CN108583553B - Vehicle brake device - Google Patents
Vehicle brake device Download PDFInfo
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- CN108583553B CN108583553B CN201810423397.3A CN201810423397A CN108583553B CN 108583553 B CN108583553 B CN 108583553B CN 201810423397 A CN201810423397 A CN 201810423397A CN 108583553 B CN108583553 B CN 108583553B
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- brake
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
Abstract
A braking device of a vehicle comprises a front axle brake, a rear axle brake, a first energy accumulator, a second energy accumulator, a two-way brake valve, a first electromagnetic valve, a first shuttle valve, an inclination angle sensor, a main controller, a rotating speed sensor, a proximity switch, a first sensing piece and a second sensing piece; the first electromagnetic valve is communicated with the first energy accumulator and the first shuttle valve; the two-way brake valve is communicated with the first shuttle valve which is communicated with the front axle brake; the first electromagnetic valve, the inclination angle sensor, the rotating speed sensor and the proximity switch are electrically connected or wirelessly communicated with the main controller; when the slope value measured by the inclination angle sensor is larger than or equal to the slope value set in the main controller and the rotating speed value of the rotating speed sensor is 0rpm, the main controller controls the first electromagnetic valve to be electrified, and when the proximity switch is switched off, the main controller controls the first electromagnetic valve to be electrified. The invention can automatically brake when the vehicle is parked on a slope and automatically release the brake when the accelerator pedal is stepped on.
Description
Technical Field
The present invention relates to a vehicle, and more particularly, to a vehicle brake device.
Background
The vehicle sometimes needs to be parked on a slope, and at the moment, a driver needs to step on a brake pedal of a brake device of the vehicle to brake or perform parking brake, but often, due to negligence or inexperience, the driver does not step on the brake pedal of the brake device of the vehicle or perform parking brake, so that the vehicle slides down, danger is easy to occur, and safety is very unsafe. The braking device of the vehicle in the prior art is shown in fig. 2, and comprises a front axle brake 50, a rear axle brake 51, a first accumulator 52, a second accumulator 53 and a two-way brake valve 54, wherein the front axle brake 50 and the rear axle brake 51 are wet brakes, an oil inlet P1 port of the two-way brake valve 54 is communicated with the first accumulator 52, an execution port a1 port of the two-way brake valve 54 is communicated with the front axle brake 50, an oil inlet P2 port of the two-way brake valve 54 is communicated with the second accumulator 53, and an execution port a2 port of the two-way brake valve 54 is communicated with the rear axle brake 51. When the pressure of first and second accumulators 52, 53 drops, first and second accumulators 52, 53 are charged by a hydraulic pump on the vehicle through charge valves. When the brake pedal 54-1 of the dual brake valve 54 is depressed for braking, the pressure oil in the first accumulator 52 reaches the front axle brake 50 through the dual brake valve 54 to brake the front wheels, and the pressure oil in the second accumulator 53 reaches the rear axle brake 51 through the dual brake valve 54 to brake the rear wheels. The brake device can not automatically brake when the vehicle is parked on a slope, and when the vehicle is parked on the slope and a driver does not press the brake pedal 54-1 of the double-way brake valve 54 to brake or perform parking brake, the vehicle can slide down, so that danger is easy to occur and safety is very unsafe.
Disclosure of Invention
The invention aims to provide a vehicle brake device which can automatically brake when a vehicle parks on a slope and can automatically release the brake when an accelerator pedal is stepped.
