CN108747071A - Core plate assemble method - Google Patents
Core plate assemble method Download PDFInfo
- Publication number
- CN108747071A CN108747071A CN201810400952.0A CN201810400952A CN108747071A CN 108747071 A CN108747071 A CN 108747071A CN 201810400952 A CN201810400952 A CN 201810400952A CN 108747071 A CN108747071 A CN 108747071A
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- CN
- China
- Prior art keywords
- tablet
- actuator
- welding
- core
- rack
- Prior art date
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
The present invention proposes a kind of core plate assemble method comprising following steps：One assembling equipment is provided, it includes welder, spot welding device, bunching device and heating furnace to assemble equipment, welder includes supporting table, rack, feeding machanism, transfer mechanism and welding mechanism, spot welding device includes positioning table, transfer machine and mash welder, and bunching device includes the first overhead traveling crane, the second overhead traveling crane, stacking rack and welding robot；First tablet is positioned in supporting table；Second tablet is positioned on positioning table；Multiple core pipes are positioned on the first tablet by transfer mechanism from feeding machanism；Side plate is positioned on the second tablet by transfer machine；Multiple core pipes are welded on the first tablet by welding mechanism；Side plate is welded on the second tablet by mash welder；The first tablet for being welded with core pipe is positioned on stacking rack by the first overhead traveling crane, and the second overhead traveling crane will be put on the first tablet that the second tablet for being welded with side plate is positioned on stacking rack；Welding robot is by plate-side plate welding on the first tablet；Core pipe is fused on the second tablet by heating furnace.
Description
Technical field
The present invention relates to assembling field, especially a kind of core plate assembling side that tubing and plank can be fitted together
Method.
Background technology
In industrial processes, it is often necessary to workpiece is assembled or is welded, and tubing leads to plank welding processing
Often by the way that manually tubing is put on plank, then manual control bonding machine butt contact carries out welding processing, makes tubing and plank
Weld together.But manual operation process is cumbersome, heavy workload, the time is long, and inconvenient, there is certain danger.
Invention content
In view of above-mentioned condition, it is necessary to a kind of core plate assemble method convenient for fitting together tubing and plank is provided,
To solve the above problems.
A kind of core plate assemble method comprising following steps：An assembling equipment is provided, the assembling equipment includes that welding fills
It sets, spot welding device, bunching device and heating furnace, the welder includes supporting table, rack, at least one feeding machanism, extremely
A few transfer mechanism and welding mechanism, the rack are set up in the supporting table, at least one feeding machanism, at least
One transfer mechanism and the welding mechanism may be contained in the rack, and the spot welding device includes positioning table, transfer
Machine and mash welder, the bunching device include the first overhead traveling crane, the second overhead traveling crane, stacking rack and at least one welding robot；By
One tablet is positioned in the supporting table；Second tablet is positioned on the positioning table；The transfer mechanism is by multiple core pipes
It is positioned over from the feeding machanism on first tablet；Side plate is positioned on second tablet by the transfer machine；Institute
It states welding mechanism multiple core pipes are welded on first tablet；The side plate is welded to described by the mash welder
On two tablets；First tablet for being welded with the core pipe is positioned on the stacking rack by first overhead traveling crane, and described
Spot welding is had second tablet of the side plate to be positioned on first tablet on the stacking rack by two overhead traveling cranes；The weldering
Welding robot is by the plate-side plate welding on first tablet；The core pipe is fused to second tablet by the heating furnace
On.
Core pipe is welded on the first tablet by above-mentioned core plate assemble method by welder, by spot welding device by side plate
It is welded on the second tablet, then the first tablet for being welded with core pipe and point is welded with by side plate by the first overhead traveling crane and the second overhead traveling crane
Second tablet is put on stacking rack, is welded to it by welding robot, finally by the second tablet of heating furnace pair and core
Pipe carries out welding, to fast and accurately complete the welding of the second tablet and side plate and the first tablet after plant pipe, improves life
Produce efficiency and accuracy.
Description of the drawings
Fig. 1 is the module map that equipment is assembled in one embodiment of the invention.
Fig. 2 is the stereoscopic schematic diagram for the welder that equipment is assembled in one embodiment of the invention.
Fig. 3 is the schematic diagram at another visual angle of another state of welder shown in Fig. 2.
Fig. 4 is the welding mechanism of welder shown in Fig. 2 and the stereoscopic schematic diagram of the part of supporting table.
