CN107825434B - Be used for intelligent inspection robot of radiation environment spider bionical - Google Patents
Be used for intelligent inspection robot of radiation environment spider bionical Download PDFInfo
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- CN107825434B CN107825434B CN201711039727.0A CN201711039727A CN107825434B CN 107825434 B CN107825434 B CN 107825434B CN 201711039727 A CN201711039727 A CN 201711039727A CN 107825434 B CN107825434 B CN 107825434B
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- detection
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- control platform
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- 238000007689 inspection Methods 0.000 title claims abstract description 34
- 230000005855 radiation Effects 0.000 title claims abstract description 28
- 241000239290 Araneae Species 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 84
- 238000009434 installation Methods 0.000 claims abstract description 13
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 9
- 241000463219 Epitheca Species 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 229910052580 B4C Inorganic materials 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 3
- INAHAJYZKVIDIZ-UHFFFAOYSA-N boron carbide Chemical compound B12B3B4C32B41 INAHAJYZKVIDIZ-UHFFFAOYSA-N 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 208000019155 Radiation injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a spider bionic intelligent inspection robot for a radiation environment, which comprises a power distribution control platform and six walking mechanical legs, wherein a detector is arranged at the upper part of the power distribution control platform, the lower part of the detector is an hollow cylinder, the upper part of the detector is an hollow sphere, a square detection seat is arranged in the detector through a bracket, swing installation seats are arranged on four sides of the detection seat, a swing motor and a detection swing shaft are arranged on the swing installation seat, the detection swing shaft is fixedly connected with a swing seat in a radial direction, the swing seat is connected with an image pickup installation rod, the end part of the image pickup installation rod is embedded with a first camera, and two groups of first image pickup holes matched with the first camera are formed in the sphere wall of the detector sphere.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a spider bionic intelligent inspection robot for a radiation environment.
Background
With the progress of science and technology, robots are also developed widely and rapidly, and the robots are applied more and more widely and can be used in various working environments which are not suitable for human beings.
In the environment of nuclear radiation, have very big harm to the human body, even wear several layers of protective clothing, still can cause great radiation injury to the human body, consequently need use to patrol and examine the robot, current inspection robot is mostly simple in structure, set up on conventional robot and can rotate the camera and carry out cruising detection, conventional robot is two mechanical legs mostly, appears unstable phenomenon easily, and under radiation environment, robot and camera can receive great damage, need frequently change.
Disclosure of Invention
The invention aims to provide the bionic intelligent inspection robot for the spider in the radiation environment, which is designed to be similar to a six-leg robot of the spider, ensures the stable inspection process, ensures that the camera is positioned in a cavity when the camera is in a non-working state through the design of the internal structure of the detector, avoids long-time direct radiation damage, and greatly ensures the service life of the camera.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a be used for radiating environment spider bionical intelligent inspection robot, it includes distribution control platform and six walking mechanical legs of being connected around its periphery, the lower part of walking mechanical leg be provided with the mechanical leg piece that the lower surface is dull and stereotyped, distribution control platform's upper portion be provided with the detector, the detector lower part be hollow cylinder, upper portion be hollow spheroid, and be provided with square detection seat in the detector through the support, four sides of detection seat be provided with the swing mount pad, the swing mount pad on be provided with mutually supporting swing motor and detection oscillating axle, the detection oscillating axle on link firmly cup joint the swing seat of radial trend, the swing seat be connected with the installation pole of making a video recording, the tip embedding of installation pole of making a video recording have first camera, detector spheroid part spherical wall on set up two sets of about the symmetry of spheroid plane and with first camera complex first camera hole, walking mechanical leg, swing motor and first camera be connected to the controller in the distribution control platform, and the controller has the remote controller through the cooperation of signal transmitter.
Further, the outside of the camera shooting installation rod is sleeved with a camera shooting Kong Lanjie swing arc block with the radian consistent with that of the sphere and matched with the upper and lower first camera shooting holes, and the camera shooting Kong Lanjie swing arc block is connected with the swing seat through a swing arc block supporting rod.
