CN108674510A - A kind of Y humanoid robots - Google Patents
A kind of Y humanoid robots Download PDFInfo
- Publication number
- CN108674510A CN108674510A CN201810477003.2A CN201810477003A CN108674510A CN 108674510 A CN108674510 A CN 108674510A CN 201810477003 A CN201810477003 A CN 201810477003A CN 108674510 A CN108674510 A CN 108674510A
- Authority
- CN
- China
- Prior art keywords
- telescopic arm
- sucker
- main body
- body frame
- humanoid robots
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Y humanoid robots, can be moved freely in the vertical surface of the heavy constructions such as building or device, including：Main body frame, telescopic arm, sucker, high-speed stepper motor, screw rod；Main body frame is regular hexagon structure, and uniformly there are three telescopic arms for arrangement installation on the side of the main body frame of the regular hexagon, are in y-type structure；One end of each telescopic arm is connect with main body frame by guide rail sliding extension, the other end of each telescopic arm is connected with sucker by projecting shaft, in Y types arrangement installation, there are three high-speed stepper motors inside main body frame, each high-speed stepper motor corresponds to a telescopic arm, output shaft connecting screw one end of high-speed stepper motor, the other end of screw rod is connected with telescopic arm screw-driven, and screw rod positive and negative rotation is driven by high-speed stepper motor, to drive telescopic arm to stretch out or retraction main body frame.The configuration of the present invention is simple is skillfully constructed, and is not necessarily to track, can be used in rough vertical surface.
Description
Technical field
The present invention relates to a kind of free-moving Y humanoid robots of vertical surface in the heavy constructions such as building or device.
Background technology
Often need certain apparatus for work can be in outer surface of building, large-scale hull surface, large tank in production and living
Surface, large-size box surface, large-scale steelframe structural construction, large-sized silo surface and Large Furnace body surface face etc. carry out mobile operation,
Such as cleaning, transport, mopping, rapping etc..Scaffolding progress operation manually is generally required to carry out operation, this mode is non-
It is normal time-consuming and laborious while there is also prodigious risks.Its structure of mobile robot in the prior art is complex, uses
Magnetic walking mechanism be mostly single magnet arrangement, frequently can lead to sucker when having curvature or thering is rough surface to walk
It adsorbs insecure, also has the moving trolley using track structure in the prior art, although it can solve sucker suction loosely
Problem, but use its structure of crawler belt more complicated, weight is also more heavy.
Invention content
The present invention is directed to the problem of mentioning in background technology, and devise a kind of structure different from the past and movement technique can
In the free-moving Y humanoid robots of vertical surface, technical solution is：In the free-moving Y humanoid robots of vertical surface, the machine
Device people includes main body frame, telescopic arm, sucker, high-speed stepper motor, screw rod, controller, energy storage device, equipment；It is special
Sign is：The main body frame is regular hexagon structure, and uniformly arrangement is equipped on the side of the main body frame of the regular hexagon
Three telescopic arms are in y-type structure；One end of each telescopic arm is connected with the main body frame by guide rail sliding extension
It connects, the other end of each telescopic arm is connected with the sucker by projecting shaft, and the sucker is located at each telescopic arm
The other end lower section；The main body frame is cavity or frame structure, and internal in Y types arrangement installation, there are three the high speeds
Stepper motor, each high-speed stepper motor correspond to a telescopic arm, the output axis connection of the high-speed stepper motor
One end of the screw rod, the other end of the screw rod are connected with the telescopic arm screw-driven, pass through the high-speed stepper motor
The screw rod positive and negative rotation is driven, to drive the telescopic arm to stretch out or retraction main body frame；The main body frame top peace
Equipped with the controller and the energy storage device, for controlling entire robot operation and providing electric energy for energy-consuming parts；Institute
It states main body frame lower part and the equipment is installed.