In order to achieve the purpose, the invention adopts the following technical scheme: a braking device of a vehicle comprises a front axle brake, a rear axle brake, a first accumulator, a second accumulator and a two-way brake valve; an oil inlet P1 port of the two-way brake valve is communicated with the first energy accumulator, an oil inlet P2 port of the two-way brake valve is communicated with the second energy accumulator, and an execution port A2 port of the two-way brake valve is communicated with the rear axle brake;
the device also comprises a first electromagnetic valve, a first shuttle valve, an inclination angle sensor, a main controller, a rotating speed sensor, a proximity switch, a first sensing piece and a second sensing piece; an oil inlet P5 port of the first electromagnetic valve is communicated with a first energy accumulator, and an execution port A5 port of the first electromagnetic valve is communicated with a first oil inlet A3 port of the first shuttle valve; an execution port A1 of the two-way brake valve is communicated with a second oil inlet C3 of the first shuttle valve, and an oil outlet B3 of the first shuttle valve is communicated with a front axle brake; the terminal K5 end of the first electromagnetic valve, the tilt angle sensor, the rotating speed sensor and the proximity switch are all electrically connected or wirelessly communicated with the main controller; the rotating speed sensor corresponds to the first sensing piece; the proximity switch corresponds to the second sensing piece; when the slope value of the slope measured by the inclination angle sensor is greater than or equal to the slope value of the slope set in the main controller and the rotating speed value of the rotating speed sensor is 0rpm, the main controller controls a terminal K5 end of the first electromagnetic valve to be electrified, and at the moment, an oil inlet P5 port of the first electromagnetic valve is communicated with an execution port A5 port; when the proximity switch is turned off, the main controller controls the terminal K5 of the first electromagnetic valve to lose power.
The device also comprises a second electromagnetic valve and a second shuttle valve; an oil inlet P6 of the second electromagnetic valve is communicated with a second accumulator; the second shuttle valve is arranged on an oil channel from an execution port A2 of the two-way brake valve to the rear axle brake, a second oil inlet C4 port of the second shuttle valve is communicated with an execution port A2 port of the two-way brake valve, a first oil inlet A4 port of the second shuttle valve is communicated with an execution port A6 port of the second electromagnetic valve, an oil outlet B4 port of the second shuttle valve is communicated with the rear axle brake, and a terminal K6 end of the second electromagnetic valve is electrically connected or wirelessly communicated with the main controller; when the slope value of the slope measured by the inclination angle sensor is greater than or equal to the slope value of the slope set in the main controller and the rotating speed value of the rotating speed sensor is 0rpm, the main controller controls the terminal K6 end of the second electromagnetic valve to be electrified, and the oil inlet P6 port of the second electromagnetic valve is communicated with the execution port A6 port; when the proximity switch is turned off, the main controller controls the terminal K6 of the second electromagnetic valve to lose power.
The invention has the following positive effects: (1) because the oil inlet P5 port of the first electromagnetic valve is communicated with the first accumulator, the execution port A5 port of the first electromagnetic valve is communicated with the first oil inlet A3 port of the first shuttle valve; an execution port A1 of the two-way brake valve is communicated with a second oil inlet C3 of the first shuttle valve, and an oil outlet B3 of the first shuttle valve is communicated with the front axle brake; the terminal K5 end of the first electromagnetic valve, the tilt angle sensor, the rotating speed sensor and the proximity switch are all electrically connected or wirelessly communicated with the main controller; the rotating speed sensor corresponds to the first sensing piece; the proximity switch corresponds to the second sensing piece, when the slope value of the slope measured by the inclination angle sensor is larger than or equal to the slope value of the slope set in the main controller and the rotating speed value of the rotating speed sensor is 0rpm, the main controller controls the terminal K5 end of the first electromagnetic valve to be electrified, and when the proximity switch is switched off, the main controller controls the terminal K5 end of the first electromagnetic valve to be electrified. When the invention is used, the first sensing piece is fixedly connected to the wheel hub of the wheel of the vehicle, the second sensing piece is fixedly connected to the accelerator pedal of the vehicle, therefore, when the slope value of the slope on which the vehicle is positioned is greater than or equal to the slope value of the slope set in the main controller, and the driver does not press the brake pedal of the two-way brake valve to brake, and also does not perform parking brake, at this time, the slope value of the slope measured by the inclination angle sensor is greater than or equal to the slope value of the slope set in the main controller, and at this time, the vehicle is in a parking state, the wheel does not rotate, the rotating speed value of the rotating speed sensor is 0rpm, the main controller controls the terminal K5 end of the first electromagnetic valve to be electrified, the oil inlet P5 port of the first electromagnetic valve is communicated with the execution port A5 port, the pressure oil in the first accumulator passes through the first electromagnetic valve and then passes through the first oil inlet A3 port of the first shuttle, and braking the front wheels. Even if a driver does not press down the brake pedal of the double-way brake valve to brake on a slope, the front wheel can be automatically braked when the vehicle is stopped on the slope, so that the vehicle cannot slide down, danger is not easy to occur, and the vehicle is very safe. When the vehicle needs to run, a driver can step on an accelerator pedal, the proximity switch is disconnected, the main controller controls the terminal K5 end of the first electromagnetic valve to lose power, the oil inlet P5 port of the first electromagnetic valve is not communicated with the execution port A5 port, pressure oil in the first energy accumulator cannot reach a front axle brake, and the brake is automatically released.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic diagram of a prior art braking arrangement for a vehicle;
FIG. 3 is a schematic view of the speed sensor and first sensing member of FIG. 1 mounted on a vehicle;
fig. 4 is a schematic view of the proximity switch and the second sensing member of fig. 1 mounted on a vehicle.
