CN108316096A - A kind of sub-base grader integrated control hydraulic system and its control method - Google Patents
A kind of sub-base grader integrated control hydraulic system and its control method Download PDFInfo
- Publication number
- CN108316096A CN108316096A CN201810057325.1A CN201810057325A CN108316096A CN 108316096 A CN108316096 A CN 108316096A CN 201810057325 A CN201810057325 A CN 201810057325A CN 108316096 A CN108316096 A CN 108316096A
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- China
- Prior art keywords
- valve
- screed
- paver
- oil cylinder
- hopper
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
It includes screed regulating mechanism, hopper regulating mechanism and track tension device that the present invention, which plants sub-base grader integrated control hydraulic system and its control method, the system,；The screed regulating mechanism includes fine motion levelling mechanism, elevating mechanism and telescoping mechanism；The track tension device includes check valve and overflow valve, and third oil circuit flows to paver crawler tensioning oil cylinder after overflow valve, check valve, and is provided with overflow valve between paver crawler tensioning oil cylinder and hydraulic oil container.The present invention plants sub-base grader integrated control hydraulic system and its control method, integrated level height and more superiority of effectiveness.
Description
Technical field
The present invention relates to a kind of integrated hydraulic control system and its control methods, being applied to road surface more particularly, to one kind
Integrated control hydraulic system on paver and its control method, belong to technical field of paver control.
Background technology
The operation process of paver is practical be exactly paving concrete pavement process, needed to paver screed in paving process
Etc. mechanisms do auxiliary movement to ensure construction requirement；Paver will have when walking promotes screed and declines function, to walking
Crawler belt has tensioning function, needs to have independent fine motion screed to make the function of evenness of road surface, hopper when construction with paving machine thus
The folding function of discharging, elongation and the function that shortens of freely-moving mangle；Nowadays realize that the paver of these functions is adopted mostly
It is worked independently with more set controls and cost is higher；Elevating function, fine motion leveling road surface work(of i.e. traditional paver to screed
Energy, traveling crawler tensioning function, hopper folding function, the elongation of freely-moving mangle and shortening function are all independent component control
's；In order to realize that element is more used in the function, piping connection is complicated, interior layout elements are difficult in a limited space, can repair
Property it is poor, to largely improve the production cost of complete machine, also to user bring it is more it is economical, more preferably produce
Product.More and more fierce market competition is thus faced, higher machine manufacturing cost, which will be restricted largely, to pave
The development of machine, especially sales volume and occupation rate of market；Because cost performance is user had to take into account that when choosing paver one
A key factor.
Invention content
High and more superiority of effectiveness the road surface booth the purpose of the present invention is to overcome the above shortcomings and to provide a kind of integrated level
Paving machine integrated control hydraulic system and its control method.
The object of the present invention is achieved like this：
A kind of sub-base grader integrated control hydraulic system, it is characterised in that：The system includes screed regulating mechanism, material
Struggle against regulating mechanism and track tension device；
The screed regulating mechanism includes fine motion levelling mechanism, elevating mechanism and telescoping mechanism；Hydraulic pressure in hydraulic oil container
Oil is divided into the first oil circuit, the second oil circuit and third oil circuit after pump pressurizes by two cascade priority traffic valves；First oil circuit passes through
Flow divider-combiner is divided into after two-way respectively after H-type solenoid directional control valve through being flowed to by bidirectional relief valve, hydraulic lock, one-way speed-regulating valve
Paver screed fine motion leveling cyclinder constitutes fine motion levelling mechanism；Second oil circuit is after electromagnetic relief valve, Y type solenoid directional control valves
It is divided into two-way, wherein being directly connected to two paver screed lifting cylinders all the way, another way is divided again through flow divider-combiner
Elevating mechanism is constituted to be each led into after two-way in two paver screed lifting cylinders；Telescoping mechanism is symmetrically arranged with two
Group, the second oil circuit are connected to paver screed telescopic oil cylinder after Y type solenoid directional control valves after hydraulic lock, one-way speed-regulating valve；
The hopper regulating mechanism is provided with two groups, and every group of hopper regulating mechanism includes O-shaped solenoid directional control valve, overflow valve and material
Struggle against oil cylinder one, hopper oil cylinder two, and the second oil circuit enters O-shaped solenoid directional control valve after damping, flows out the two-way of O-shaped solenoid directional control valve
Hopper oil cylinder one is flowed into through overflow valve all the way in hydraulic oil, another way flows into hopper oil cylinder one and hopper oil cylinder two；
The track tension device includes check valve and overflow valve, and third oil circuit flows to paver after overflow valve, check valve
Crawler tensioning oil cylinder, and it is provided with overflow valve between paver crawler tensioning oil cylinder and hydraulic oil container.