Further, the detector include the detection inferior valve and detect the epitheca that connect through upper and lower shell connecting pin interference plug bush, the outside of detecting the inferior valve insert and have humidity detector, the outside of detecting the epitheca insert and have radiation detector, humidity detector and radiation detector be connected to the controller in the distribution control platform.
Further, the power distribution control platform on be provided with and detect and rotate the motor, the output shaft that detects and rotate the motor up and be connected with vertical detection pivot through detecting the shaft coupling, detect the swivel mount cup joint in detecting the pivot, and four swing seats are 90 degrees with the phase difference that the detection pivot was the center, the detection rotate the motor and be connected to the controller in the power distribution control platform.
Further, the same horizontal plane of detector cylinder part set up two phase difference and be 180 degrees temperature detection holes, the detection shaft coupling on be provided with the radial temperature detection movable cylinder who trend of level, temperature detection movable cylinder be connected with temperature detection hole complex temperature detector, and two temperature detector and two swing seat phases wherein the same, temperature detection movable cylinder and temperature detector be connected to the controller in the distribution control platform.
Further, the mechanical leg support piece include the support piece main part and the support piece hypoplastron of equipment cavity, support piece main part in be provided with the second and make a video recording, support piece hypoplastron on be provided with second camera complex second hole of making a video recording, the second camera be connected to the controller in the distribution control platform.
Further, the upper part of the support lower plate is also provided with a transparent plate.
Further, the outside of a supporting block main body is provided with a positioning transmitter and a positioning receiver, the positioning receiver is matched with the positioning transmitter on the adjacent mechanical leg supporting block, and the positioning transmitter and the positioning receiver are connected to a controller in a power distribution control platform.
Further, the outer surfaces of the detector, the walking mechanical leg, the mechanical leg support block and the power distribution control platform are coated with boron carbide radiation-proof paint.
The beneficial effects of the invention are as follows:
1. The six-leg robot similar to a spider is designed, so that the stability of the inspection process is ensured, the first camera is positioned in the cavity when the first camera is in a non-working state through the design of the internal structure of the detector, the long-time direct radiation damage is avoided, and the service life of the camera is greatly ensured; meanwhile, automatic inspection and remote control inspection can be realized.
2. The first camera Kong Lanjie swing arc block can be in to block up first shooting hole when first camera is not working, can further protect non-working state's first camera, increase of service life.
3. The design of the humidity detector and the radiation detector and the installation position thereof can more comprehensively monitor the radiation area, and meanwhile, the radiation received by the humidity detector is weakened to a certain extent due to the installation position.
4. The design of detecting the rotating motor can enable the positions of the four first shooting detectors to be interchanged, and then the omnibearing shooting inspection work can be still realized when one or more first shooting detectors are damaged.
5. The temperature detector is ingenious in installation, can avoid the influence of radiation in the non-working state, and increase of service life can be realized in the station state, can realize temperature detection's effect, can also carry out position location to first camera simultaneously.
6. The design of the second camera in the mechanical leg supporting block can carry out finer shooting inspection in the walking process, so that the situation that the walking mechanical leg is not stepped on when walking can be ensured while comprehensive detection is realized.
7. The design of transparent plate can play certain guard action to the second camera, prevents that the second camera from receiving the radiation influence, and then prolongs the life-span of second camera.
8. The design of location transmitter and location receiver can confirm each other whether the walking position between each walking mechanical leg is accurate, and then can ensure that the video screen location that the camera shot is more accurate.
9. The boron carbide radiation-proof coating is coated on the outer surface, so that the whole inspection robot has good radiation-proof performance and prolonged service life.
Drawings
Fig. 1 is a schematic structural diagram of a spider bionic intelligent inspection robot for a radiation environment.
Fig. 2 is a schematic diagram of the structure of the detector.
Fig. 3 is a cross-sectional view of A-A in fig. 2.
Fig. 4 is a partial enlarged view of B in fig. 2.
Fig. 5 is a cross-sectional view of C-C of fig. 2.
Fig. 6 is a schematic structural view of a mechanical leg support block.
