CN107894791A - A kind of agitating friction weldering head torque control device become based on electric current and control method - Google Patents
A kind of agitating friction weldering head torque control device become based on electric current and control method Download PDFInfo
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- CN107894791A CN107894791A CN201711187484.5A CN201711187484A CN107894791A CN 107894791 A CN107894791 A CN 107894791A CN 201711187484 A CN201711187484 A CN 201711187484A CN 107894791 A CN107894791 A CN 107894791A
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- China
- Prior art keywords
- electric current
- control device
- agitating friction
- output shaft
- friction weldering
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The invention discloses a kind of agitating friction weldering head torque control device become based on electric current, including：Gear, it is coaxially fixed on output shaft top；ER fluid chamber, it is ring-shaped cylinder cavity and coaxial with output shaft, and cavity inside is full of ER fluid；The outer gear rim is stretched into the ER fluid chamber by the opening of the ER fluid chamber；The upper limb and lower edge of opening are born against in the upper and lower surface of gear；Isolation cover, it is the ring-shaped cylinder case to match with ER fluid chamber, and isolation cover is close to the setting of ER fluid cavity wall；Positive pole cover, it is the ring-shaped cylinder case that inner ring opens, and the outer wall of positive pole cover is born against on the upside of isolation cover, downside and outside inwall；Wherein, positive pole cover and output shaft connection corresponding with the output end positive and negative electrode of adjustable DC power supply respectively.The agitating friction weldering head torque control device provided by the invention become based on electric current can accurately control the output torque of friction welding (FW) head, improve welding quality.
Description
Technical field
The invention belongs to the technical field of welding equipment of metal material, more particularly to a kind of agitating friction become based on electric current
Welding head torque control device and its control method.
Background technology
Agitating friction weldering (FSW) is a kind of in mechanical force and the solid phase connecting method to rub under heat effect, its Fundamentals of Welding
Fricting shearing resistance between stirring-head and soldered material produces frictional heat, makes adjacent domain material thermoplastification, mixed
Atoms permeating realizes the solid diffusivity less than fusing point in journey, is widely used to Aero-Space, trolley coach, auto industry at present
Deng material connection area.As shown in figure 3, the change and temperature, the change of material strain speed during FSW due to welding condition are led
The material drag change of cause, prove that above-mentioned factor can cause head output torque T values to produce big model by the real-time detection of moment of torsion
Uncertain, irregular change is enclosed, and then influences frictional heat amount and is stirred power, welding quality is difficult to influence while control
The uniformity of welding line joint, and weld the whole story and keep the moment of torsion of preset value to help to obtain the uniform weld seam of uniform quality.Therefore,
The output valve of adjustment moment of torsion in good time is needed to be allowed to meet preset value, traditional control mode has mechanical, machine-liquid formula etc., speed change
Apparatus structure is complicated, and speed governing response time lag is big, and control accuracy is low.
ER fluid is typically the insulating oil that low-k is dispersed in by the solia particle with high-k
A kind of suspension of middle composition, the physical conversion of liquid-solid phase can instantaneously occurs in it in the presence of electric field, and it is embodied in：
When electric field strength is less than certain critical value, ER fluid is in a liquid state；Transfer when electric-field intensity is higher than the critical value in solid
State；In the critical value near zone, the viscosity of ER fluid becomes big with the increase of electric-field intensity.If it can be utilized
The characteristic of viscosity changes steplessly under electric field action, a kind of agitating friction weldering head torque output control device can be developed, i.e.,
Realize the instantaneous stepless speed regulation of high sensitivity.
The content of the invention
It is an object of the invention to provide a kind of agitating friction weldering head torque control device become based on electric current, it can be real
The instantaneous stepless speed regulation of existing high sensitivity, overcome traditional agitating friction weldering head torque control device speed governing response time lag big
Defect.
It is a further object to provide a kind of agitating friction weldering head torque control device become based on electric current
Control method, it adjusts electric-field intensity size in the same direction in real time using PID controller, realizes electricity-liquid-machine closed loop feedback of moment of torsion
Control, it is possible to increase the control accuracy of agitating friction weldering head moment of torsion.