A kind of control method of sub-base grader integrated control hydraulic system, in original state, system oil inlet with it is preferential
Flow valve communicates, and the preferential oil circuit of flow pressure-gradient control valve is communicated with paver screed fine motion leveling Road System circuit, and flow is excellent
The extra oil circuit of first valve is communicated with flow pressure-gradient control valve, and preferential oil circuit and the paver traveling crawler clamping system of flow pressure-gradient control valve return
Road communicates, the extra oil circuit of flow pressure-gradient control valve with respectively with paver screed raising and lowering system, hopper of paver open and close
System, paver screed telescopic system communicate；Paver screed raising and lowering system, hopper of paver open-close system,
Paver screed telescopic system uses the connection scheme of oil circuit in parallel；
Solenoid directional control valve is the solenoid directional control valve of 3-position 4-way " H " type Median Function, obtains power failure state by controlling it, realizes liquid
Pressure lock is by paver screed fine motion leveling cyclinder rod chamber and rodless cavity to locked effect and screed leveling micro-motion oil cylinder
Flexible handoff functionality；The movement velocity of paver screed fine motion leveling cyclinder is adjusted by one-way speed-regulating valve；By two-way
The extra fluid of overflow valve off-load；Solenoid directional control valve is the solenoid directional control valve of 3-position 4-way Y-shaped Median Function, is obtained by controlling it
Power failure state realizes floating and the latch functions and screed raising and lowering function of screed；It is realized by flow divider-combiner
The rise and fall of the overall leveling of screed；Pass through the electromagnetic switch that solenoid directional control valve is 3-position 4-way " O " type Median Function
Valve obtains power failure state by controlling it, realizes the handoff functionality of the folding of hopper；By hopper oil cylinder with hopper oil cylinder without bar
Chamber is in parallel, the rod chamber folding function of realizing magazine-less system in parallel with overflow valve of hopper oil cylinder；Pass through paver crawler tensioning
Oil cylinder is connected with the working connection of overflow valve parallel connection with check valve, and the check valve mode in parallel with working connection overflow valve is lasting to realize
The function of pressurize tensioning；Solenoid directional control valve is the solenoid directional control valve of 3-position 4-way Y-shaped Median Function, and dead electricity is obtained by controlling it
State realizes hydraulic lock by paver screed telescopic oil cylinder rod chamber and rodless cavity to locked effect and paver screed
The flexible handoff functionality of telescopic oil cylinder.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention by the collaborative work of O-shaped, Y types and H-type solenoid directional control valve by screed regulating mechanism, hopper regulating mechanism and
On one system, and the oil piping system of three parts functional loop in actual use is entire for track tension device organic combination
In a valve block, in use, only needing each valve port with mutual oil cylinder being connected, the life of enterprise is greatly reduced
Manufacturing cost is produced, but also later stage installation maintenance is extremely convenient, is conducive to manufacturing enterprise and market is seized with more preferably cost performance.
Description of the drawings
Fig. 1 is a kind of hydraulic circuit diagram of sub-base grader integrated control hydraulic system of the present invention.
Wherein：
One-way speed-regulating valve 1, hydraulic lock 2, bidirectional relief valve 3, solenoid directional control valve 4, flow divider-combiner 5, priority traffic valve 6, overflow
Valve 7, pump 8, hydraulic oil container 9, solenoid directional control valve 10, solenoid directional control valve 11, electromagnetic relief valve 12, solenoid directional control valve 13, damping 14,
One-way speed-regulating valve 15, check valve 16, paver screed fine motion leveling cyclinder 17, paver screed lifting cylinder 18, hopper
Oil cylinder 1, hopper oil cylinder 2 20, paver screed telescopic oil cylinder 21, paver crawler tensioning oil cylinder 22.
