CN108039681B - Four-mechanical-arm climbing type line patrol robot mechanical structure and obstacle crossing method thereof - Google Patents
Four-mechanical-arm climbing type line patrol robot mechanical structure and obstacle crossing method thereof Download PDFInfo
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- CN108039681B CN108039681B CN201711294554.7A CN201711294554A CN108039681B CN 108039681 B CN108039681 B CN 108039681B CN 201711294554 A CN201711294554 A CN 201711294554A CN 108039681 B CN108039681 B CN 108039681B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a four-mechanical-arm climbing type line patrol robot mechanical structure and an obstacle crossing method thereof, and belongs to the technical field of robots. The four-mechanical-arm climbing type line patrol robot mechanical structure comprises a rack, wherein a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which can be bent and stretched back and forth along the walking direction of the rack are respectively arranged at four corners of the rack; and the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively provided with a first mechanical hand, a second mechanical hand, a third mechanical hand and a fourth mechanical hand which are used for gripping the circuit from the lower part. Compared with the prior art, the invention has the advantages of reducing labor intensity and operation cost and being capable of crossing over the barrier.
Description
The application is divided into cases, and the application date of the original application is as follows: 2016.05.12, application number: 2016103196465, title of the invention: a four-mechanical-arm climbing type line patrol robot mechanical structure and an obstacle crossing method thereof.
Technical Field
The invention relates to the technical field of robots, in particular to a four-mechanical-arm climbing type line patrol robot mechanical structure and an obstacle crossing method thereof.
Background
The use of high and extra high voltage overhead power lines is the primary means of long distance power transmission and distribution. The power line and the pole tower accessories are exposed outdoors for a long time, damages such as strand breakage, abrasion, corrosion and the like are easily generated due to the influence of continuous mechanical tension, electric flashover and material aging, if the damages are not repaired and replaced in time, the original tiny damages and defects can be enlarged, and finally serious accidents are caused, so that large-area power failure and huge economic loss are caused. The current methods for inspecting and maintaining the transmission conductor mainly comprise two methods, namely a ground visual method and a navigation method. The visual inspection method adopts manual inspection, and the method has the disadvantages of high labor intensity, low working efficiency and detection precision, poor reliability and inspection blind area; the method for aerial survey adopts helicopter line patrol, which has higher detection efficiency and precision, but is restricted by some environmental factors, and meanwhile, the technical difficulty of the line patrol is high, and the operation cost is higher. The development of the line patrol robot technology provides a new technical means for the inspection work of the high-voltage transmission line.
The technical research and development of the existing inspection robot have achieved certain corresponding achievements, but obstacles or drainage wires existing on the power transmission line cannot cross over, and continuous inspection of the ultrahigh-voltage power transmission line cannot be achieved. Therefore, it is necessary to provide a mechanical structure of a line patrol robot which can reduce labor intensity and running cost and can cross an obstacle or a drainage line.
Disclosure of Invention
The invention aims to provide a four-mechanical-arm climbing type line patrol robot mechanical structure which can reduce labor intensity and operation cost and can cross over obstacles or drainage lines and an obstacle crossing method thereof.
In order to solve the technical problems, the invention provides the following technical scheme:
on the one hand, provide a four arm climbing formula inspection robot mechanical structure, including the frame, wherein:
four corners of the rack are respectively provided with a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which can be bent and extended back and forth along the walking direction of the rack;
and the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively provided with a first mechanical hand, a second mechanical hand, a third mechanical hand and a fourth mechanical hand which are used for gripping the circuit from the lower part.
On the other hand, the obstacle crossing method for the mechanical structure of the four-mechanical-arm climbing type line patrol robot is provided, and comprises the following steps:
step 1: when the robot does not encounter an obstacle, the first mechanical arm and the fourth mechanical arm respectively bend and extend to enable the first mechanical arm and the fourth mechanical arm to be located in the middle of the rack and to grasp a line, and the second mechanical arm and the third mechanical arm respectively bend and extend to enable the second mechanical arm and the third mechanical arm to be located in front of and behind the rack and to grasp the line;
step 2: the first mechanical arm and the third mechanical arm are respectively and simultaneously opened and separated from the circuit under the action of the first mechanical arm and the third mechanical arm, at the moment, the rack is fixed, the first mechanical arm bends and extends to enable the first mechanical arm to be positioned in front of the rack and to re-grip the circuit, and the third mechanical arm bends and extends to enable the third mechanical arm to be positioned in the middle of the rack and to re-grip the circuit;
and step 3: the second mechanical arm and the fourth mechanical arm are respectively and simultaneously opened and separated from a line under the action of the second mechanical arm and the fourth mechanical arm and drive the rack to move forwards, at the moment, the first mechanical arm and the fourth mechanical arm are respectively positioned in the middle of the rack under the bending and stretching action of the first mechanical arm and the fourth mechanical arm, and the second mechanical arm and the third mechanical arm respectively bend and stretch to enable the second mechanical arm and the third mechanical arm to be positioned in front of and behind the rack;
and 4, step 4: and the second mechanical arm and the fourth mechanical arm respectively hold the circuit under the action of the second mechanical arm and the fourth mechanical arm, then the step 1 is carried out, and when encountering an obstacle, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm avoid the obstacle to move forward.