Fig. 5 is the schematic diagram at another visual angle of welding mechanism and supporting table shown in Fig. 4.
Fig. 6 is the sectional perspective schematic diagram of the transfer mechanism of welder shown in Fig. 2.
Fig. 7 is the schematic diagram at another visual angle of the grippers of transfer mechanism shown in Fig. 6.
Fig. 8 is the module map for the spot welding device that equipment is assembled in one embodiment of the invention.
Fig. 9 is the module map for the bunching device that equipment is assembled in one embodiment of the invention.
Figure 10 is flow diagram of the present invention using the core plate assemble method of assembling equipment.
Main element symbol description
Following specific implementation mode will be further illustrated the present invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, all other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that when an element is considered as " connection " another element, it can be directly to separately
One element may be simultaneously present the element being centrally located.When an element is considered as " setting exists " another element,
It can be set up directly on another element or may be simultaneously present the element being centrally located.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
As depicted in figs. 1 and 2, a kind of assembling equipment 700 is proposed in an embodiment of the present invention.Assembling equipment 700 is used for
First tablet 300, core pipe 200, side plate (not shown) and the second tablet (not shown) are subjected to assembling and form core plate.Assemble equipment
700 include welder 100, spot welding device 400, bunching device 500 and heating furnace 600.Welder 100 is used for core pipe
200 are welded on the first tablet 300.Spot welding device 400 is used to side plate being welded to the second tablet.Bunching device 500 is used for
By the first tablet 300 for being welded with core pipe 200 be welded with together with the second tablet stacking of side plate with point and to the first tablet 300 with
Side plate is welded.
Please refer to Fig. 2 and Fig. 3, welder 100 include supporting table 10, rack 20, at least one feeding machanism 30,
At least one transfer mechanism 40 and welding mechanism 50.Supporting table 10 is for placing the first tablet 300.Rack 20 is set up in supporting table
On 10 and rack 20 can be slided along first direction (X-direction).At least one feeding machanism 30, at least one transfer mechanism 40 and
Welding mechanism 50 may be contained in rack 20.At least one feeding machanism 30 is for providing multiple core pipes 200.At least one transfer
Mechanism 40 by core pipe 200 from corresponding feeding machanism 30 for being positioned over the first tablet 300.Welding mechanism 50 is used for core
Pipe 200 is soldered on the first tablet 300.In the present embodiment, the number of feeding machanism 30 and transfer mechanism 40 is two.
As shown in Fig. 2, supporting table 10 includes supporting rack 11 and the support plate 12 being set on supporting rack 11.Support plate 12 is used
In the first tablet 300 of placement.Multiple adsorption hole (not shown) are offered in support plate 12.Multiple adsorption holes are used for the first tablet
300 absorption are fixed in support plate 12, and the first tablet 300 is avoided to be bent.
Rack 20 includes two sliding rails 21 and portal frame 22.Two sliding rails 21 are set to the opposite sides of supporting rack 11.Dragon
Door frame 22 is slidingly arranged on two sliding rails 21.Portal frame 22 is set up in support plate 12.Portal frame 22 includes multiple pillars
221, transfer beam 222 and welded grider 223.Multiple pillars 221 are slidingly arranged on two sliding rails 21.Transfer beam 222 and welding
Beam 223 is arranged in parallel on multiple pillars 221.
Two feeding machanisms 30 are respectively arranged at the opposite sides on multiple pillars 221 and positioned at supporting rack 11.Feeding machine
Structure 30 includes feed frame 31 and the rollway 32 being set on feed frame 31.Feed frame 31 is set on pillar 221.Rollway 32
For placing multiple core pipes 200.
Please refer to Fig. 2 and Fig. 3, two transfer mechanisms 40 may be contained on transfer beam 222.Each transfer mechanism 40 wraps
The multiple grippers 42 for including transfer module 41 and being set on transfer module 41.Transfer module 41 is set on transfer beam 222.It moves
It includes the first actuator 411 and the second actuator 412 to carry module 41.Second actuator 412 be set on the first actuator 411 and
It is mobile perpendicular to the second direction (Y direction) of first direction in the driving lower edge of the first actuator 411.42 edge of multiple grippers
Second direction is set on the second actuator 412 and in the driving lower edge of the second actuator 412 perpendicular to first direction and second
The third direction (Z-direction) in direction is mobile.Multiple grippers 42 are used to capture core pipe 200 from rollway 32 and in transfer mould
Core pipe 200 is positioned on the first tablet 300 under the driving of group 41.As shown in fig. 6, in the present embodiment, the second actuator 412
Driving is additionally provided with connecting plate 4121 on end.Multiple grippers 42 are set in a second direction on connecting plate 4121.