Technical scheme provided by the invention is：
A kind of agitating friction weldering head torque control device become based on electric current, including：
Output shaft, its upper end connection motor, lower end connection stirring-head；
Gear, it is coaxially fixed on the output shaft top；
ER fluid chamber, it is ring-shaped cylinder cavity and coaxial with the output shaft, and cavity inside is full of ER fluid；Institute
Outer gear rim is stated to stretch into the ER fluid chamber by the opening of the ER fluid chamber；The upper limb of the opening and lower fate
It is not resisted against in the upper and lower surface of the gear；
Isolation cover, it is the ring-shaped cylinder case to match with the ER fluid chamber, and the isolation cover is close to the electricity
Rheology sap cavity inwall is set, and plays isolation electric field and sealing function；
Positive pole cover, it is the ring-shaped cylinder case that inner ring opens, and the outer wall of the positive pole cover is born against in the isolation
On the upside of cover, downside and outside inwall；
Wherein, the positive pole cover and output shaft connection corresponding with the output end positive and negative electrode of adjustable DC power supply respectively.
Preferably, the positive pole cover is copper material.
Preferably, the isolation cover be layer structure, and layer is rubber thereon, intermediate course for metal wire knitted into
Wire netting.
Preferably, cod is set between the motor and ER fluid chamber on the output shaft.
Preferably, step rotary body is provided with the output shaft above the stirring-head.
Preferably, in addition to wireless torque sensor, it is set on the output shaft, and is located at the ER fluid
Below chamber.
Preferably, radial axle is set between the rotary body and the wireless torque sensor on the output shaft
Hold.
Preferably, the wireless torque sensor is adopted including load torque sensor, radio receiving transmitting module and AD data
Collect processing module.
Preferably, the agitating friction weldering head torque control device become based on electric current also includes PID controller, its
Input connects the AD digital sampling and processings, and output end is connected with the adjustable DC power supply.
A kind of control method of the agitating friction weldering head torque control device become based on electric current, is comprised the following steps：
Step 1：Load torque sensor gathers load torque signal, and transmits a signal to wireless receiving module, signal
Exported after the processing of AD digital sampling and processings to PID controller；
Step 2：The difference of PID controller computational load torque signal value and current time preset value, and judge difference symbol
It is positive and negative；
Step 3：When difference is timing, increase supply voltage pulse command is sent so as to increase positive pole cover and gear two-plate
Between electric-field intensity, control electric current become fluid viscosity instantaneously improve, so as to reduce the moment of torsion of output；When difference is bears, reduction is sent
So as to reduce electric-field intensity between two-plate, control electric current becomes fluid viscosity and instantaneously reduced supply voltage pulse command, defeated so as to increase
The moment of torsion gone out；
Step 4：According to the actual torque output valve T after adjustment and current time preset value T0Difference；To voltage pulse value
Compensate, penalty coefficient：ξ=0.008n0.582+0.502e0.023T-T0；
Wherein, n is motor speed.
The beneficial effects of the invention are as follows：
(1) the agitating friction weldering head torque control device provided by the invention become based on electric current, using under electric field action
The characteristic of viscosity changes steplessly, the instantaneous stepless speed regulation of high sensitivity can be realized, overcome traditional agitating friction weldering head moment of torsion
The defects of control device speed governing response time lag is big.
(2) control method of the agitating friction weldering head torque control device provided by the invention become based on electric current, is utilized
PID controller adjusts electric-field intensity size in the same direction in real time, realizes electricity-liquid-machine closed loop feedback control of moment of torsion, it is possible to increase stir
Mix the control accuracy of friction welding (FW) head moment of torsion.
(3) control method of the agitating friction weldering head torque control device provided by the invention become based on electric current, can
Control mode output is loaded according to current time, makes to be constantly in default state of value in moment of torsion welding process, so as to obtain quality
Consistent uniform weld seam, ensures welding quality.
Brief description of the drawings
Fig. 1 is the general structure signal of the agitating friction weldering head torque control device of the present invention become based on electric current
Figure.
Fig. 2 is the control flow chart of the agitating friction weldering head torque control device of the present invention become based on electric current.