In another aspect, there is provided another obstacle crossing method for a mechanical structure of a four-robot-arm climbing line patrol robot, including:
step 1: when the robot does not encounter an obstacle, the first mechanical arm and the fourth mechanical arm respectively bend and extend to enable the first mechanical arm and the fourth mechanical arm to be located in the middle of the rack and to grasp a line, and the second mechanical arm and the third mechanical arm respectively bend and extend to enable the second mechanical arm and the third mechanical arm to be located in front of and behind the rack and to grasp the line;
step 2: the first manipulator is opened and separated from the line under the action of the first mechanical arm, at the moment, the rack is fixed, and the first mechanical arm bends and extends to enable the first manipulator to be positioned in front of the rack and to grasp the line again;
and step 3: after the third mechanical arm is opened and separated from the circuit, the third mechanical arm is positioned in the middle of the rack under the bending and stretching action of the third mechanical arm and grasps the circuit again, then the fourth mechanical arm is opened and separated from the circuit under the action of the fourth mechanical arm and drives the rack to move forward, at the moment, the first mechanical arm and the fourth mechanical arm are positioned in the middle of the rack under the bending and stretching action of the first mechanical arm and the fourth mechanical arm respectively, and the third mechanical arm is bent and stretched to enable the third mechanical arm to be positioned behind the rack;
and 4, step 4: and (3) after the second mechanical arm is opened and separated from the line, the second mechanical arm is positioned in front of the rack under the bending and stretching action of the second mechanical arm and grips the line again, then the step (1) is carried out, and when an obstacle is met, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are kept away from the obstacle to move forward.
The invention has the following beneficial effects:
the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm in the invention are all bendable structures, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm can respectively open and separate lines under the action of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm, when an obstacle is met, the first mechanical arm and the third mechanical arm on the diagonal line respectively open and separate the lines, the first mechanical arm bends and extends to enable the first mechanical arm in the middle of the rack to move to the front of the rack and then grasp the lines from the lower part, the third mechanical arm bends and extends to enable the third mechanical arm in the rear of the rack to move to the middle of the rack and then grasp the lines from the lower part again, and then the second mechanical arm and the fourth mechanical arm respectively open, separate the lines and drive the rack simultaneously under the action of the second mechanical arm and the fourth mechanical arm, thus realizing obstacle crossing.
Compared with the prior art, the invention has the advantages of reducing labor intensity and operation cost and being capable of crossing over obstacles or drainage wires.
Drawings
FIG. 1 is a schematic structural diagram of a mechanical structure of a four-arm climbing type line patrol robot according to the present invention;
fig. 2-10 are schematic diagrams showing states corresponding to steps of the obstacle crossing method for the mechanical structure of the four-mechanical-arm climbing type line patrol robot.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
In one aspect, the present invention provides a four-mechanical arm climbing type line patrol robot mechanical structure, as shown in fig. 1, including a frame 1, wherein:
four corners of the rack 1 are respectively provided with a first mechanical arm 14, a second mechanical arm 11, a third mechanical arm 2 and a fourth mechanical arm 15 which can bend and extend back and forth along the walking direction of the rack 1;
the first robot arm 14, the second robot arm 11, the third robot arm 2, and the fourth robot arm 15 are provided with a first robot hand 7, a second robot hand 8, a third robot hand 3, and a fourth robot hand 6, respectively, for gripping a line from below.
According to the four-mechanical-arm climbing type line patrol robot mechanical structure, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are all bendable and stretchable structures, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm can be respectively opened and separated from a line under the action of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm, and can respectively move through bending and stretching of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm, so that obstacles can be crossed. Compared with the prior art, the invention has the advantages of reducing labor intensity and operation cost and being capable of crossing over obstacles or drainage wires.