The surface is made of magnetic or magnetisable substance, and the sucker is magnechuck comprising shaft coupling, sucker
Axis, flexible inclusion enclave, link mechanism, compact electromagnetic coil, resilient hinge；The sucker passes through described in the connection of shaft coupling top
The projecting shaft of telescopic arm；The projecting shaft is rotatablely connected by bearing and the telescopic arm；Sucker axis top and shaft coupling
Lower removable connects；Sucker axis lower part is connected to multiple link mechanisms, one end of each link mechanism and the sucker
Axis elastic hinge joint, each link mechanism other end are equipped with the compact electromagnetic coil, and the compact electromagnetic coil is with institute
State rounded matrix or radial arrangement centered on sucker axis；The flexibility inclusion enclave will each compact electromagnetic coil and institute
It is an entirety to state link mechanism package.
The link mechanism includes first connecting rod, second connecting rod and third connecting rod；Described first connecting rod one end and small electrical
Magnetic coil connects, and the other end is connect by resilient hinge with described second connecting rod one end；The second connecting rod other end passes through
Resilient hinge is connect with described third connecting rod one end；The third connecting rod other end passes through resilient hinge and the sucker axis
Connection；The resilient hinge includes articulated shaft and can restore connector, and it is every that each link mechanism, which is built-in with conducting wire,
A compact electromagnetic coil conveys electric energy.
Preferably, the flexible inclusion enclave is high molecule plastic material；It is described restore connector be torsional spring, tension spring or
It is gas spring.
Preferably, the shaft coupling is yielding coupling or Hooks coupling universal coupling or combinations thereof.
Preferably, the equipment is the devices such as spray equipment, rapping apparatus, cleaning device or draft gear.
Preferably, each telescopic arm top is also installed with small-sized power assisting device, the small-sized power assisting device
Power output shaft is connect across the telescopic arm with the shaft coupling fixed conveyor of the sucker.
Preferably, small-sized power assisting device is servo motor, stepper motor, DC brushless motor, hydraulic motor or air pressure horse
Up to equal device for generating power.
Preferably, the outside of the compact electromagnetic coil is enclosed with magnetic shielding material except the base.
Preferably, antenna is installed on the controller, for being communicated with external control and/or receiving device.
Description of the drawings
Fig. 1 is the front view of Y humanoid robots.
Fig. 2 is the sectional view of the telescopic arm of Y humanoid robots in embodiment one.
Fig. 3 is the sectional view of the telescopic arm of Y humanoid robots in embodiment two.
Fig. 4 is the front view of magnetic chuck.
Fig. 5 is the vertical view of magnetic chuck.
Fig. 6 is link mechanism connection figure.
Fig. 7, Fig. 8 are magnetic chuck in the uneven schematic diagram for showing closely to be attracted.
Fig. 9, Figure 10 are the movement schematic diagram of Y humanoid robots.
Reference sign：It is main body frame 1, telescopic arm 2, projecting shaft 2-1, sucker 3, shaft coupling 3-1, sucker axis 3-2, soft
Property inclusion enclave 3-3, link mechanism 3-4, first connecting rod 3-4-1, second connecting rod 3-4-2, third connecting rod 3-4-3, small electrical magnet-wire
Circle 3-5, resilient hinge 3-6, can restore connector 3-6-1, high-speed stepper motor 4, screw rod 5, controller 6, energy storage device 7,
Equipment 8, small-sized power assisting device 9.
