CN108423064A - A kind of steering wheel device - Google Patents
A kind of steering wheel device Download PDFInfo
- Publication number
- CN108423064A CN108423064A CN201810419410.8A CN201810419410A CN108423064A CN 108423064 A CN108423064 A CN 108423064A CN 201810419410 A CN201810419410 A CN 201810419410A CN 108423064 A CN108423064 A CN 108423064A
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- Prior art keywords
- steering
- driven gear
- bearing
- walking
- gear
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- 239000000758 substrate Substances 0.000 claims abstract description 40
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 208000010543 22q11.2 deletion syndrome Diseases 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
This application provides a kind of steering wheel device, including steering motor, movable motor, wheel module, further includes steering bearing, walking bearing, turns to driven gear, the first walking driven gear, the second walking driven gear；Steering bearing is disposed on the substrate, and is turned to driven gear and is arranged on steering bearing；Bearing setting walk on turning to driven gear, the first walking driven gear setting is expert on bearing running, and the second walking driven gear setting is on the first walking driven gear；Steering motor and movable motor are separately fixed on substrate, and the diversion driving-gear of steering motor is engaged with driven gear is turned to, and the walking driving gear of movable motor is engaged with the first walking driven gear；Wheel module includes gear shaft and the wheel that is arranged on gear shaft, and wheel module is arranged on the steerings driven gear, and the gear teeth of gear shaft are engaged with the second driven gear of walking.Motor cable stress problem is not present in the application, while steering angle can continuous equidirectional rotation.
Description
Technical field
The application belongs to driving wheel technical field, more particularly to a kind of steering wheel device.
Background technology
Driving wheel system at present, such as the driving wheel of AGV (Automated Guided Vehicle) trolley mainly have difference
Fast wheeled and steering wheel type (steering wheel described here refers to the motor containing there are two, and a wheel, can walk can turn to) two ways.Its
Middle differential is wheeled of low cost, but flexibility is poor, and precision is relatively low, can not adapt to high to required precision and turn to flexible occasion,
And although steering wheel type cost is higher, its precision is high, flexibility is good and is easy to use, therefore the occasion that is widely used.It is right
In steering wheel currently on the market, when it is turned to, movable motor and steering motor also can together be turned to wheel, this results in electricity
The cable of machine wants that certain twisting resistance can be born, and the angle turned round is limited, therefore in this steering wheel of some occasions
Use what is be limited by.
Apply for content
For the above technical problems, the embodiment of the present application provides a kind of steering wheel device, no matter is gone back in its walking
It is in steering procedure, the problem of movable motor and steering motor are motionless, therefore there is no motor cable stress, while steering angle
Degree can be unrestricted with continuous equidirectional rotation.
The purpose of the application is achieved through the following technical solutions：
A kind of steering wheel device, including steering motor, movable motor, wheel module, further include steering bearing, walking bearing,
Turn to driven gear, the first walking driven gear, the second walking driven gear；
The steering bearing is disposed on the substrate, and the inner ring in the steering bearing is arranged in the steering driven gear；
The outer ring of the walking bearing is arranged on the steering driven gear, and the first walking driven gear setting exists
The inner ring of the walking bearing, the second walking driven gear setting is on the first walking driven gear and with described the
One walking driven gear rotates together；
The steering motor and the movable motor are separately fixed on substrate, are arranged on the output shaft of the steering motor
There is the diversion driving-gear engaged with the steering driven gear, is provided with and described first on the output shaft of the movable motor
The walking driving gear that driven gear of walking engages；
The wheel that the wheel module includes gear shaft and is arranged on gear shaft, the wheel module are arranged in the steering
It on driven gear and rotates with it, the gear teeth of the gear shaft are engaged with the second walking driven gear.
Optionally, the steering bearing is embedded in the substrate, and by the first pressing plate by the outer ring of the steering bearing
It fixes on the substrate.
Optionally, the steering bearing by the second pressing plate by the inner ring of the steering bearing be fixed on it is described turn to it is driven
On gear.
Optionally, it is provided with opening on the substrate, matched with the steering bearing for accommodating the steering driven gear
One end of conjunction.
Optionally, the driven gear that turns to is equipped with top surface, the wheel module with one end that the steering bearing coordinates
It is arranged on the top surface for turning to driven gear.