Preferably, the first mechanical arm 14, the second mechanical arm 11, the third mechanical arm 2 and the fourth mechanical arm 15 respectively comprise a first link 12, a second link 10 and a third link 9 which are hinged in sequence. The design can enable the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm to realize bending and stretching movement, so that the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are driven to move, and the walking speed of the inspection robot is improved. In addition to the embodiments given above, various other ways known to those skilled in the art may be used, and will not be described here.
Further, the first manipulator 7, the second manipulator 8, the third manipulator 3 and the fourth manipulator 6 each include a pair of openable and closable manipulator fingers 5, and the manipulator fingers 5 are L-hook-shaped structures. The structure design enables the actions of the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm to be more precise, and improves the accuracy of holding and grabbing.
Further, a mechanical wrist 4 for hinging the mechanical finger 5 is arranged on the third connecting rod 9. The design structure is simple, and the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm can respectively hold a single wire from the lower part.
As a further modification of the present invention, the hinge shafts 13 between the frame 1 and the first link 12, between the first link 12 and the second link 10, between the second link 10 and the third link 9, and between the robot finger 5 and the robot wrist 4 are all driven by motors. The structural design can ensure that the inspection robot is not easy to collide with a lead when walking, and the flexibility and the safety of the inspection robot when walking are improved.
In addition, as shown in fig. 1, the third connecting rod 9 in the invention can be in an L-shaped structure, and the frame 1 can be provided with a groove, so that the design structure is simple, the weight can be reduced, and the safety of the line patrol robot can be improved.
It should be noted that the mechanical structure of the inspection robot of the present invention only describes the mechanical structure of the robot body, and does not relate to the design of other auxiliary devices (such as a camera for walking observation, a manipulator for garbage removal, etc.). In addition, in the aspect of a control system, the invention can adopt two modes of a ground remote control platform or the intelligent control of the robot.
The four-mechanical-arm climbing type line patrol robot mechanical structure can have multiple action methods when crossing obstacles, has at least the following two types with better effect and more convenient control, and is respectively described in detail below.
As shown in fig. 1 to 4, in order to draw a graph conveniently, a first obstacle crossing method draws a power transmission line as a square, actually as a circular cross section, and includes:
step 1: as shown in fig. 1, when no obstacle is encountered, the first robot 14 and the fourth robot 15 respectively bend and extend to enable the first manipulator 7 and the fourth manipulator 6 to be located in the middle of the rack 1 and to grasp the line, and the second robot 11 and the third robot 2 respectively bend and extend to enable the second manipulator 8 and the third manipulator 3 to be located in front of and behind the rack 1 and to grasp the line;
step 2: the first mechanical arm 7 and the third mechanical arm 3 are simultaneously opened and separated from the circuit under the action of the first mechanical arm 14 and the third mechanical arm 2 respectively, at the moment, the rack 1 is fixed, the first mechanical arm 14 bends and extends to enable the first mechanical arm 7 to be positioned in front of the rack 1 and to grasp the circuit again, and the third mechanical arm 2 bends and extends to enable the third mechanical arm 3 to be positioned in the middle of the rack 1 and to grasp the circuit again;
and step 3: the second mechanical arm 8 and the fourth mechanical arm 6 are simultaneously opened and separated from the line and drive the rack 1 to move forwards under the action of the second mechanical arm 11 and the fourth mechanical arm 15 respectively, at the moment, the first mechanical arm 7 and the fourth mechanical arm 6 are respectively positioned in the middle of the rack 1 under the bending and stretching action of the first mechanical arm 14 and the fourth mechanical arm 15, and the second mechanical arm 11 and the third mechanical arm 2 respectively bend and stretch so that the second mechanical arm 8 and the third mechanical arm 3 are respectively positioned in front of and behind the rack 1;
and 4, step 4: the second mechanical arm 8 and the fourth mechanical arm 6 respectively hold the line under the action of the second mechanical arm 11 and the fourth mechanical arm 15, and then the step 1 is carried out, and when an obstacle is met, the first mechanical arm 7, the second mechanical arm 8, the third mechanical arm 3 and the fourth mechanical arm 6 move forwards by avoiding the obstacle.