Specific implementation mode
Referring to Fig. 1, a kind of sub-base grader integrated control hydraulic system of the present invention, the system includes ironing
Plate regulating mechanism, hopper regulating mechanism and track tension device；
The screed regulating mechanism includes fine motion levelling mechanism, elevating mechanism and telescoping mechanism；Hydraulic pressure in hydraulic oil container 9
Oil is divided by two cascade priority traffic valves 6 for the first oil circuit, the second oil circuit and third oil circuit after 8 pressurization of pump；First oil circuit
After flow divider-combiner 5 divides for two-way respectively after H-type solenoid directional control valve 4 through by bidirectional relief valve 3, hydraulic lock 2, unidirectional speed governing
Valve 1 flows to paver screed fine motion leveling cyclinder 17 and constitutes fine motion levelling mechanism；Second oil circuit is through electromagnetic relief valve 12, Y types
It is divided into two-way after solenoid directional control valve 11, wherein it is directly connected to two paver screed lifting cylinders 18 all the way, another way warp
Flow divider-combiner, which is again split into after two-way to each lead into two paver screed lifting cylinders 18, constitutes elevating mechanism；It is flexible
Mechanism is symmetrically arranged with two groups, and the second oil circuit is connected to after hydraulic lock, one-way speed-regulating valve 15 after Y type solenoid directional control valves and paves
Machine screed telescopic oil cylinder 21；
The hopper regulating mechanism is provided with two groups, every group of hopper regulating mechanism include O-shaped solenoid directional control valve 13, overflow valve and
Hopper oil cylinder 1, hopper oil cylinder 2 20, the second oil circuit enter O-shaped solenoid directional control valve 13 after damping 14, flow out O-shaped electromagnetism and change
Hopper oil cylinder 1 is flowed into through overflow valve all the way into the two-way hydraulic oil of valve 13, another way flows into hopper oil cylinder 1 and material
Struggle against oil cylinder 2 20；
The track tension device includes check valve 16 and overflow valve, and third oil circuit flows to booth after overflow valve, check valve 16
Paving machine crawler tensioning oil cylinder 22, and it is provided with overflow valve between paver crawler tensioning oil cylinder 22 and hydraulic oil container 9；The overflow
Valve is precursor overflow valve；
The operation principle of the present invention is that：
In original state, system oil inlet P is communicated with priority traffic valve 6, and preferential oil circuit and the paver of flow pressure-gradient control valve 2 press
Plate fine motion leveling Road System circuit communicates, and the extra oil circuit of flow pressure-gradient control valve 2 is communicated with flow pressure-gradient control valve 12, flow pressure-gradient control valve
12 preferential oil circuit is communicated with paver traveling crawler clamping system circuit, the extra oil circuit of flow pressure-gradient control valve 12 with respectively with booth
Paving machine screed raising and lowering system, hopper of paver open-close system, paver screed telescopic system communicate.Paver is pressed
Tablet raising and lowering system, hopper of paver open-close system, paver screed telescopic system use the connection of oil circuit in parallel
Scheme；
Solenoid directional control valve 4 is the solenoid directional control valve of 3-position 4-way " H " type Median Function, and power failure state is obtained by controlling it, is realized
Hydraulic lock 2 is by 17 rod chamber of paver screed fine motion leveling cyclinder and rodless cavity to locked effect and screed leveling fine motion
The flexible handoff functionality of oil cylinder 17；The movement velocity of paver screed fine motion leveling cyclinder 17 is adjusted by one-way speed-regulating valve 1.
Pass through the extra fluid of 3 off-load of bidirectional relief valve.Solenoid directional control valve 11 is the solenoid directional control valve of 3-position 4-way Y-shaped Median Function,
Power failure state is obtained by controlling it, realizes floating and the latch functions and screed raising and lowering function of screed.By dividing
Flow the rise and fall that combiner valve 5 realizes the overall leveling of screed.It is position in 3-position 4-way " O " type by solenoid directional control valve 13
The solenoid directional control valve of function obtains power failure state by controlling it, realizes the handoff functionality of the folding of hopper.Pass through hopper oil cylinder 20
It is in parallel with the rodless cavity of hopper oil cylinder 19, the rod chamber folding work(of realizing magazine-less system in parallel with overflow valve 7 of hopper oil cylinder 19
Energy.It is connected with check valve 16 by the working connection in parallel with overflow valve 7 of paver crawler tensioning oil cylinder 22, check valve 16 and main oil
The mode in parallel of road overflow valve 7 realizes the function of lasting pressurize tensioning.Solenoid directional control valve 11 is 3-position 4-way Y-shaped middle-position machine
The solenoid directional control valve of energy obtains power failure state by controlling it, realizes hydraulic lock 2 by 21 rod chamber of paver screed telescopic oil cylinder
The handoff functionality to stretch with paver screed telescopic oil cylinder 21 to locked effect with rodless cavity.