Optionally, the end face center for turning to driven gear is gap structure, and the top of the wheel is revealed from the gap
Go out, and tangent with the top surface of substrate.
Optionally, the outer ring for bearing of walking is fixed on the steering driven gear by the walking bearing by third pressing plate
On, the inner ring for bearing of walking is fixed on the first walking driven gear by the 4th pressing plate.
Optionally, the wheel module further includes the bearing being arranged on gear shaft, and the bearing is arranged in bearing block,
The gear shaft is rotatable relative to bearing block, and the bearing block is connect with the steering driven gear.
Optionally, the wheel module further includes the key, axle sleeve and catch being arranged on the gear shaft, and the key is used for
The wheel on the gear shaft is arranged in axial restraint, and the catch is arranged on gear shaft end face and pushes down the bearing.
A kind of AVG trolleies, including above-described steering wheel device.
The application is by the way that movable motor and steering motor to be fixed on substrate, and the steering by being arranged on motor
Driving gear and walking driving gear are engaged with the steering driven gear and walking driven gear being similarly disposed on substrate respectively,
And by the way that module will be taken turns on driven gear, to realize that wheel module is rotated together with steering driven gear and completes to turn
To, by will take turns module gear shaft gear parts with walking driven gear engage, thus gear shaft gear part
The rotation divided drives the rotation for the wheel being fixed on gear shaft and completes to walk, therefore steering wheel device provided by the present application no matter
Its walking or steering procedure in, movable motor and steering motor are motionless, be not present motor cable stress the problem of, simultaneously
Steering angle can be unrestricted with continuous equidirectional rotation.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of steering wheel device shown according to an exemplary embodiment.
Fig. 2 is a kind of substrate top surface structural schematic diagram of steering wheel device shown in Fig. 1.
Fig. 3 is vertical view shown in Fig. 2 along the diagrammatic cross-section in the directions B-B.
Fig. 4 is the train component diagram according to the steering wheel device shown in an exemplary embodiment.
Fig. 5 is a kind of structural schematic diagram of the steering wheel device shown according to another exemplary embodiment.
Fig. 6 is a kind of structural schematic diagram of steering wheel device shown according to another exemplary embodiment.
In figure：
1. 2. steering motor mounting base of steering motor, 3. movable motor, 4. movable motor mounting base
The walking of driving gear 7. first driven gear 5. diversion driving-gear 6. is walked
8. the second walking driven gear 9. turns to 10. first pressing plate 11. of driven gear wheel
12. 13. bearing block of gear shaft, 14. 15. second pressing plate of substrate, 16. third pressing plate
19. steering bearing of bearing, 20. bearing, 21. axle sleeve 17. the 4th pressing plate 18. is walked
22. 23. key of catch
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.It ties below
Drawings and examples are closed the application is described in detail.
The application is described in detail with reference to the accompanying drawings and examples.
Fig. 1 is a kind of structural schematic diagram of steering wheel device shown according to an exemplary embodiment.As shown in Figure 1, this reality
The steering wheel device for applying example includes steering motor 1, movable motor 3, wheel module, further includes steering bearing 19, walking bearing 18, turns
To driven gear 9, the first walking walking driven gear 8 of driven gear 7, second；
Wherein, on the substrate 14, the steering driven gear 9 is arranged in the steering bearing setting of the steering bearing 19
19 inner ring；
Specifically, as shown in Figures 2 and 3, the outer ring of the steering bearing 19 can be installed on the substrate 14, such as logical
It crosses and steering bearing 19 is embedded in the substrate 14, and by the first pressing plate 10 by the outer ring of the steering bearing 19 and the base
Plate 14 is fixed, to ensure that 19 outer ring of steering bearing and substrate 14 do not disengage；The steering driven gear 9 and the steering bearing 19
Inner ring connection；
It is understood that since the steering driven gear 9 is mounted on 19 inner ring of steering bearing, it can be opposite
It is rotated in substrate 14.
It should be noted that substrate 14 can be the various forms of transport that steering wheel is driven, such as AGV or other are small automobile-used
In the carrier of installation tug device, it can be a part on means of transport, can also be to be connected with the means of transport
A part, it is not specific herein to limit.