Specific implementation mode
Embodiment 1
, can be in the free-moving Y humanoid robots of vertical surface as shown in attached drawing 1-2, which includes main body frame
1, telescopic arm 2, sucker 3, high-speed stepper motor 4, screw rod 5, controller 6, energy storage device 7, equipment 8；It is characterized in that：Main body
Frame 1 is regular hexagon structure, and uniformly arrangement is installed there are three telescopic arm 2 on the side of the main body frame 1 of the regular hexagon,
In y-type structure；One end of each telescopic arm 2 is connect with main body frame 1 by guide rail sliding extension, each telescopic arm 2 it is another
End is connected with sucker 3 by projecting shaft 2-1, and sucker 3 is located at the lower section of the other end of each telescopic arm 2；Main body frame 1 is cavity
Or frame structure, internal to be installed there are three high-speed stepper motor 4 in the arrangement of Y types, each high-speed stepper motor 4 corresponds to one and stretches
Contracting arm 2, one end of the output shaft connecting screw 5 of high-speed stepper motor 4, the other end and 2 screw-driven of telescopic arm of screw rod 5 connect
It connects, 5 positive and negative rotation of screw rod is driven by high-speed stepper motor 4, to drive telescopic arm 2 to stretch out or retraction main body frame 1；Main body
1 top of frame is equipped with controller 6 and energy storage device 7, for controlling entire robot operation and providing electricity for energy-consuming parts
Energy；1 lower part of main body frame is equipped with equipment 8, and equipment 8 is spray equipment, rapping apparatus, cleaning device or traction dress
Set equal devices.
Its operation principle/method is, referring to attached drawing 9-10, by three telescopic arms 2 of Y humanoid robots be respectively defined as A1,
A2、A3。
When Y humanoid robots need transverse shifting shown in attached drawing 9, it is de- that controller 6 controls the sucker on telescopic arm A1, A2
Surface from its absorption, the sucker controlled on telescopic arm A3 is still adsorbed on surface, due to being in vertical surface, in the work of gravity
Under, sucker of the entire Y humanoid robots on telescopic arm A3 is axis rotation, in entire Y humanoid robots by horizontally rotating most
During low spot, the screw rod 5 of three telescopic arms connection is driven by high-speed stepper motor 4 to be rotated forward, and controls three telescopic arm elongations,
Reduce the position of centre of gravity of Y humanoid robots；During entire Y humanoid robots turn to level by minimum point again, three flexible
The screw rod 5 of arm connection is driven by high-speed stepper motor 4 to be inverted, and is controlled three telescopic arms and is shortened, increases the center of gravity position of Y humanoid robots
It sets, the sucker on telescopic arm A1, A2 and vertical surface absorption is controlled when entire Y humanoid robots move to horizontal position, is completed
The transverse shifting of one process.
When Y humanoid robots need to move up shown in attached drawing 10, controller 6 controls the sucker on telescopic arm A1, A2
It is detached from the surface of its absorption, the sucker on control telescopic arm A3 is still adsorbed on surface, due to being in vertical surface, in gravity
Under effect, sucker of the entire Y humanoid robots on telescopic arm A3 is axis rotation, in entire Y humanoid robots by horizontally rotating
During minimum point, the screw rod 5 of three telescopic arms connection is driven by high-speed stepper motor 4 to be rotated forward, and three telescopic arms of control are stretched
It is long, the position of centre of gravity of Y humanoid robots is reduced, three telescopic arms are elongated to longest state in minimum point；In entire Y humanoid robots
During turning to peak by minimum point again, the screw rod 5 of three telescopic arms connection is driven by high-speed stepper motor 4 to be inverted,
Three telescopic arms of control shorten, and the position of centre of gravity of Y humanoid robots are increased, in entire Y types machine movement to peak position time control
Sucker and vertical surface absorption, one process of completion on telescopic arm A1, A2 processed move up.
It is above-mentioned, laterally and upward moving process principle of conservation of momentum is utilized, by control three telescopic arm A1, A2,
The length of A3 constantly changes, so that the center of gravity of Y humanoid robots generates variation so that the center of gravity of Y humanoid robots is constantly shaken
It swings, to drive the rotation of entire Y humanoid robots, to achieve the purpose that mobile Y humanoid robots, entire rotation process can be with analogies
In the process and principle of " playing on a swing " either " gymnast rotates on horizontal bar ".
When Y humanoid robots need to move down, it is only necessary to a sucker suction for being in Y humanoid robots lower part telescopic arm
On surface, Y humanoid robots, which can be thus achieved, under gravity moves downward.