In addition：It should be noted that above-mentioned specific implementation mode is only a prioritization scheme of this patent, the skill of this field
Any change or improvement that art personnel are done according to above-mentioned design, within the protection domain of this patent..
Claims (4)
1. a kind of sub-base grader integrated control hydraulic system, it is characterised in that：The system include screed regulating mechanism,
Hopper regulating mechanism and track tension device；
The screed regulating mechanism includes fine motion levelling mechanism, elevating mechanism and telescoping mechanism；Hydraulic pressure in hydraulic oil container
Oil is divided into the first oil circuit, the second oil circuit and third oil circuit after pump pressurizes by two cascade priority traffic valves；First oil circuit passes through
Flow divider-combiner is divided into after two-way respectively after H-type solenoid directional control valve through being flowed to by bidirectional relief valve, hydraulic lock, one-way speed-regulating valve
Paver screed fine motion leveling cyclinder constitutes fine motion levelling mechanism；Second oil circuit is after electromagnetic relief valve, Y type solenoid directional control valves
It is divided into two-way, wherein being directly connected to two paver screed lifting cylinders all the way, another way is divided again through flow divider-combiner
Elevating mechanism is constituted to be each led into after two-way in two paver screed lifting cylinders；Telescoping mechanism is symmetrically arranged with two
Group, the second oil circuit are connected to paver screed telescopic oil cylinder after Y type solenoid directional control valves after hydraulic lock, one-way speed-regulating valve；
The hopper regulating mechanism is provided with two groups, and every group of hopper regulating mechanism includes O-shaped solenoid directional control valve, overflow valve and material
Struggle against oil cylinder one, hopper oil cylinder two, and the second oil circuit enters O-shaped solenoid directional control valve after damping, flows out the two-way of O-shaped solenoid directional control valve
Hopper oil cylinder one is flowed into through overflow valve all the way in hydraulic oil, another way flows into hopper oil cylinder one and hopper oil cylinder two.
2. a kind of sub-base grader integrated control hydraulic system as described in claim 1, it is characterised in that：The crawler tensioning machine
Structure includes check valve and overflow valve, and third oil circuit flows to paver crawler tensioning oil cylinder after overflow valve, check valve, and paves
It is provided with overflow valve between machine crawler tensioning oil cylinder and hydraulic oil container.
3. a kind of sub-base grader integrated control hydraulic system as described in claim 1, it is characterised in that：Overflow valve overflows for guide
Flow valve.