Wherein, the outer ring of the walking bearing 18 is arranged on the steering driven gear 9, the first walking driven tooth
The inner ring in the walking bearing 18 is arranged in wheel 9, and the second walking driven gear 8 setting is in the first walking driven gear
It is rotated together on 9 and with the first walking driven gear 9；
It should be noted that as shown in Figures 2 and 3, the walking bearing 18 can will for example be gone by third pressing plate 16
The outer ring of bearing running 18 is fixed on the steering driven gear 9, to ensure outer ring and the steering driven gear 9 of walking bearing 18
It does not disengage；The inner ring for bearing 18 of walking can be fixed on the first walking driven gear 7 by the 4th pressing plate 17, with true
The first walking driven gear 7 is protected not disengage with walking 18 inner ring of bearing；
It is understood that since the first walking driven gear 7 is mounted on the inner ring of walking bearing 18, it being capable of phase
The steering driven gear 9 is rotated.
The steering motor 1 and the movable motor 3 are separately fixed on substrate 14, the output shaft of the steering motor 1
On be provided with the diversion driving-gear 5 that engages of steering driven gear 9, the diversion driving-gear 5 can realize with it is described
The output shaft synchronous of steering motor 1 rotates；It is provided on the output shaft of the movable motor 3 and the first walking driven gear
The walking driving gear 6 of 7 engagements；The walking driving gear 6 can be realized to be rotated with the output shaft synchronous of the movable motor 3；
Exemplary, the steering motor 1 can be installed on the substrate 14 by steering motor mounting base 2, the walking electricity
Machine 3 can be installed on the substrate 14 by movable motor mounting base 4.
As shown in figure 4, the wheel module includes gear shaft 12 and the wheel being arranged on gear shaft 12 11, the train group
Part, which is arranged, on the steerings driven gear 9 and to be rotated with it, the gear teeth of the gear shaft 12 with described second walk from
Moving gear 8 engages.
Optionally, as shown in figure 3, it can be the gear with top surface to turn to driven gear 9, the wheel module can be whole
Body is fixed on the top surface for turning to driven gear 9.
In one embodiment, the wheel module can also include the bearing 20 being arranged on gear shaft 12, described
Bearing 20 is arranged in bearing block 13, and the gear shaft 12 is mounted on brearing bore and rotatable relative to bearing block 13, institute
Bearing block 13 is stated to connect with the steering driven gear 9.
Certainly, the wheel module can also include key 23, axle sleeve 21 and the catch 22 being arranged on the gear shaft 12,
The wheel 11 that the key 23 is used for being axially installed on gear shaft 12 realizes the synchronous rotary of wheel 11 and gear shaft 12；It is described
Catch 22 is mounted on gear shaft end face and pushes down the bearing 20 in corresponding bearing block 13, and catch 22 is true together with axle sleeve 21
Protecting wheel will not slide axially along gear shaft 12.
The steering wheel device of the present embodiment, when controlling the rotation of steering motor 1,1 output shaft of steering motor will drive and turn to master
Moving gear 5 and steering driven gear 9 are rotated relative to substrate 14 together, are mounted on the wheel module turned on driven gear 9
It is rotated together relative to substrate 14, you can realize turning function, as turn to.
When control steering motor 1 does not rotate, then wheel module will not generate go to action；If controlling movable motor
3 rotation, 3 output shaft of movable motor will drive walking driving gear 6, first walk driven gear 7, second walk driven gear 8,
Gear shaft 12 and wheel 11 are rotated each along their own axis, you can are realized walking function, as walked.
It should be noted that if there is no rotation, corresponding first walking, 7 Hes of driven gear for movable motor 3 when turning to
Second walking driven gear 8 is not also rotated relative to substrate 14, and gear shaft 12 has rotated relative to substrate 14, and due to
Gear shaft 12 is engaged with the second walking driven gear 8, can cause gear shaft 12 can be along it while being rotated relative to substrate 14
The axis rotation of itself, while being rotated also along its axis with driving wheel 11, if this will result in walking electricity when turning to
Machine 3 does not rotate, then the steering wheel device of the present embodiment also can the walking of one side turn away, you can reach and do not drive row when turning to
Motor 3 is walked, can also realize the function of turning to while walking.If necessary to keep steering wheel device original place not when turning to
It is dynamic, then control movable motor 3 provides a rotation reversely rotated to offset wheel along oneself axis when just needing to turn to.
