheel is only
Vertical course changing control.It solves the problems, such as that conventional steering mechanism occupied space is big, need power steering.The present invention in design can
Reach vehicle complete vehicle performance requirement, provides better scheme using steering-by-wire especially for large-scale heavy duty automobile, there is structure
Simply, it occupies little space, technology is realized and is easy, while conveniently realizing integrated advantage with vehicle.
Apparatus of the present invention include: wheel 20, steering motor 1, turbine and worm decelerator, universal joint 27, helical spring 7,
Traveller assembly, knuckle 15, ball stud 18 and lower cross arm 16；Wherein, turbine and worm decelerator includes worm screw 31 and worm gear 30；
Traveller assembly includes traveller axis 25, traveller shaft sleeve 12, slip rotary liner and limited block 13.
The invention also includes a kind of automobiles, are turned to using the device that steering mechanism of the invention integrates with suspension.
As shown in Figure 1, the present invention provides a kind of automobile steering-by-wire integrating devices to realize above-mentioned function.The present invention
The integrating device refers to the device that suspension and steering mechanism are integrated in one.Device uses McPherson strut structure,
Traveller shaft sleeve 12 and lower swing arm 16 are connect with the installation point on hub motor stator respectively, are substituted and are turned in conventional steering system
Xiang Jie.Steering-by-wire motor 1 is connected with worm type of reduction gearing 30,31, and worm gear 30 passes through universal joint 27 and traveller structure
Traveller axis 25 is connected.Traveller axis 25 is cooperated with traveller shaft sleeve 12 using slip rotary liner structure, is realized traveller axis 25 and is slided
Axis of a cylinder sleeve 12 also can be rotated radially together while axially opposed sliding, to turn to motor car wheel 20.
The output end of steering motor 1 is worm screw 31, and worm gear 30 is connect with universal joint 27 by transmission shaft 28 and passes torque
To universal joint 27；Universal joint 27 arrives the torque of traveller axis 25 to transmit worm gear 30 by connecting at the top of flat key and traveller axis 25；
The top of helical spring 7 is supported on connecting plate assembly 2 by helical spring top tray 4, and connecting plate assembly 2 is solid with car body
Surely it connects.There is preceding buffer stopper 5 in helical spring top tray 4, has one between sealing-plug 8 on buffer stopper 5 and traveller shaft sleeve
Dust cover 6；Helical spring 7 is supported on above traveller shaft sleeve 12 by helical spring lower tray 11, helical spring lower tray 11
It is supported on traveller shaft sleeve 12 by the shaft shoulder outside traveller shaft sleeve.
Traveller assembly mechanism is made of traveller axis 25, traveller shaft sleeve 12, limited block 13 and slip rotary liner.Wherein
The top of the slip rotary liner outer cylinder and the traveller shaft sleeve 12 is made of one；Traveller shaft sleeve 12 and traveller axis 25 it
Between have a ball retainer 10, have ball through slot thereon；The ball for having guidance ball to roll on 12 inner wall of traveller shaft sleeve follows
Loop orbit；Traveller axis 25 is provided with ball sliding groove along axial direction, the normal rolling of steel ball when guaranteeing the sliding of traveller axis 25 and rolling；It is logical
Cooperation of the ball 9 in ball sliding groove and ball-recirculation track is crossed as impetus, drive while rotating traveller axis 25
Traveller shaft sleeve 12 rotates together, and passes through ball 9 in traveller axis 25 along axial ball sliding groove and traveller shaft sleeve 12
Ball-recirculation track in rolling, make to realize opposite sliding between traveller axis 25 and traveller shaft sleeve 12, and effectively subtract
The frictional force of few traveller axis 25 and traveller shaft sleeve 12, improves the service life of traveller axis 25 and traveller shaft sleeve 12.Meanwhile institute
25 lower end of traveller axis is stated with sliding limited block 13, limited block 13 is linked together by limited block nut 14 with traveller axis 25,
It avoids being detached from slip rotary liner when 25 stroke of traveller axis is excessive；Wherein the retainer 10 passes through each lock ring up and down
24 connect with traveller shaft sleeve 12, avoid sliding axially for retainer 10；There is spline in 12 lower end outer surface of traveller shaft sleeve, passes through
Spline is connect with the knuckle 15 outside motor casing, and is rotated together.
12 bottom of traveller shaft sleeve is sealing-plug 23, is connect by external screw thread with traveller shaft sleeve 12, for sealing cunning
12 lower part of axis of a cylinder sleeve.One end cap 21 is arranged at 15 lower part of knuckle, passes through the sealing-plug 23 of screw 22 and traveller shaft sleeve lower part
Connection, for limiting the axial movement between traveller shaft sleeve 12 and knuckle 15.12 top of traveller shaft sleeve also has one to lead to
Cross the sealing-plug 8 being threadedly coupled, the sealing for 12 top of traveller axis 25 and traveller shaft sleeve.