And a second obstacle crossing method:
step 1: when the robot does not encounter an obstacle, the first mechanical arm 14 and the fourth mechanical arm 15 respectively bend and extend to enable the first manipulator 7 and the fourth manipulator 6 to be located in the middle of the rack 1 and to grasp a line, and the second mechanical arm 11 and the third mechanical arm 2 respectively bend and extend to enable the second manipulator 8 and the third manipulator 3 to be located in front of and behind the rack 1 and to grasp the line;
step 2: the first manipulator 7 is opened and separated from the line under the action of the first manipulator 14, at the moment, the rack 1 is fixed, and the first manipulator 14 bends and extends to enable the first manipulator 7 to be positioned in front of the rack 1 and to grasp the line again;
and step 3: after the third manipulator 3 is opened and separated from the line, the third manipulator is positioned in the middle of the rack 1 under the bending and stretching action of the third manipulator 2 and grips the line again, then the fourth manipulator 6 is opened and separated from the line under the action of the fourth manipulator 15 and drives the rack 1 to move forwards, at this time, the first manipulator 7 and the fourth manipulator 6 are positioned in the middle of the rack 1 under the bending and stretching action of the first manipulator 14 and the fourth manipulator 15 respectively, and the third manipulator 2 bends and stretches to enable the third manipulator 3 to be positioned behind the rack 1;
and 4, step 4: the second mechanical arm 8 is located in front of the rack 1 under the bending and stretching action of the second mechanical arm 11 after being opened and separated from the line, the line is gripped again, then the step 1 is carried out, and when an obstacle is met, the first mechanical arm 7, the second mechanical arm 8, the third mechanical arm 3 and the fourth mechanical arm 6 avoid the obstacle to move forward.
When the obstacle crossing method meets an obstacle, firstly, two groups of mechanical arms on a diagonal line are simultaneously opened and separated from the line and respectively move forwards under the bending and stretching actions of the corresponding mechanical arms, and the obstacle crossing method is high in walking speed; in order to improve the safety of the inspection robot in normal work or obstacle crossing, when the inspection robot in the obstacle crossing method II encounters an obstacle, three of the four groups of mechanical arms grip the line at the same time, and one group of mechanical arms is opened, separated from the line and moves forwards under the bending and stretching action of the corresponding mechanical arms. In conclusion, the two obstacle crossing methods in the invention solve the problems of high labor intensity of manual line patrol and high operation cost of airplane line patrol in the prior art, can cross conventional obstacles (such as drainage lines, insulator strings, crimping pipes, suspension clamps and the like), and realize continuous line patrol. Compared with the prior art, the line patrol robot has the advantages of reducing labor intensity, reducing operation cost, improving the safety of the line patrol robot and being capable of climbing over obstacles.
In order to increase the friction force of the line patrol robot during normal work or going up and down slopes and improve the safety, the invention further improves the obstacle crossing method of the mechanical structure of the four-mechanical-arm climbing line patrol robot, as shown in fig. 5-10, and comprises the following steps:
the step 2 is further as follows: as shown in fig. 5, the first manipulator 7 and the third manipulator 3 are respectively and simultaneously opened and separated from the line under the action of the first mechanical arm 14 and the third mechanical arm 2, at this time, the rack 1 is fixed, the first mechanical arm 14 bends and extends to enable the first manipulator 7 to be positioned in front of the rack 1, to be inclined with the horizontal plane and to grasp the line again, and the third mechanical arm 2 bends and extends to enable the third manipulator 3 to be positioned in the middle of the rack 1 and to grasp the line again;
the step 3 further comprises the following steps: as shown in fig. 6, the second manipulator 8 and the fourth manipulator 6 are respectively and simultaneously opened and separated from the line under the action of the second mechanical arm 11 and the fourth mechanical arm 15, the second mechanical arm 11 and the fourth mechanical arm 15 are respectively bent and extended to enable the second manipulator 8 and the fourth manipulator 6 to be respectively positioned in front of and in the middle of the rack 1 and then to grasp the line again, and at the moment, the rack 1 and the second manipulator 8 are both inclined to the horizontal plane;
step 31 is also included between step 4 after step 3: as shown in fig. 7-8, the first manipulator 7 and the third manipulator 3 open and disengage from the circuit simultaneously and drive the rack 1 to move forward and then grasp the circuit again under the action of the first mechanical arm 14 and the third mechanical arm 2, respectively, then the second manipulator 8 and the fourth manipulator 6 open and disengage from the circuit simultaneously, the second mechanical arm 11 and the fourth mechanical arm 15 bend and extend respectively to make the second manipulator 8 and the fourth manipulator 6 be positioned in front of and in the middle of the rack 1 and then grasp the circuit again, and at this time, the third manipulator 3 and the fourth manipulator 6 are both inclined to the horizontal plane;