The reference numbers in the above figures are as follows: the brake system comprises a first electromagnetic valve 1, a first shuttle valve 2, a second electromagnetic valve 3, a second shuttle valve 4, an inclination angle sensor 5, a main controller 6, a rotating speed sensor 7, a proximity switch 8, a first sensing part 9, a second sensing part 10, a front axle brake 50, a rear axle brake 51, a first energy accumulator 52, a second energy accumulator 53, a two-way brake valve 54, a brake pedal 54-1, a hub 60, an accelerator pedal 70 and a bracket 71.
Detailed Description
The invention is further described below with reference to the accompanying drawings and the examples given.
As shown in fig. 1, a brake apparatus of a vehicle includes a front axle brake 50, a rear axle brake 51, a first accumulator 52, a second accumulator 53, and a two-way brake valve 54; the front axle brake 50 and the rear axle brake 51 are wet brakes, and the two-way brake valve 54 adopts a MICO two-way brake valve with the model number of 06-466-240. An oil inlet P1 port of the two-way brake valve 54 is communicated with the first energy accumulator 52, an oil inlet P2 port of the two-way brake valve 54 is communicated with the second energy accumulator 53, and an execution port A2 port of the two-way brake valve 54 is communicated with the rear axle brake 51;
the device also comprises a first electromagnetic valve 1, a first shuttle valve 2, an inclination angle sensor 5, a main controller 6, a rotating speed sensor 7, a proximity switch 8, a first sensing part 9 and a second sensing part 10; the first induction part 9 and the second induction part 10 are made of magnetic steel. An oil inlet P5 port of the first electromagnetic valve 1 is communicated with the first energy accumulator 52, and an execution port A5 port of the first electromagnetic valve 1 is communicated with a first oil inlet A3 port of the first shuttle valve 2; an execution port A1 of the two-way brake valve 54 is communicated with a second oil inlet C3 of the first shuttle valve 2, and an oil outlet B3 of the first shuttle valve 2 is communicated with the front axle brake 50; the terminal K5 end of the first electromagnetic valve 1, the tilt angle sensor 5, the rotating speed sensor 7 and the proximity switch 8 are electrically connected or wirelessly communicated with the main controller 6; the tilt sensor 5 is used to measure the value of the slope of the ramp. The rotating speed sensor 7 corresponds to the first sensing piece 9; the proximity switch 8 corresponds to the second sensing piece 10; when the slope value of the slope measured by the tilt sensor 5 is greater than or equal to the slope value of the slope set in the main controller 6 and the rotating speed value of the rotating speed sensor 7 is 0rpm, the main controller 6 controls the terminal K5 end of the first electromagnetic valve 1 to be electrified, and at the moment, the oil inlet P5 port of the first electromagnetic valve 1 is communicated with the execution port A5 port; when the proximity switch 8 is turned off, the main controller 6 controls the terminal K5 of the first electromagnetic valve 1 to lose power.