4. a kind of control method of sub-base grader integrated control hydraulic system as described in claim 1, it is characterised in that：First
Beginning state, system oil inlet（P）With priority traffic valve（6）It communicates, flow pressure-gradient control valve（2）Preferential oil circuit and paver screed
Fine motion leveling Road System circuit communicates, flow pressure-gradient control valve（2）Extra oil circuit and flow pressure-gradient control valve（12）It communicates, flow is preferential
Valve（12）Preferential oil circuit communicated with paver traveling crawler clamping system circuit, flow pressure-gradient control valve（12）Extra oil circuit with point
It is not communicated with paver screed raising and lowering system, hopper of paver open-close system, paver screed telescopic system；Booth
Paving machine screed raising and lowering system, hopper of paver open-close system, paver screed telescopic system are using oil circuit in parallel
Connection scheme；
Solenoid directional control valve（4）For the solenoid directional control valve of 3-position 4-way " H " type Median Function, power failure state is obtained by controlling it, it is real
Existing hydraulic lock（2）By paver screed fine motion leveling cyclinder（17）Rod chamber and rodless cavity are to locked effect and screed tune
Flat micro-motion oil cylinder（17）Flexible handoff functionality；Pass through one-way speed-regulating valve（1）Adjust paver screed fine motion leveling cyclinder
（17）Movement velocity；Pass through bidirectional relief valve（3）The extra fluid of off-load；Solenoid directional control valve（11）For in 3-position 4-way Y-shaped
The solenoid directional control valve of median function obtains power failure state by controlling it, realizes in the floating and latch functions and screed of screed
Rise and decline function；Pass through flow divider-combiner（5）Realize the rise and fall of the overall leveling of screed；Pass through solenoid directional control valve
（13）For the solenoid directional control valve of 3-position 4-way " O " type Median Function, power failure state is obtained by controlling it, realizes the folding of hopper
Handoff functionality；Pass through hopper oil cylinder（20）With hopper oil cylinder（19）Rodless cavity it is in parallel, hopper oil cylinder（19）Rod chamber with overflow
Flow valve（7）The folding function of magazine-less system is realized in parallel connection；Pass through paver crawler tensioning oil cylinder（22）With overflow valve（7）In parallel
Working connection and check valve（16）Series connection, check valve（16）With working connection overflow valve（7）Mode in parallel realizes lasting pressurize
Tight function；Solenoid directional control valve（11）For the solenoid directional control valve of 3-position 4-way Y-shaped Median Function, dead electricity shape is obtained by controlling it
State realizes hydraulic lock（2）By paver screed telescopic oil cylinder（21）Rod chamber and rodless cavity are to locked effect and paver
Screed telescopic oil cylinder（21）Flexible handoff functionality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810057325.1A CN108316096B (en) | 2018-01-22 | 2018-01-22 | Integrated control hydraulic system of road paver and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810057325.1A CN108316096B (en) | 2018-01-22 | 2018-01-22 | Integrated control hydraulic system of road paver and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108316096A true CN108316096A (en) | 2018-07-24 |
| CN108316096B CN108316096B (en) | 2023-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810057325.1A Active CN108316096B (en) | 2018-01-22 | 2018-01-22 | Integrated control hydraulic system of road paver and control method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN108316096B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110056552A (en) * | 2019-03-27 | 2019-07-26 | 中铁隧道股份有限公司 | A kind of monoblock type turns over slag workbench hydraulic system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2112327A1 (en) * | 1971-03-15 | 1972-10-12 | Demag Baumaschinen Gmbh | Hydraulic drive for a road paver |
| CN202081364U (en) * | 2011-04-28 | 2011-12-21 | 天津鼎盛工程机械有限公司 | Hydraulic crawler-type minitype asphalt paver |
| CN104047914A (en) * | 2014-07-03 | 2014-09-17 | 戴纳派克（中国）压实摊铺设备有限公司 | Floating screed control system of paver and paver |
| CN104500485A (en) * | 2014-12-25 | 2015-04-08 | 柳工无锡路面机械有限公司 | Hydraulic system for floating of scraper of pavement milling machine |
| CN206204739U (en) * | 2016-11-18 | 2017-05-31 | 徐工集团工程机械股份有限公司 | Paver hydraulic control system and paver |
-
2018
- 2018-01-22 CN CN201810057325.1A patent/CN108316096B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2112327A1 (en) * | 1971-03-15 | 1972-10-12 | Demag Baumaschinen Gmbh | Hydraulic drive for a road paver |
| CN202081364U (en) * | 2011-04-28 | 2011-12-21 | 天津鼎盛工程机械有限公司 | Hydraulic crawler-type minitype asphalt paver |
| CN104047914A (en) * | 2014-07-03 | 2014-09-17 | 戴纳派克（中国）压实摊铺设备有限公司 | Floating screed control system of paver and paver |
| CN104500485A (en) * | 2014-12-25 | 2015-04-08 | 柳工无锡路面机械有限公司 | Hydraulic system for floating of scraper of pavement milling machine |
| CN206204739U (en) * | 2016-11-18 | 2017-05-31 | 徐工集团工程机械股份有限公司 | Paver hydraulic control system and paver |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110056552A (en) * | 2019-03-27 | 2019-07-26 | 中铁隧道股份有限公司 | A kind of monoblock type turns over slag workbench hydraulic system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108316096B (en) | 2023-08-04 |
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