The steering wheel device of the present embodiment, during steering and walking relative to substrate motion, therefore motor is not necessarily to
There is very big benefit for cloth cable, and steering structure does not have any restrictions, unconfined can in one direction rotate.
Fig. 5 is another steering wheel device shown according to an exemplary embodiment.As shown in figure 5, due to the top of wheel 11
On be followed successively by the top surface for turning to driven gear 9 and substrate 14, and the two has certain thickness, therefore will lead to whole steering wheel
Device height is bigger than the diameter of wheel, this for some to the higher occasion of requirement for height, such as its application AGV trolleies it is whole
Body height is the smaller the better, and applying just has larger difficulty.
In view of the above problems, the steering wheel device of the present embodiment, can be arranged an opening, for holding on the substrate 14
The end that the steering driven gear 9 of receiving coordinates with the steering bearing 19 breaks through substrate 14 due to turning to driven gear 9,
The whole height of steering wheel device can be made to become smaller；
In one embodiment, the steering bearing 19 can be by the second pressing plate 15 that 14 top surface of substrate is arranged by institute
The inner ring for stating steering bearing 19 is fixed on the steering driven gear 9, to ensure to turn in driven gear 9 and steering bearing 19
Circle does not disengage.
Can also be gap structure by the centrally disposed of the steering driven gear 9 to further decrease whole height,
So that the top of wheel 11 is just exposed from the center opening position for turning to driven gear 9, and take turns 11 just with the top surface phase of substrate 14
It cuts.
Steering wheel device shown in the present embodiment makes due to being provided with opening on substrate 14 and steering driven gear 9 respectively
Wheel 11 just from opening expose and with 14 either flush of substrate, reduce the height of tug device to greatest extent, thus
It is very convenient and practical in its application process.
Fig. 6 is a kind of AGV trolleies shown according to an exemplary embodiment.As shown in fig. 6, more than the AGV trolleies include
Steering wheel device shown in any embodiment.
The above is only the application preferred embodiment, is not made any form of restriction to the application.Although
The application is disclosed above with preferred embodiment, however is not limited to the application.Any technical person familiar with the field,
In the case where not departing from technical scheme ambit, all using the methods and technical content of the disclosure above to present techniques
Scheme makes many possible changes and modifications, or is revised as the equivalent embodiment of equivalent variations.Therefore, every without departing from this Shen
Please technical solution content, according to technical spirit any simple modification made to the above embodiment of the application, equivalent variations
And modification, still fall within technical scheme protection in the range of.
Claims (9)
1. a kind of steering wheel device, including steering motor (1), movable motor (3), wheel module, it is characterised in that：Further include turning to
Bearing (19), walking bearing (18) turn to driven gear (9), the first walking driven gear (7), the second walking driven gear
(8)；
The steering bearing (19) is arranged on substrate (14), and the steering driven gear (9) is arranged in the steering bearing
(19) inner ring；
The outer ring of the walking bearing (18) is arranged on the steering driven gear (9), the first walking driven gear (7)
Inner ring in the walking bearing (18) is set, and the second walking driven gear (8) is arranged in the first walking driven tooth
It is rotated together on wheel (7) and with the first walking driven gear (7)；
The steering motor (1) and the movable motor (3) are separately fixed on substrate (14), the steering motor (1) it is defeated
The diversion driving-gear (5) engaged with the steering driven gear (9), the output of the movable motor (3) are provided on shaft
The walking driving gear (6) engaged with the first walking driven gear (7) is provided on axis；
The wheel module includes the wheel (11) of gear shaft (12) and setting on gear shaft (12), and the wheel module setting exists
It on the steering driven gear (9) and rotates with it, the gear teeth of the gear shaft (12) and the second walking driven tooth
Take turns (8) engagement.
2. steering wheel device according to claim 1, it is characterised in that：The embedded substrate (14) of the steering bearing (19)
It is interior, and the outer ring of the steering bearing (19) is fixed on the substrate (14) by the first pressing plate (10).
3. steering wheel device according to claim 2, it is characterised in that：The steering bearing (19) will by the second pressing plate (15)
The inner ring of the steering bearing (19) is fixed on the steering driven gear (9).
4. steering wheel device according to claim 1, it is characterised in that：It is provided with opening on the substrate (14), for accommodating
Described one end for turning to driven gear (9) and the steering bearing (19) cooperation.