The device also comprises a second electromagnetic valve 3 and a second shuttle valve 4; an oil inlet P6 of the second electromagnetic valve 3 is communicated with a second accumulator 53; the second shuttle valve 4 is arranged on an oil passage from an execution port A2 of the two-way brake valve 54 to the rear axle brake 51, a second oil inlet C4 of the second shuttle valve 4 is communicated with an execution port A2 of the two-way brake valve 54, a first oil inlet A4 of the second shuttle valve 4 is communicated with an execution port A6 of the second electromagnetic valve 3, an oil outlet B4 of the second shuttle valve 4 is communicated with the rear axle brake 51, and a terminal K6 end of the second electromagnetic valve 3 is electrically or wirelessly communicated with the main controller 6; when the slope value of the slope measured by the tilt sensor 5 is greater than or equal to the slope value of the slope set in the main controller 6 and the rotating speed value of the rotating speed sensor 7 is 0rpm, the main controller 6 controls the terminal K6 end of the second electromagnetic valve 3 to be electrified, and at the moment, the oil inlet P6 port of the second electromagnetic valve 3 is communicated with the execution port A6 port; when the proximity switch 8 is turned off, the main controller 6 controls the terminal K6 of the second electromagnetic valve 3 to lose power.
The main controller 6 is a PLC, in which the CPU 1215C manufactured by siemens is used as the CPU. The proximity switch 8 is a proximity switch manufactured by the Otorx company and having the model number PR18-8DP2, and the rotating speed sensor 7 adopts a Hall rotating speed sensor having the model number WS 1-ZS-6. The tilt sensor 5 is a tilt sensor manufactured by the optoelectronic technology Limited of Shenzhen, with model number SCA 61T.
In use, as shown in fig. 3, the first sensor 9 is fixedly connected to a hub 60 of a wheel of a vehicle, and the rotation speed sensor 7 is fixedly connected to a housing of a front axle brake 50 of the vehicle, and the fixed connection may be welding or bolt connection. When the wheel rotates, the first sensing member 9 mounted on the hub 60 of the wheel rotates together, and the rotation speed sensor 7 collects the rotation speed of the wheel through the first sensing member 9, and when the vehicle starts to run, the rotation speed of the wheel collected by the rotation speed sensor 7 may be greater than 0 rpm. As shown in fig. 4, the second sensor 10 is fixedly connected to an accelerator pedal 70 of the vehicle, the proximity switch 8 is mounted on a bracket 71, the bracket 71 is fixedly connected to a floor of a cab of the vehicle, the fixing connection may be welding or bolting, and the mounting position of the proximity switch 8 corresponds to the position of the second sensor 10 when the accelerator pedal 70 is not depressed, that is, when the driver does not depress the accelerator pedal 70, the proximity switch 8 is turned on, and when the driver depresses the accelerator pedal 70, the proximity switch 8 is turned off. The inclination angle sensor 5 and the main controller 6 are fixedly connected to a frame of a vehicle, the inclination angle sensor 5 is used for measuring the inclination value of a slope on which the vehicle is located, the inclination value of the slope set in the main controller 6 is the inclination value of the slope which is obtained through testing and can slide down just after the vehicle stops on the slope when a driver does not brake or does parking brake, that is, when the inclination value of the slope on which the vehicle is located is smaller than the inclination value of the slope set in the main controller 6, the vehicle can not slide down even if the vehicle does not brake or does not have parking brake, and when the inclination value of the slope on which the vehicle is located is equal to the inclination value of the slope set in the main controller 6, the vehicle can slide down just after stopping on the slope and without braking or without parking brake.