Fig. 3 is the moment of torsion real-time change figure of FSW processes of the present invention detection.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in figure 1, the invention provides a kind of agitating friction weldering head torque control device become based on electric current, it is wrapped
Include：Head shell 110；Output shaft 120, it is arranged in head shell 110, and runs through the head shell 110 up and down；Output
The upper end of axle 120 connects motor 130, and lower end is by connecting stirring-head 140；The lower end of output shaft 120 is provided with internal thread, stirring-head
140 are provided with external screw thread, and stirring-head 140 is threadedly attached in the lower end of output shaft 120, and stirring-head 140 follows output shaft 120
Rotation.The output shaft top is fixedly connected with gear 150.ER fluid chamber 160, its for be opened in head shell 110 and with
The coaxial ring-shaped cylinder cavity of the output shaft 120, the enclosed of ER fluid chamber 160 are arranged on the outside of gear 150, electric current
Becoming in the middle part of the inner ring of sap cavity 160 has annular opening, the outer rim of gear 150 is stretched into the ER fluid chamber 160, and soak
In the ER fluid；The upper limb and lower edge of the annular opening are against respectively in the upper and lower surface of the gear 150.Tightly
Paste the inwall of ER fluid chamber 160 and isolation cover 170 be set, layer be rubber thereon, intermediate course for metal wire knitted into gold
Belong to net, the ER fluid is played a part of to seal and completely cut off electric field.Positive pole cover 180, it is the ring-shaped cylinder that inner ring opens
Case, the outer wall of the positive pole cover 180 are born against on the upside of the isolation cover 170, downside and outside inwall, positive pole cover
180 be copper material.Wherein, the output end positive and negative electrode of adjustable DC power supply is connected respectively positive pole cover 180 and output shaft
120；Assemble a large amount of positive charges on positive pole cover 180, inside is full of ER fluid, the output shaft gear with assembling a large amount of negative electrical charges
150 are collectively forming electric field.
The top of output shaft 120 is arranged cod 210 at motor 130, and the cod 210 is located at head shell
Inside 110, and positioned at the top of ER fluid chamber 160, the axial force being subject to for carrying the output shaft 120.Electric current becomes
The bottom of sap cavity 160 is provided with the first support pedestal 220, plays carrying, the first support pedestal 220 to the ER fluid chamber 160
It is connected by screw bolts on the outside of it on corresponding head shell 110.
The lower section of first support pedestal 220 is provided with wireless torque sensor 230, and it is set on the output shaft 120.Wirelessly
The lower section of torque sensor 230 is provided with the second support pedestal 240, for playing supporting role to wireless torque sensor 230, second
Support support 240 is connected by screw bolts on the outside of it on corresponding head shell 110.The wireless torque sensor 230 includes negative
Carry torque sensor, radio receiving transmitting module and AD digital sampling and processings.The agitating friction weldering head become based on electric current
Torque control device also includes PID controller, and its input connects the AD digital sampling and processings, output end with it is described can
Tuning DC power supply is connected, and the VD of the adjustable DC power supply is controlled by PID controller.Load torque sensor and
Wireless transmitter module gathers load torque signal in real time, and transmits a signal to wireless receiving module, and signal passes through described AD
Exported after digital sampling and processing processing to PID controller；PID controller controls the direct current output of the adjustable DC power supply
Voltage, so as to change ER fluid viscosity, suffered reverse viscosity resistance when controlling shaft gear 150 to rotate, and then described in control
The torque of agitating friction weldering head output.
Preferably, step rotary body 250 is provided with the output shaft 120 above the stirring-head 140, in order to
Workpiece, which positions, to be treated to various different models.In the rotary body 250 and the wireless torque sensor on output shaft 120
Journal bearing 260 is set between 230, journal bearing 260 be located at below the second support pedestal 240, for carry output shaft 120 by
The radial load arrived.
As shown in Fig. 2 it is described based on electric current become agitating friction weldering head torque control device operation principle into：
The output end positive and negative electrode of adjustable DC power supply is connected respectively positive pole cover 180 and output shaft 120；Positive pole cover 180
The upper a large amount of positive charges of aggregation, inside are full of ER fluid, and the output shaft gear 150 with assembling a large amount of negative electrical charges is collectively forming electricity
.ER fluid viscosity under certain electric-field intensity has initial value, its viscosity and shear yield stress after electric-field intensity change
Increase with electric-field intensity and increase, reduce with electric-field intensity and reduce, it is suffered anti-when being rotated by changing output shaft gear 150
To viscosity resistance, the torque output of output shaft can be controlled.PID controller input connects the wireless torque sensor
230 AD digital sampling and processings, load torque sensor collection load torque signal, and by load torque signal launch to
Wireless receiving module, load torque signal are exported to PID controller after the processing of AD digital sampling and processings；PID control
The output end of device is connected with the adjustable DC power supply, and the VD of the adjustable DC power supply is by PID controller control
System, the load torque signal value and the difference of current time preset value that PID controller receives, and judge that difference symbol is positive and negative, when
Difference is timing, sends increase supply voltage pulse command so as to increase the electric-field strength between positive pole cover 180 and the two-plate of gear 150
Degree, control electric current becomes fluid viscosity and instantaneously improved, so as to reduce the moment of torsion of the output of the friction welding (FW) head；When difference is bears,
Send and reduce supply voltage pulse command so as to reduce the electric-field intensity between positive pole cover 180 and the two-plate of gear 150, control electric current
Become fluid viscosity instantaneously to reduce, so as to increase the moment of torsion of the output of the friction welding (FW) head.