The text labels shown in the figures are expressed as: 1. a walking mechanical leg; 2. a mechanical leg support block; 3. a power distribution control platform; 4. a detector; 5. detecting the lower shell; 6. detecting an upper shell; 7. an upper and lower case connecting pin; 8. a humidity detector; 9. a radiation detector; 10. detecting a rotating motor; 11. detecting a coupler; 12. detecting a rotating shaft; 13. a detection seat; 14. swinging the mounting seat; 15. a swing motor; 16. detecting a swinging shaft; 17. a swinging seat; 18. a camera mounting rod; 19. shooting Kong Lanjie, namely swinging an arc block; 20. a first camera; 21. a first image pickup hole; 22. a swing arc block support bar; 23. a temperature detection movable cylinder; 24. a temperature detector; 25. a support block main body; 26. a support block lower plate; 27. a transparent plate; 28. a second camera; 29. a second image pickup hole; 30. positioning the emitter; 31. the receiver is located.
Detailed Description
In order that those skilled in the art may better understand the technical solutions of the present invention, the following detailed description of the present invention with reference to the accompanying drawings is provided for exemplary and explanatory purposes only and should not be construed as limiting the scope of the present invention.
As shown in fig. 1 to 6, the specific structure of the present invention is: the utility model provides a be used for radiating environment spider bionical intelligent inspection robot, it includes distribution control platform 3 and six walking mechanical legs 1 that are connected around its periphery, the lower part of walking mechanical leg 1 be provided with the mechanical leg piece 2 that the lower surface is dull and stereotyped, the upper portion of distribution control platform 3 be provided with detector 4, detector 4 lower part be hollow cylinder, upper portion be hollow spheroid, and be provided with square detection seat 13 through the support in the detector 4, the four sides of detection seat 13 be provided with swing mount pad 14, swing mount pad 14 on be provided with swing motor 15 and the detection oscillating axle 16 of mutually supporting, detection oscillating axle 16 on link firmly and cup joint the swing seat 17 of radial trend, swing seat 17 be connected with the installation pole 18 of making a video recording, the tip of installation pole 18 imbed first camera 20, detector 4 spheroid part spherical wall on set up two sets of about sphere horizontal symmetry plane symmetry and with first camera 20 matched with first motor 15, 1 and the swing motor 16 of being provided with the swing motor and the controller 20, the controller is connected with the remote controller is connected to the first camera platform through swing motor 15.
Preferably, the outer part of the camera mounting rod 18 is sleeved with a camera Kong Lanjie swing arc block 19 with the radian consistent with that of the sphere and matched with the upper and lower first camera holes 21, and the camera Kong Lanjie swing arc block 19 is connected with the swing seat 17 through a swing arc block supporting rod 22.
Preferably, the detector 4 comprises a lower detection shell 5 and an upper detection shell 6 which are connected through an upper shell connecting pin 7 and a lower shell connecting pin 7 in an interference inserting mode, a humidity detector 8 is embedded in the outer side of the lower detection shell 5, a radiation detector 9 is embedded in the outer side of the upper detection shell 6, and the humidity detector 8 and the radiation detector 9 are connected to a controller in the power distribution control platform 3.
Preferably, the power distribution control platform 3 on be provided with and detect rotation motor 10, the output shaft that detects rotation motor 10 up and be connected with vertical detection pivot 12 through detecting shaft coupling 11, detection swivel mount 13 cup joint on detecting pivot 12, and four swing seats 17 are 90 degrees with the phase difference that detects pivot 12 as the center, detection rotation motor 10 be connected to the controller in the power distribution control platform 3.
Preferably, two temperature detection holes with 180-degree phase difference are formed in the same horizontal plane of the cylindrical part of the detector 4, a horizontal radial temperature detection movable cylinder 23 is arranged on the detection coupler 11, the temperature detection movable cylinder 23 is connected with a temperature detector 24 matched with the temperature detection holes, the two temperature detectors 24 and two swinging seats 17 in the two temperature detection movable cylinders have the same phase, and the temperature detection movable cylinder 23 and the temperature detector 24 are connected to a controller in the power distribution control platform 3.