Suspension lower swing arm 16 is connect by ball stud 18 with the bulb pin bearing 19 on motor casing, realizes that about 20 wheel is jumped
Rotation dynamic and along stub.
The present invention also provides a kind of automobiles, carry out motor turning using steer by wire apparatus of the present invention.
Embodiment
In conjunction with attached drawing 1~9, the present invention is described in further detail below, to enable those skilled in the art's reference say
Bright book can be implemented accordingly.
As shown in Fig. 1, the steer by wire apparatus that steering mechanism of the present invention and suspension integrate uses MacPherson type
Suspension frame structure, steering-by-wire motor 1 are connected with worm type of reduction gearing 30,31, and worm gear 30 passes through transmission shaft 28 and universal joint
27 connect and torque are transmitted to universal joint 27；Universal joint 27 at the top of flat key and traveller axis 25 by connecting, to transmit worm gear 30
To the torque of traveller axis 25；The top of helical spring 7 is supported on connecting plate assembly 2 by helical spring top tray 4, and is connected
Plate assembly 2 is bolted to connection with car body.There are preceding buffer stopper 5, preceding buffer stopper 5 and cunning in helical spring top tray 4
There is a dust cover 6 on axis of a cylinder sleeve between sealing-plug 8；Helical spring 7 is supported on traveller axis by helical spring lower tray 11
Above sleeve 12, helical spring lower tray 11 is supported on traveller shaft sleeve 12 by the shaft shoulder outside traveller shaft sleeve.Traveller
Assembly mechanism is made of traveller axis 25, traveller shaft sleeve 12 and slip rotary liner；The wherein slip rotary liner outer cylinder
It is made of one with the top of the traveller shaft sleeve 12；There is a ball retainer between traveller shaft sleeve 12 and traveller axis 25
10, there is ball through slot thereon；The cyclic track for thering is guidance ball to roll on 12 inner wall of traveller shaft sleeve；Traveller axis 25 is opened along axial direction
There is ball sliding groove, the normal rolling of steel ball when guaranteeing the sliding of traveller axis 25 and rolling.By ball 9 in ball sliding groove and rolling
Cooperation in pearl cyclic track drives traveller shaft sleeve 12 to rotate together as impetus while rotating traveller axis 25, and
And the rolling by ball 9 in traveller axis 25 in the ball-recirculation track of axial ball sliding groove and traveller shaft sleeve 12,
Make to realize opposite sliding between traveller axis 25 and traveller shaft sleeve 12, and effectively reduces traveller axis 25 and traveller shaft sleeve 12
Frictional force, improve traveller axis 25 and traveller shaft sleeve 12 service life.Meanwhile 25 lower end of traveller axis is with sliding limit
Position block 13, limited block 13 are linked together by limited block nut 14 with traveller axis 25, are taken off when avoiding 25 stroke of traveller axis excessive
From slip rotary liner；Wherein the retainer 10 is connect by each lock ring 24 up and down with traveller shaft sleeve 12, is kept away
Exempt from sliding axially for retainer 10；There is spline in 12 lower end outer surface of traveller shaft sleeve, passes through the steering outside spline and motor casing
15 connection of section, and rotate together.Suspension lower swing arm 16 is connect by ball stud 18 with the bulb pin bearing 19 on motor casing.
If attached drawing 2, Fig. 3 show 25 structure division of traveller axis of the invention, 25 right end of traveller axis is keyway arrangements, with ten thousand
Keyway connection to section 27；Right end has one section of screw thread simultaneously, is the cooperation spiral shell of traveller axis 25 Yu 2 attaching nut of car body connecting assembly
Line, the axial restraint for traveller axis 25 and car body；The shaft shoulder among traveller axis is used for positioning when axial restraint；Shaft shoulder left end
Entire body is provided with ball grooves, and fluting number is identical as the roller slot number in slip rotary liner；Left end is traveller axis limited block spiral shell
Female 14 connection screw threads.
If attached drawing 4, Fig. 5 show 12 structure division of traveller shaft sleeve of the invention, traveller shaft sleeve right end and sliding are revolved
The outer cylinder portion for turning bushing is made of one, and has the lock ring 24 of ball slideway and retainer 10 fluting on inner wall；Traveller axis
The right output port of sleeve 12 is upper 8 connection screw thread of sealing-plug, and first, the right shaft shoulder is the support shaft shoulder of helical spring lower tray 11；
The leftmost shaft shoulder is the support shaft shoulder of traveller shaft sleeve 12 Yu knuckle 15；12 left port of traveller shaft sleeve is also a screw thread
Pore structure is connect by screw thread with the external screw thread under traveller shaft sleeve in sealing 23.The concrete structure diagram of slip rotary liner A is such as
Fig. 6.
As shown in fig. 6, track of the ball in 12 end of traveller shaft sleeve is arc-shaped along the circumferencial direction of sleeve, so that
Ball recycles and does not influence the axial movement of traveller axis in slot.