Present invention also offers a kind of control method of the agitating friction weldering head torque control device become based on electric current, bag
Include following steps：
Step 1：Load torque sensor gathers load torque signal, and transmits a signal to wireless receiving module, signal
Exported after the processing of AD digital sampling and processings to PID controller；
Step 2：The difference of PID controller computational load torque signal value and current time preset value, and judge difference symbol
It is positive and negative；
Step 3：When difference is timing, increase supply voltage pulse command is sent so as to increase positive pole cover and gear two-plate
Between electric-field intensity, control electric current become fluid viscosity instantaneously improve, so as to reduce the moment of torsion of output；When difference is bears, reduction is sent
So as to reduce electric-field intensity between two-plate, control electric current becomes fluid viscosity and instantaneously reduced supply voltage pulse command, defeated so as to increase
The moment of torsion gone out；
Step 4：According to the actual torque output valve T after adjustment and current time preset value T0Difference voltage pulse value is entered
Row compensation, penalty coefficientWherein, n is motor speed.Work as T-T0During ＞ 0,
Voltage pulse value U=(1+ ξ) U0；Work as T-T0During ＜ 0, voltage pulse value U=(1- ξ) U0.Wherein, U0Judge for PID controller defeated
The initial voltage pulse value gone out.
The agitating friction weldering head torque control device provided by the invention become based on electric current, utilizes viscosity under electric field action
The characteristic of consecutive variations, the instantaneous stepless speed regulation of high sensitivity can be realized, overcome traditional agitating friction weldering head moment of torsion control
The defects of device speed governing response time lag is big.
The control method of the agitating friction weldering head torque control device provided by the invention become based on electric current, utilizes PID
Controller adjusts electric-field intensity size in the same direction in real time, realizes electricity-liquid-machine closed loop feedback control of moment of torsion, it is possible to increase stirring
The control accuracy of friction welding (FW) head moment of torsion.Make to be constantly in default state of value in moment of torsion welding process, so as to obtain uniform quality
Uniform weld seam, ensure welding quality.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (10)
- A kind of 1. agitating friction weldering head torque control device become based on electric current, it is characterised in that including：Output shaft, its upper end connection motor, lower end connection stirring-head；Gear, it is coaxially fixed on the output shaft top；ER fluid chamber, it is ring-shaped cylinder cavity and coaxial with the output shaft, and cavity inside is full of ER fluid；The tooth Wheel outer rim is stretched into the ER fluid chamber by the opening of the ER fluid chamber；The upper limb and lower edge of the opening support respectively In the upper and lower surface for leaning against the gear；Isolation cover, it is the ring-shaped cylinder case to match with the ER fluid chamber, and the isolation cover is close to the electric current and become Sap cavity inwall is set, and plays isolation electric field and sealing function；Positive pole cover, it is the ring-shaped cylinder case that inner ring opens, and the outer wall of the positive pole cover is born against in the isolation cover On upside, downside and outside inwall；Wherein, the positive pole cover and output shaft connection corresponding with the output end positive and negative electrode of adjustable DC power supply respectively.
- 2. the agitating friction weldering head torque control device according to claim 1 become based on electric current, it is characterised in that institute It is copper material to state positive pole cover.
- 3. the agitating friction weldering head torque control device according to claim 2 become based on electric current, it is characterised in that institute It is layer structure to state isolation cover, and layer is rubber thereon, intermediate course for metal wire knitted into wire netting.
- 4. the agitating friction weldering head torque control device according to claim 1 become based on electric current, it is characterised in that institute State and cod is set between the motor and ER fluid chamber on output shaft.
- 5. the agitating friction weldering head torque control device according to claim 4 become based on electric current, it is characterised in that institute State and be provided with step rotary body on output shaft above the stirring-head.
- 6. the agitating friction weldering head torque control device according to claim 5 become based on electric current, it is characterised in that also Including wireless torque sensor, it is set on the output shaft, and below the ER fluid chamber.