The working principle of the invention is as follows: when the vehicle is stopped on a slope and the slope value of the slope does not reach the slope value of the slope set in the main controller 6, even if the driver does not press the brake pedal 54-1 of the two-way brake valve 54 of the vehicle to brake, the vehicle is not braked to stop and does not slide down. As shown in fig. 1, 3 and 4, when the slope value of the slope on which the vehicle is located is greater than or equal to the slope value of the slope set in the main controller 6, and the driver does not press the brake pedal 54-1 of the two-way brake valve 54 to brake, and also does not perform parking brake, the slope value of the slope measured by the tilt sensor 5 is greater than or equal to the slope value of the slope set in the main controller 6, and at this time, the vehicle is in a parking state, the wheels do not rotate, the rotation speed value of the rotation speed sensor 7 is 0rpm, the main controller 6 controls the terminal K5 of the first electromagnetic valve 1 to be powered on, the oil inlet P5 of the first electromagnetic valve 1 is communicated with the port a5, and the pressure oil in the first accumulator 52 passes through the first electromagnetic valve 1 and then reaches the front axle brake 50 through the port A3 of the first shuttle valve 2 to brake the front wheels. Even if the driver does not press down the brake pedal 54-1 of the double-way brake valve 54 to brake on the slope, the vehicle can automatically brake the front wheels when the vehicle is stopped on the slope, so that the vehicle does not slide down, is not easy to generate danger and is very safe. When the driver needs to drive, the driver can step on the accelerator pedal 70, the proximity switch 8 is switched off, the main controller 6 controls the terminal K5 end of the first electromagnetic valve 1 to lose power, the oil inlet P5 port of the first electromagnetic valve 1 is not communicated with the execution port A5 port, the pressure oil in the first accumulator 52 cannot reach the front axle brake 50, and the brake is automatically released.
When the invention also comprises a second electromagnetic valve 3 and a second shuttle valve 4, the working principle is the same as that of the first electromagnetic valve 1 and the first shuttle valve 2, so that the vehicle can automatically brake not only the front wheels but also the rear wheels when parking on a slope, and the vehicle can not slide down and is less prone to danger.
When the brake pedal 54-1 of the double-way brake valve 54 is stepped on during normal braking, pressure oil in the first energy accumulator 52 passes through the double-way brake valve 54 and then reaches the front axle brake 50 through the second oil inlet C3 of the first shuttle valve 2, so that the front wheels are braked, and pressure oil in the second energy accumulator 53 passes through the double-way brake valve 54 and then reaches the rear axle brake 51 through the second oil inlet C4 of the second shuttle valve 4, so that the rear wheels are braked.
Claims (2)
1. A braking device of a vehicle comprises a front axle brake (50), a rear axle brake (51), a first accumulator (52), a second accumulator (53) and a two-way brake valve (54); an oil inlet P1 port of the two-way brake valve (54) is communicated with the first energy accumulator (52), an oil inlet P2 port of the two-way brake valve (54) is communicated with the second energy accumulator (53), and an execution port A2 port of the two-way brake valve (54) is communicated with the rear axle brake (51); the method is characterized in that:
the device also comprises a first electromagnetic valve (1), a first shuttle valve (2), an inclination angle sensor (5), a main controller (6), a rotating speed sensor (7), a proximity switch (8), a first sensing piece (9) and a second sensing piece (10); an oil inlet P5 port of the first electromagnetic valve (1) is communicated with a first energy accumulator (52), and an execution port A5 port of the first electromagnetic valve (1) is communicated with a first oil inlet A3 port of the first shuttle valve (2); an execution port A1 of the two-way brake valve (54) is communicated with a second oil inlet C3 of the first shuttle valve (2), and an oil outlet B3 of the first shuttle valve (2) is communicated with the front axle brake (50); the terminal K5 end of the first electromagnetic valve (1), the tilt angle sensor (5), the rotating speed sensor (7) and the proximity switch (8) are electrically connected or wirelessly communicated with the main controller (6); the rotating speed sensor (7) corresponds to the first sensing part (9); the proximity switch (8) corresponds to the second sensing piece (10); when the slope value of the slope measured by the tilt angle sensor (5) is greater than or equal to the slope value of the slope set in the main controller (6) and the rotating speed value of the rotating speed sensor (7) is 0rpm, the main controller (6) controls the terminal K5 end of the first electromagnetic valve (1) to be electrified, and at the moment, the oil inlet P5 of the first electromagnetic valve (1) is communicated with the execution port A5; when the proximity switch (8) is turned off, the main controller (6) controls the terminal K5 of the first electromagnetic valve (1) to lose power.