Preferably, the mechanical leg supporting block 2 comprises a supporting block main body 25 and a supporting block lower plate 26, wherein the supporting block main body 25 is internally provided with a second camera 28, the supporting block lower plate 26 is provided with a second camera hole 29 matched with the second camera 28, and the second camera 28 is connected to a controller in the power distribution control platform 3.
Preferably, a transparent plate 27 is further disposed on the upper portion of the lower plate 26.
Preferably, the outer side of the supporting block main body 25 is provided with a positioning emitter 30 and a positioning receiver 31, and the positioning receiver 31 is matched with the positioning emitter 30 on the adjacent mechanical leg supporting block 2, and the positioning emitter 30 and the positioning receiver 31 are connected to a controller in the power distribution control platform 3.
Preferably, the outer surfaces of the detector, the walking mechanical leg, the mechanical leg support block and the power distribution control platform are coated with boron carbide radiation-proof paint.
When the mechanical leg inspection robot is in particular used, equipment is assembled, an operation program of a matched control platform controller is set according to specific requirements, the mechanical equipment is used for remotely controlling the mechanical leg inspection robot to work in an environment with nuclear radiation, when the mechanical leg inspection robot needs to be in inspection work, the detection rotating motor 10 is used for driving the detection coupler 11 to rotate to a proper position, the temperature detection movable cylinder 23 is used for driving the temperature detector 24 to move, the temperature detector 24 is further enabled to penetrate into a temperature detection hole formed in the detection lower shell 5, the swinging motor 15 is used for driving the swinging seat 17 to swing up and down according to detection requirements, the first camera 20 is further enabled to be matched with the first camera hole 21, scanning detection of the first camera 20 is formed, the mechanical leg inspection robot is controlled to walk in the process, the second camera 28 can detect a local area where the mechanical leg inspection robot 1 walks, and the positioning transmitter 30 and the positioning receiver 31 on each mechanical leg support block 2 are matched with each other, whether the mechanical leg support block 2 moves according to a set track or not is determined, the mechanical leg inspection robot is enabled to realize full-position detection, the mechanical leg inspection robot is enabled to be in the full-position detection robot, and the temperature and the full-position detection robot is enabled to be full-position-of the mechanical leg inspection robot, and the mechanical leg inspection robot is full-of the full-position detection robot is enabled to be full-time, and the temperature detection of the mechanical leg inspection robot is full-of the temperature detection robot is enabled to be full-down, and the temperature detection of the mechanical leg inspection robot is full-of the mechanical leg inspection robot is detected, and the temperature detection device is full-down, and the temperature detection position detection device is full-down, and the temperature detection device is full-time, and the temperature detection device is full-detection, and the temperature detection device is.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. The foregoing is merely illustrative of the preferred embodiments of this invention, and it is noted that there is objectively no limit to the specific structure disclosed herein, since numerous modifications, adaptations and variations can be made by those skilled in the art without departing from the principles of the invention, and the above-described features can be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present invention.
Claims (5)
1. The bionic intelligent inspection robot for the radiation environment spider is characterized by comprising a power distribution control platform (3) and six walking mechanical legs (1) connected with the periphery of the power distribution control platform, wherein a mechanical leg supporting block (2) with a flat lower surface is arranged at the lower part of the walking mechanical legs (1), a detector (4) is arranged at the upper part of the power distribution control platform (3), the lower part of the detector (4) is an hollow cylinder, a sphere with an hollow upper part is arranged in the detector (4), a square detection seat (13) is arranged in the detector (4) through a bracket, a swinging mounting seat (14) is arranged at the four sides of the detection seat (13), a swinging motor (15) and a detection swinging shaft (16) which are matched with each other are arranged on the swinging mounting seat (14), a swinging seat (17) with a radial trend is fixedly sleeved on the detection swinging shaft (16), an electric control mounting rod (18) is connected with the swinging seat (17), a first detector (20) is embedded at the end part of the shooting mounting rod (18), the spherical body (4) is provided with a symmetrical camera shooting controller (20) on the spherical body (4), and the first camera shooting seat (20) is matched with the first camera shooting platform (20) in a group (1) and the horizontal camera shooting platform (20) through the four sides, and the controller has the remote controller through signal transmitter cooperation, the outside of camera installation pole (18) cup jointed radian unanimous and with spheroid radian and with two first camera holes (21) complex make a video recording Kong Lanjie swing arc piece (19) about, make a video recording Kong Lanjie swing arc piece (19) be connected with swing seat (17) through swing arc piece bracing piece (22), detector (4) including detection inferior valve (5) and detection epitheca (6) that are connected through upper and lower shell connecting pin (7) interference plug bush, the outside of detection inferior valve (5) imbed humidity detector (8), the outside of detection epitheca (6) imbed radiation detector (9), humidity detector (8) and radiation detector (9) be connected to the controller in joining in marriage electric control platform (3), electric control platform (3) on be provided with detection rotation motor (10), detection rotation motor (10) output shaft up and be connected with vertical detection epitheca (12) through detection coupling (11), detection epitheca (12) and detection epitheca (12) are the pivot (12) in the center of joining in marriage electric control platform (3), detection pivot (12) and detection platform (12) are the pivot (12) and are the pivot of joining in one's.