- 7. the agitating friction weldering head torque control device according to claim 6 become based on electric current, it is characterised in that institute State and journal bearing is set between the rotary body and the wireless torque sensor on output shaft.
- 8. the agitating friction weldering head torque control device become based on electric current according to claim 6 or 7, its feature are existed In the wireless torque sensor includes load torque sensor, radio receiving transmitting module and AD digital sampling and processings.
- 9. the agitating friction weldering head torque control device according to claim 8 become based on electric current, it is characterised in that also Including PID controller, its input connects the AD digital sampling and processings, and output end connects with the adjustable DC power supply Connect.
- 10. it is a kind of based on electric current become agitating friction weldering head torque control device control method, it is characterised in that including with Lower step：Step 1：Load torque sensor gathers load torque signal, and transmits a signal to wireless receiving module, and signal passes through Exported after the processing of AD digital sampling and processings to PID controller；Step 2：The difference of PID controller computational load torque signal value and current time preset value, and judge that difference symbol is positive and negative；Step 3：When difference is timing, it is electric between positive pole cover and gear two-plate so as to increase to send increase supply voltage pulse command Field intensity, control electric current becomes fluid viscosity and instantaneously improved, so as to reduce the moment of torsion of output；When difference is bears, reduction power supply is sent Voltage pulse instruction is so as to reduce electric-field intensity between two-plate, and control electric current becomes fluid viscosity and instantaneously reduced, so as to increase output Moment of torsion；Step 4：According to the actual torque output valve T after adjustment and current time preset value T0Difference, voltage pulse value is mended Repay, penalty coefficient：Wherein, n is motor speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711187484.5A CN107894791B (en) | 2017-11-24 | 2017-11-24 | A kind of friction stir welding machine head torque control device and control method based on electric current change |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711187484.5A CN107894791B (en) | 2017-11-24 | 2017-11-24 | A kind of friction stir welding machine head torque control device and control method based on electric current change |
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| CN107894791B CN107894791B (en) | 2019-05-10 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109365992A (en) * | 2018-12-04 | 2019-02-22 | 上海发那科机器人有限公司 | A kind of robot agitating friction weldering compress control method |
| CN109594456A (en) * | 2019-01-25 | 2019-04-09 | 吉林大学 | Rotary vehicle-mounted road surface flaw detection system frequency test instrument based on ER fluid |
| CN110126281A (en) * | 2019-05-15 | 2019-08-16 | 中南大学 | A kind of backfill formula friction stir spot welding module, device and spot welding method |
| CN111318800A (en) * | 2018-12-17 | 2020-06-23 | 中国科学院沈阳自动化研究所 | Main machine head structure for friction stir welding in water |
| CN111503238A (en) * | 2020-04-13 | 2020-08-07 | 福州市长乐区白英设计有限公司 | Transmission device based on ER fluid |
| CN111779775A (en) * | 2020-07-20 | 2020-10-16 | 方士平 | High-efficient gear engagement transmission scram device |
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| CN107363393A (en) * | 2017-08-15 | 2017-11-21 | 广东省焊接技术研究所（广东省中乌研究院） | A kind of compact spline friction stir spot welding servicing unit |
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| EP0063853B1 (en) * | 1981-01-21 | 1986-03-12 | Matsushita Electric Industrial Co., Ltd. | Ink jet printing head utilizing pressure and potential gradients |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365992A (en) * | 2018-12-04 | 2019-02-22 | 上海发那科机器人有限公司 | A kind of robot agitating friction weldering compress control method |
| CN111318800A (en) * | 2018-12-17 | 2020-06-23 | 中国科学院沈阳自动化研究所 | Main machine head structure for friction stir welding in water |
| CN109594456A (en) * | 2019-01-25 | 2019-04-09 | 吉林大学 | Rotary vehicle-mounted road surface flaw detection system frequency test instrument based on ER fluid |
| CN110126281A (en) * | 2019-05-15 | 2019-08-16 | 中南大学 | A kind of backfill formula friction stir spot welding module, device and spot welding method |
| CN110126281B (en) * | 2019-05-15 | 2021-04-20 | 中南大学 | Backfill type friction stir spot welding module, device and spot welding method |
| CN111503238A (en) * | 2020-04-13 | 2020-08-07 | 福州市长乐区白英设计有限公司 | Transmission device based on ER fluid |
| CN111779775A (en) * | 2020-07-20 | 2020-10-16 | 方士平 | High-efficient gear engagement transmission scram device |
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| CN107894791B (en) | 2019-05-10 |
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