step 31 is followed by step 32 between step 4: as shown in fig. 9-10, after the first manipulator 7 opens and leaves the line, it moves forward and re-grips the line under the action of the first arm 14, at this time, the first manipulator 7 is perpendicular to the horizontal plane, then, the second manipulator 8 and the fourth manipulator 6 simultaneously open and leave the line and drive the rack 1 to move forward and re-grip the line under the action of the second arm 11 and the fourth arm 15, respectively, and then, after the third manipulator 3 opens and leaves the line, it moves forward and re-grips the line under the action of the third arm 2, at this time, the first manipulator 7, the second manipulator 8, the third manipulator 3 and the fourth manipulator 6 are all perpendicular to the horizontal plane, and the rack 1 is parallel to the horizontal plane.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a four arm climbing formula inspection robot mechanical structure which characterized in that, includes the frame, wherein:
four corners of the rack are respectively provided with a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm which can be bent and extended back and forth along the walking direction of the rack;
the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are respectively provided with a first mechanical hand, a second mechanical hand, a third mechanical hand and a fourth mechanical hand which are used for holding a line from the lower part;
the mechanical structure of the four-mechanical-arm climbing type line patrol robot executes the following obstacle crossing method:
step 1: when the robot does not encounter an obstacle, the first mechanical arm and the fourth mechanical arm respectively bend and extend to enable the first mechanical arm and the fourth mechanical arm to be located in the middle of the rack and to grasp a line, and the second mechanical arm and the third mechanical arm respectively bend and extend to enable the second mechanical arm and the third mechanical arm to be located in front of and behind the rack and to grasp the line;
step 2: the first manipulator is opened and separated from the line under the action of the first mechanical arm, at the moment, the rack is fixed, and the first mechanical arm bends and extends to enable the first manipulator to be positioned in front of the rack and to grasp the line again;
and step 3: after the third mechanical arm is opened and separated from the circuit, the third mechanical arm is positioned in the middle of the rack under the bending and stretching action of the third mechanical arm and grasps the circuit again, then the fourth mechanical arm is opened and separated from the circuit under the action of the fourth mechanical arm and drives the rack to move forward, at the moment, the first mechanical arm and the fourth mechanical arm are positioned in the middle of the rack under the bending and stretching action of the first mechanical arm and the fourth mechanical arm respectively, and the third mechanical arm is bent and stretched to enable the third mechanical arm to be positioned behind the rack;
and 4, step 4: and (3) after the second mechanical arm is opened and separated from the line, the second mechanical arm is positioned in front of the rack under the bending and stretching action of the second mechanical arm and grips the line again, then the step (1) is carried out, and when an obstacle is met, the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm are kept away from the obstacle to move forward.
2. The mechanical structure of the four-mechanical-arm climbing type line patrol robot according to claim 1, wherein the first mechanical arm, the second mechanical arm, the third mechanical arm and the fourth mechanical arm respectively comprise a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged.
3. The four-robot climbing patrol robot mechanical structure according to claim 2, wherein the first robot, the second robot, the third robot and the fourth robot each comprise a pair of openable and closable robot fingers.
4. The mechanical structure of the four-robot arm climbing type patrol robot according to claim 3, wherein a robot wrist for hinging the robot finger is provided on the third link.
5. The mechanical structure of the four-arm climbing patrol robot according to claim 4, wherein the articulated shafts between the frame and the first link, between the first link and the second link, between the second link and the third link, and between the mechanical finger and the mechanical wrist are all driven by motors.
6. The mechanical structure of the four-robot climbing patrol robot according to claim 5, wherein the mechanical finger is an L-hook type structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711294554.7A CN108039681B (en) | 2016-05-12 | 2016-05-12 | Four-mechanical-arm climbing type line patrol robot mechanical structure and obstacle crossing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711294554.7A CN108039681B (en) | 2016-05-12 | 2016-05-12 | Four-mechanical-arm climbing type line patrol robot mechanical structure and obstacle crossing method thereof |
| CN201610319646.5A CN106025909B (en) | 2016-05-12 | 2016-05-12 | Four mechanical arm climb type inspection robot mechanical structures and its obstacle-detouring method |
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| CN201610319646.5A Division CN106025909B (en) | 2016-05-12 | 2016-05-12 | Four mechanical arm climb type inspection robot mechanical structures and its obstacle-detouring method |
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| CN108039681A CN108039681A (en) | 2018-05-15 |
| CN108039681B true CN108039681B (en) | 2020-03-03 |
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| CN201711294554.7A Active CN108039681B (en) | 2016-05-12 | 2016-05-12 | Four-mechanical-arm climbing type line patrol robot mechanical structure and obstacle crossing method thereof |
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| CN111509614B (en) * | 2020-04-20 | 2021-05-25 | 潍坊工程职业学院 | High-voltage line inspection robot and inspection device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106025909A (en) | 2016-10-12 |
| CN106025909B (en) | 2018-02-02 |
| CN108039681A (en) | 2018-05-15 |
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