2. The bionic intelligent inspection robot for the radiation environment spider according to claim 1, wherein two temperature detection holes with the phase difference of 180 degrees are formed in the same horizontal plane of the cylindrical part of the detector (4), a temperature detection movable cylinder (23) with the horizontal radial trend is arranged on the detection coupler (11), the temperature detection movable cylinder (23) is connected with a temperature detector (24) matched with the temperature detection holes, the two temperature detectors (24) are identical in phase with two swinging seats (17) in the two temperature detectors, and the temperature detection movable cylinder (23) and the temperature detector (24) are connected to a controller in the power distribution control platform (3).
3. The bionic intelligent inspection robot for the radiation environment spider according to claim 1, wherein the mechanical leg support block (2) comprises a support block main body (25) for assembling a cavity and a support block lower plate (26), a second camera (28) is arranged in the support block main body (25), a second camera hole (29) matched with the second camera (28) is formed in the support block lower plate (26), and the second camera (28) is connected to a controller in the power distribution control platform (3).
4. A bionic intelligent inspection robot for a spider in a radiation environment according to claim 3, wherein a transparent plate (27) is further arranged on the upper part of the lower plate (26).
5. A bionic intelligent inspection robot for a spider in a radiation environment according to claim 3, wherein a positioning emitter (30) and a positioning receiver (31) are arranged on the outer side of the support block main body (25), the positioning receiver (31) is matched with the positioning emitter (30) on the support block (2) of the adjacent mechanical leg, and the positioning emitter (30) and the positioning receiver (31) are connected to a controller in the power distribution control platform (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711039727.0A CN107825434B (en) | 2017-10-30 | 2017-10-30 | Be used for intelligent inspection robot of radiation environment spider bionical |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711039727.0A CN107825434B (en) | 2017-10-30 | 2017-10-30 | Be used for intelligent inspection robot of radiation environment spider bionical |
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| Publication Number | Publication Date |
|---|---|
| CN107825434A CN107825434A (en) | 2018-03-23 |
| CN107825434B true CN107825434B (en) | 2024-06-04 |
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| CN201711039727.0A Active CN107825434B (en) | 2017-10-30 | 2017-10-30 | Be used for intelligent inspection robot of radiation environment spider bionical |
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| CN207788966U (en) * | 2017-10-30 | 2018-08-31 | 孙伯言 | One kind being used for radiation environment spider bionic intelligence crusing robot |
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| TWI412467B (en) * | 2011-04-11 | 2013-10-21 | Univ Nat Kaohsiung Applied Sci | Hexapod robot device |
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| KR100873723B1 (en) * | 2007-07-25 | 2008-12-12 | 인하대학교 산학협력단 | Moving robot having multiple legs |
| KR20110083258A (en) * | 2010-01-14 | 2011-07-20 | 서울과학기술대학교 산학협력단 | Walking robot for reconnaissance and acting method of the same |
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| Publication number | Publication date |
|---|---|
| CN107825434A (en) | 2018-03-23 |
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