When Y humanoid robots by it is above-mentioned move to reach working region when, controller 6 controls the suction on telescopic arm A1, A2, A3
Disk and vertical surface absorption, equipment 8 are started to work.
Embodiment 2
As shown in attached drawing 1-2,4-6, in embodiment 1 on the basis of Y humanoid robots, in the present embodiment, connect with sucker
Tactile surface is made of magnetic or magnetisable substance, and sucker 3 is magnechuck comprising shaft coupling 3-1, sucker axis 3-2, soft
Property inclusion enclave 3-3, link mechanism 3-4, compact electromagnetic coil 3-5, resilient hinge 3-6；Sucker 3 passes through the tops shaft coupling 3-1
Connect the projecting shaft 2-1 of telescopic arm 2；Projecting shaft 2-1 is rotatablely connected by bearing and telescopic arm 2；The sucker tops axis 3-2 and shaft coupling
Device 3-1 lower removables connect, and shaft coupling 3-1 is yielding coupling or Hooks coupling universal coupling or combinations thereof；The lower parts sucker axis 3-2 connect
There are multiple link mechanism 3-4, one end of each link mechanism 3-4 and sucker axis 3-2 elastic hinge joints, each link mechanism 3-4 another
One end is equipped with compact electromagnetic coil 3-5, compact electromagnetic coil the 3-5 rounded matrix or radial centered on sucker axis 3-2
Arrangement；Each compact electromagnetic coil 3-5 and link mechanism 3-4 packages are an entirety, flexible inclusion enclave by flexible inclusion enclave 3-3
3-3 is high molecule plastic material, can change its form with the change of each positions compact electromagnetic coil 3-5, while
Play the role of that compact electromagnetic coil is protected not influenced by external environment (such as dust or water etc.).Link mechanism 3-4 packets
Include first connecting rod 3-4-1, second connecting rod 3-4-2 and third connecting rod 3-4-3；The one end first connecting rod 3-4-1 and compact electromagnetic coil
3-5 connections, the other end are connect by resilient hinge 3-6 with the one end second connecting rod 3-4-2；The second connecting rod 3-4-2 other ends are logical
Resilient hinge 3-6 is crossed to connect with the one end third connecting rod 3-4-3；The third connecting rod 3-4-3 other ends by resilient hinge 3-6 with
The 3-2 connections of sucker axis；Resilient hinge 3-6 includes articulated shaft and can restore connector 3-6-1, and can restore connector 3-6-1 is
Torsional spring, tension spring either gas spring, the shape for making sucker 3 be kept fixed in off working state；Each link mechanism 3-4
It is that each compact electromagnetic coil 3-5 conveys electric energy to be built-in with conducting wire.It wraps up except the base the outside of compact electromagnetic coil 3-5
There is a magnetic shielding material, such as stainless steel etc. interferes with each other for preventing from generating between coil.
Its operation principle is, when magnechuck 3 is contacted in rough surface, there are multiple small in a sucker
Type electromagnetic coil 3-5 so that as shown in figures 5-6, each compact electromagnetic coil 3-5 can as far as possible connect with body surface
It touches, simultaneously because using flexible inclusion enclave 3-3 package compact electromagnetic coils 3-5, each compact electromagnetic coil 3-5 is connected with
Linkage 3-4 promotes entire magnechuck to be deformed, and generates contact with body surface to greatest extent, improves sucker
Adsorption capacity；Link mechanism 3-4 uses when sucker leaves body surface due to each compact electromagnetic coil 3-5 connections can restore
Connector 3-6-1, such as torsional spring, tension spring either gas spring etc. can restore connector 3-6-1 and link mechanism 3-4 driven
Compact electromagnetic coil 3-5 and entire magnechuck are restored to the state before deformation.