As attached drawing 6, Fig. 7, Fig. 8 show the structure division of 12 top slip rotary liner of traveller shaft sleeve, sliding rotation
The outer tube structure 12a of bushing device is made of one with traveller shaft sleeve；Ball 9 is rolled along ball grooves；On ball retainer 10
There is ball to keep through slot；Retainer lock ring 24 is used for the axial restraint and locking of retainer 10 and ball 9.Existed by ball 9
Cooperation in ball sliding groove and ball-recirculation track drives traveller shaft sleeve as impetus while rotating traveller axis 25
12 rotate together, and pass through ball-recirculation of the ball 9 in traveller axis 25 along axial ball sliding groove and traveller shaft sleeve 12
Rolling in track makes to realize opposite sliding between traveller axis 25 and traveller shaft sleeve 12, and effectively reduces traveller axis 25
With the frictional force of traveller shaft sleeve 12, the service life of traveller axis 25 and traveller shaft sleeve 12 is improved.
It is as shown in Fig. 9 connecting plate assembly 2 and the section view graph structure of vibration isolation block assembly apparatus 3, the traveller axis spiral shell on top
Mother 26 is used for axial restraint of the traveller axis 25 relative to connecting plate assembly 2, and connecting plate assembly 2 is bolted with car body, every
The block assembly 3 that shakes has a plane bearing, enables traveller axis 25 and traveller axis top tray 4 relative to 3 turns of vibration isolation block assembly
It is dynamic.
Specific working mode
1 pair of course of work of the present invention is described in detail with reference to the accompanying drawing:
As shown in Figure 1, the steer by wire apparatus that steering mechanism of the present invention and suspension integrate is by turning machine on the whole
What structure and suspension were integrated together, and connect by the knuckle 15 of deformation with wheel 20.After steering motor 1 rotates, pass through snail
Bar 31 drives worm gear 30 to rotate, and worm gear 30 drives universal joint 27 to rotate by transmission shaft 28, and universal joint 27 is driven by flat key and slided
Axis of a cylinder 25 rotates, and traveller axis 25 drives traveller shaft sleeve 12 to rotate by slip rotary liner, and traveller shaft sleeve 12 passes through under it
The external splines in portion is connected with knuckle 15, and torque is transmitted to knuckle arm, so that wheel 20 be driven to rotate.When about 20 wheel is jumped
When dynamic, the rotation relative to lower swing arm 16 is may be implemented by ball stud 18 in wheel 20；It is jumped on wheel 20, helical spring 7 compresses,
Traveller axis 25 is with respect to 12 slide downward of traveller shaft sleeve, on the contrary then upward sliding.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865500.5A CN107640211B (en) | 2017-09-22 | 2017-09-22 | Steering-by-wire device with integrated steering mechanism and suspension and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865500.5A CN107640211B (en) | 2017-09-22 | 2017-09-22 | Steering-by-wire device with integrated steering mechanism and suspension and automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107640211A CN107640211A (en) | 2018-01-30 |
| CN107640211B true CN107640211B (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710865500.5A Expired - Fee Related CN107640211B (en) | 2017-09-22 | 2017-09-22 | Steering-by-wire device with integrated steering mechanism and suspension and automobile |
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| Country | Link |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114621A (en) * | 2018-10-30 | 2020-05-08 | 舍弗勒技术股份两合公司 | Steering system for hub-driven vehicle and hub-driven vehicle |
| CN110481632B (en) * | 2019-07-06 | 2020-07-17 | 清华大学 | Drive-by-wire independent steering actuating mechanism based on multiphase motor drive |
| CN110466302B (en) * | 2019-07-08 | 2022-11-18 | 江苏大学 | A heavy-duty vehicle linear rotary motor type steering feed energy suspension |
| CN111483280B (en) * | 2020-06-28 | 2020-10-23 | 之江实验室 | Suspension-steering combined mechanism suitable for wall-climbing robot |
| CN112896300B (en) * | 2021-03-16 | 2022-06-03 | 东风汽车集团股份有限公司 | Steering force adjusting mechanism, automobile and steering force adjusting method |
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| CN205075885U (en) * | 2015-09-29 | 2016-03-09 | 吉林大学 | Independent a steering system actuating mechanism of distributing type |
| CN205769545U (en) * | 2016-04-29 | 2016-12-07 | 深圳大学 | A kind of wheel hub electric automobile rear suspension independence and zero turn radius device |
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| DE102006035863A1 (en) * | 2006-08-01 | 2008-02-07 | Linde Material Handling Gmbh | Electrical steer-by-wire steering system for e.g. fork-lift truck, has electronic control device designed such that position of steering transmitter in operating mode provides desired value for steering position of guided wheel |
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrated wheel assembly with independent drive, steering, suspension and braking |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107640211A (en) | 2018-01-30 |
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