2. The braking device of a vehicle according to claim 1, characterized in that: the device also comprises a second electromagnetic valve (3) and a second shuttle valve (4); an oil inlet P6 of the second electromagnetic valve (3) is communicated with a second energy accumulator (53); the second shuttle valve (4) is arranged on an oil channel from an execution port A2 of the two-way brake valve (54) to the rear axle brake (51), a second oil inlet C4 of the second shuttle valve (4) is communicated with an execution port A2 of the two-way brake valve (54), a first oil inlet A4 of the second shuttle valve (4) is communicated with an execution port A6 of the second electromagnetic valve (3), an oil outlet B4 of the second shuttle valve (4) is communicated with the rear axle brake (51), and a terminal K6 end of the second electromagnetic valve (3) is electrically connected or wirelessly communicated with the main controller (6); when the slope value of the slope measured by the tilt angle sensor (5) is greater than or equal to the slope value of the slope set in the main controller (6) and the rotating speed value of the rotating speed sensor (7) is 0rpm, the main controller (6) controls the terminal K6 end of the second electromagnetic valve (3) to be electrified, and at the moment, the oil inlet P6 of the second electromagnetic valve (3) is communicated with the execution port A6; when the proximity switch (8) is switched off, the main controller (6) controls the terminal K6 end of the second electromagnetic valve (3) to lose power.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423397.3A CN108583553B (en) | 2018-05-06 | 2018-05-06 | Vehicle brake device |
| CN202010839457.7A CN111942351B (en) | 2018-05-06 | 2018-05-06 | Vehicle brake device capable of automatic braking and automatic releasing |
| CN202010839435.0A CN111923880B (en) | 2018-05-06 | 2018-05-06 | Braking device of vehicle capable of automatically braking and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423397.3A CN108583553B (en) | 2018-05-06 | 2018-05-06 | Vehicle brake device |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010839435.0A Division CN111923880B (en) | 2018-05-06 | 2018-05-06 | Braking device of vehicle capable of automatically braking and working method thereof |
| CN202010839457.7A Division CN111942351B (en) | 2018-05-06 | 2018-05-06 | Vehicle brake device capable of automatic braking and automatic releasing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108583553A CN108583553A (en) | 2018-09-28 |
| CN108583553B true CN108583553B (en) | 2020-10-27 |
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Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810423397.3A Active CN108583553B (en) | 2018-05-06 | 2018-05-06 | Vehicle brake device |
| CN202010839457.7A Active CN111942351B (en) | 2018-05-06 | 2018-05-06 | Vehicle brake device capable of automatic braking and automatic releasing |
| CN202010839435.0A Active CN111923880B (en) | 2018-05-06 | 2018-05-06 | Braking device of vehicle capable of automatically braking and working method thereof |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010839457.7A Active CN111942351B (en) | 2018-05-06 | 2018-05-06 | Vehicle brake device capable of automatic braking and automatic releasing |
| CN202010839435.0A Active CN111923880B (en) | 2018-05-06 | 2018-05-06 | Braking device of vehicle capable of automatically braking and working method thereof |
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| CN (3) | CN108583553B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484381A (en) * | 2018-11-04 | 2019-03-19 | 刘剑 | The gear and brake linkage of vehicle |
| CN112810593B (en) * | 2018-12-21 | 2023-10-17 | 常州爱上学教育科技有限公司 | Vehicle braking device and working method thereof |
| CN112161046B (en) * | 2020-10-29 | 2022-04-12 | 烟台裕华液力机械有限公司 | Hydraulic control system for transmission of engineering vehicle |
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| CN206766014U (en) * | 2017-05-16 | 2017-12-19 | 中国煤炭科工集团太原研究院有限公司 | A kind of mine vehicle hydraulic system with vehicle brake fade autoamtic protection device for forming |
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| Publication number | Publication date |
|---|---|
| CN108583553A (en) | 2018-09-28 |
| CN111942351A (en) | 2020-11-17 |
| CN111923880A (en) | 2020-11-13 |
| CN111942351B (en) | 2021-09-10 |
| CN111923880B (en) | 2021-11-26 |
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