Embodiment 3
Referring to Fig.1,3, in embodiment 1,2 on the basis of Y humanoid robots, small-sized help is increased on each telescopic arm 2
Power apparatus 9, the power output shaft of small-sized power assisting device 9 pass through the shaft coupling 3-1 of the telescopic arm 2 and the sucker 3 to fix and pass
Dynamic connection so that small-sized power assisting device 9 can drive telescopic arm 2 to be relatively rotated with sucker 3.
Its working principle is that during Y humanoid robots rotate if there is the situation of rotational power deficiency when, control
Device 6 controls the small-sized power assisting device 9 being connect with the sucker 3 that vertical surface is adsorbed and brings into operation, and auxiliary power, band are provided for rotation
Dynamic Y humanoid robots rotation, when 3 vertical surface of sucker is rotated with Y humanoid robots, the control of controller 6 is connect with the sucker 3
Small-sized power assisting device 9 to drive the sucker 3 reversion, rotational angle be the angle of the last rotation of the sucker 3, power for preventing
Or pilot winding.
It above are only preferred embodiment and the institute's application technology principle of invention, any one skilled in the art
In the technical scope disclosed by the present invention, the change or replacement embodiment being readily apparent that should all cover the protection in the present invention
In range.
Claims (9)
1. a kind of Y humanoid robots, which can be in vertical surface free movement comprising, main body frame (1), telescopic arm
(2), sucker (3), high-speed stepper motor (4), screw rod (5), controller (6), energy storage device (7), equipment (8)；Its feature
It is：The main body frame (1) is regular hexagon structure, and uniformly there are three described for arrangement installation on the side of main body frame (1)
Telescopic arm (2) is in y-type structure；One end of each telescopic arm (2) passes through guide rail sliding extension with the main body frame (1)
The other end of connection, each telescopic arm (2) is connected with the sucker (3), sucker (3) position by projecting shaft (2-1)
In the lower section of the other end of each telescopic arm (2)；The main body frame (1) is cavity or frame structure, and internal is in Y types
There are three the high-speed stepper motor (4), each high-speed stepper motors (4) to correspond to a telescopic arm for arrangement installation
(2), one end of screw rod (5) described in the output axis connection of the high-speed stepper motor (4), the other end of the screw rod (5) and institute
The connection of telescopic arm (2) screw-driven is stated, screw rod (5) positive and negative rotation is driven by the high-speed stepper motor (4), to drive
The telescopic arm (2) is stretched out or retraction main body frame (1)；Main body frame (1) top be equipped with the controller (6) and
The energy storage device (7), for controlling entire robot operation and providing electric energy for energy-consuming parts；The main body frame (1)
Lower part is equipped with the equipment (8).
2. a kind of Y humanoid robots as described in claim 1, it is characterised in that：The surface is using magnetic or magnetisable substance
It is made, the sucker (3) is magnechuck comprising shaft coupling (3-1), sucker axis (3-2), flexible inclusion enclave (3-3), connecting rod
Mechanism (3-4), compact electromagnetic coil (3-5), resilient hinge (3-6)；The sucker (3) is connected by the top shaft coupling (3-1)
Connect the projecting shaft (2-1) of the telescopic arm (2)；The projecting shaft (2-1) is rotatablely connected by bearing and the telescopic arm (2)；
The sucker axis top (3-2) is connect with shaft coupling (3-1) lower removable；Sucker axis (3-2) lower part is connected with multiple companies
Linkage (3-4), one end of each link mechanism (3-4) and the sucker axis (3-2) elastic hinge joint, each connecting rod
Mechanism (3-4) other end is equipped with the compact electromagnetic coil (3-5), and the compact electromagnetic coil (3-5) is with the sucker axis
Rounded matrix or radial arrangement centered on (3-2)；The flexibility inclusion enclave (3-3) will each compact electromagnetic coil
(3-5) and the link mechanism (3-4) package are an entirety.