5. steering wheel device according to claim 4, it is characterised in that：The steering driven gear (9) and the steering bearing
(19) one end coordinated is equipped with top surface, and the wheel module setting is on the top surface of the steering driven gear (9).
6. steering wheel device according to claim 5, it is characterised in that：The end face center for turning to driven gear (9) is open-minded
The top of mouth structure, the wheel (11) is exposed from the gap, and tangent with the top surface of substrate (14).
7. steering wheel device according to claim 1, it is characterised in that：The walking bearing (18) will by third pressing plate (16)
The outer ring of walking bearing (18) is fixed on the steering driven gear (9), will walking bearing (18) by the 4th pressing plate (17)
Inner ring be fixed in first walking driven gear (7).
8. steering wheel device according to claim 1, it is characterised in that：The wheel module further includes being arranged in gear shaft (12)
On bearing (20), in bearing block (13), the gear shaft (12) can relative to bearing block (13) for the bearing (20) setting
Rotation, the bearing block (13) connect with the steering driven gear (9).
9. steering wheel device according to claim 8, it is characterised in that：The wheel module further includes being arranged in the gear shaft
(12) key (23), axle sleeve (21) on and catch (22), the key (23) are used for axial restraint and are arranged in the gear shaft (12)
On wheel (11), the catch (22) is arranged on gear shaft (12) end face and pushes down the bearing (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810419410.8A CN108423064B (en) | 2018-05-04 | 2018-05-04 | Steering wheel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810419410.8A CN108423064B (en) | 2018-05-04 | 2018-05-04 | Steering wheel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108423064A true CN108423064A (en) | 2018-08-21 |
| CN108423064B CN108423064B (en) | 2024-02-20 |
Family
ID=63162350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810419410.8A Active CN108423064B (en) | 2018-05-04 | 2018-05-04 | Steering wheel device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108423064B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845919A (en) * | 2020-07-03 | 2020-10-30 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN111874088A (en) * | 2020-07-06 | 2020-11-03 | 杭州海康机器人技术有限公司 | Drive module and automated guided transporting vehicle |
| WO2022007717A1 (en) * | 2020-07-06 | 2022-01-13 | 杭州海康机器人技术有限公司 | Drive module and automated guided vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004023341A1 (en) * | 2004-05-12 | 2005-12-15 | Zf Friedrichshafen Ag | Steering and wheel drive for industrial truck has drive motor, steering motor and steering transmission installed co-axially with one another and in series one behind other |
| CN207045449U (en) * | 2017-08-15 | 2018-02-27 | 广东电网有限责任公司电力科学研究院 | A kind of independent steering gear |
| CN207078227U (en) * | 2017-06-23 | 2018-03-09 | 广州智轮科技有限公司 | New low clearance steering wheel drive device |
| CN208134427U (en) * | 2018-05-04 | 2018-11-23 | 北京泊宝机器人科技有限公司 | A kind of steering wheel device |
-
2018
- 2018-05-04 CN CN201810419410.8A patent/CN108423064B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004023341A1 (en) * | 2004-05-12 | 2005-12-15 | Zf Friedrichshafen Ag | Steering and wheel drive for industrial truck has drive motor, steering motor and steering transmission installed co-axially with one another and in series one behind other |
| CN207078227U (en) * | 2017-06-23 | 2018-03-09 | 广州智轮科技有限公司 | New low clearance steering wheel drive device |
| CN207045449U (en) * | 2017-08-15 | 2018-02-27 | 广东电网有限责任公司电力科学研究院 | A kind of independent steering gear |
| CN208134427U (en) * | 2018-05-04 | 2018-11-23 | 北京泊宝机器人科技有限公司 | A kind of steering wheel device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845919A (en) * | 2020-07-03 | 2020-10-30 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN111845919B (en) * | 2020-07-03 | 2023-09-01 | 深圳怡丰自动化科技有限公司 | Steering wheel and control method thereof |
| CN111874088A (en) * | 2020-07-06 | 2020-11-03 | 杭州海康机器人技术有限公司 | Drive module and automated guided transporting vehicle |
| WO2022007717A1 (en) * | 2020-07-06 | 2022-01-13 | 杭州海康机器人技术有限公司 | Drive module and automated guided vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108423064B (en) | 2024-02-20 |
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