3. a kind of Y humanoid robots as claimed in claim 2, it is characterised in that：The link mechanism (3-4) includes first connecting rod
(3-4-1), second connecting rod (3-4-2) and third connecting rod (3-4-3)；Described first connecting rod one end (3-4-1) and small electrical magnet-wire
(3-5) connection is enclosed, the other end is connect by resilient hinge (3-6) with the one end the second connecting rod (3-4-2)；Described second connects
Bar (3-4-2) other end is connect by resilient hinge (3-6) with the one end the third connecting rod (3-4-3)；The third connecting rod
(3-4-3) other end is connect by resilient hinge (3-6) with the sucker axis (3-2)；The resilient hinge (3-6) includes
Articulated shaft and connector (3-6-1) can be restored, it is each small electrical that each link mechanism (3-4), which is built-in with conducting wire,
Magnetic coil (3-5) conveys electric energy.
4. a kind of Y humanoid robots as described in claim 2-3, it is characterised in that：The flexibility inclusion enclave (3-3) is macromolecule
Plastic material；The connector (3-6-1) that restores is torsional spring, tension spring either gas spring.
5. a kind of Y humanoid robots according to claim 2-3, it is characterised in that：The shaft coupling (3-1) is elastic shaft coupling
Device or Hooks coupling universal coupling or combinations thereof.
6. a kind of Y humanoid robots according to claim 1, it is characterised in that：The equipment (8) be spray equipment,
Rapping apparatus, cleaning device or draft gear.
7. a kind of Y humanoid robots according to claim 1, it is characterised in that：Each telescopic arm (2) top is also fixed
Small-sized power assisting device (9) is installed, the power output shaft of the small-sized power assisting device (9) pass through the telescopic arm (2) with it is described
Shaft coupling (3-1) fixed conveyor of sucker (3) connects.
8. a kind of Y humanoid robots according to claim 7, it is characterised in that：Small-sized power assisting device (9) be servo motor,
Stepper motor, DC brushless motor, hydraulic motor or air pressure motor etc. generate the device of power.
9. a kind of Y humanoid robots according to claim 3, it is characterised in that：The outside of the compact electromagnetic coil (3-5)
It is enclosed with magnetic shielding material except the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810477003.2A CN108674510B (en) | 2018-05-18 | 2018-05-18 | Y-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810477003.2A CN108674510B (en) | 2018-05-18 | 2018-05-18 | Y-shaped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108674510A true CN108674510A (en) | 2018-10-19 |
| CN108674510B CN108674510B (en) | 2020-06-12 |
Family
ID=63806679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810477003.2A Active CN108674510B (en) | 2018-05-18 | 2018-05-18 | Y-shaped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108674510B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112339877A (en) * | 2020-08-27 | 2021-02-09 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
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| CN204432823U (en) * | 2015-01-11 | 2015-07-01 | 河北联合大学 | A kind of all fours type wall climbing mechanism |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN106240672A (en) * | 2016-09-25 | 2016-12-21 | 羊丁 | A kind of roof drilling robot |
| CN207345966U (en) * | 2017-10-20 | 2018-05-11 | 安徽工程大学 | A kind of wall-surface mobile robot |
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|---|---|---|---|---|
| JP2000072059A (en) * | 1998-08-28 | 2000-03-07 | Jiyakusutoron Kk | Mobile working vehicle |
| CN102501913A (en) * | 2011-11-10 | 2012-06-20 | 华北电力大学 | Wheel arm-combined wheel structure for over-obstruct robot |
| CN202944461U (en) * | 2012-11-26 | 2013-05-22 | 中国计量学院 | Adsorption mechanism capable of adapting to complex curved surface |
| CN204432823U (en) * | 2015-01-11 | 2015-07-01 | 河北联合大学 | A kind of all fours type wall climbing mechanism |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112339877A (en) * | 2020-08-27 | 2021-02-09 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
| CN112339877B (en) * | 2020-08-27 | 2021-09-10 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
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| Publication number | Publication date |
|---|---|
| CN108674510B (en) | 2020-06-12 |
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