Please refer to Fig. 6 and Fig. 7, grippers 42 include third actuator 421, fourth drive member 422 and two clampings
Part 423.Third actuator 421 is set on connecting plate 4121.Fourth drive member 422 be set on third actuator 421 and
It is moved along third direction under the driving of third actuator 421.Two clamping pieces 423 are set in fourth drive member 422.The 4th
Lower two clamping pieces 423 of driving of actuator 422 are moved along first direction to clamp or discharge core pipe 200.
Please refer to Fig. 4 and Fig. 5, welding mechanism 50 is set on welded grider 223.Welding mechanism 50 includes adjusting to drive
Part 51, welding actuator 52, weldment 53 and height sensor 54.Actuator 51 is adjusted to be set on welded grider 223.Welding is driven
Moving part 52, which is set to, to be adjusted on actuator 51.Welding actuator 52 moves in a second direction under the driving for adjusting actuator 51.
Weldment 53 and height sensor 54 are set on welding actuator 52.Weldment 53 and height under the driving of welding actuator 52
Degree sensor 54 is moved along third direction.Weldment 53 is used to core pipe 200 being soldered to the first tablet 300.Height sensor
54 adjust what weldment 53 declined for sensing the distance between weldment 53 and the first tablet 300 in order to weld actuator 52
Highly.
In the present embodiment, weldment 53 is autozoom laser-welding machine.
As shown in figure 8, spot welding device 400 includes positioning table 401, transfer machine 402 and mash welder 403.Positioning table 401 is used for
It places and positions the second tablet.Transfer machine 402 is used to side plate being positioned over the second tablet.Mash welder 403 is used for side plate point
It is welded on the second tablet.
Please refer to Fig. 9, bunching device 500 includes the first overhead traveling crane 501, the second overhead traveling crane 502, stacking rack 503 and at least
One welding robot 504.The first tablet 300 that first overhead traveling crane 501 is used to be welded with core pipe 200 is positioned over stacking rack 503
On.Second overhead traveling crane 502 is used to put the second tablet for being welded with side plate and is positioned over the first tablet 300 on stacking rack 503.
Stacking rack 503 is for placing and fixing the first tablet 300.At least one welding robot 504 will be for that will be located at stacking rack 503
The first tablet 300 together with plate-side plate welding.
Please refer to Fig. 1 to Figure 10, the present invention is using above-mentioned assembling equipment 700 to core pipe 200, the first tablet 300, side
The better embodiment for the core plate assemble method that plate and the second tablet are assembled includes the following steps：
Step S101a：First tablet 300 is positioned in supporting table 10；
Step S101b：Second tablet is positioned on positioning table 401.
Specifically, the positioning of the first tablet 300 is adsorbed in the support plate 12 of supporting table 10 by multiple adsorption holes；It is flat by second
Plate is positioned on positioning table 401 and positions.
Step S102a：Multiple core pipes 200 are positioned on the first tablet 300；
Step S102b：Side plate is positioned on the second tablet.
Specifically, the grippers 42 of transfer mechanism 40 capture multiple core pipes 200 from the rollway 32 of feeding machanism 30
And it is positioned on the first tablet 300；Side plate is positioned on the second tablet by transfer machine 402.
Step S103a：Multiple core pipes 200 are welded on the first tablet 300；
Step S103b：Side plate is welded on the second tablet.
Specifically, multiple core pipes 200 are welded on the first tablet 300 by the weldment 53 of welding mechanism 50；Mash welder 403
Side plate is welded on the second tablet.
Step S104：The first tablet 300 is positioned on stacking rack 503 after pipe being planted；The second tablet that point is welded is placed
In on stacking rack 503.
Specifically, the first tablet 300 for being welded with core pipe 200 is hung on stacking rack 503 by the first overhead traveling crane 501；Second day
Point is welded on the first tablet 300 that the second tablet of side plate is hung on stacking rack 503 by vehicle 502, stacking rack 503 to storehouse the
One tablet 300 is fixed.First overhead traveling crane 501 returns, and the second overhead traveling crane 502 returns.
Step S105：Side plate and the first tablet 300 are assembled.
Specifically, at least one welding robot 504 will be between the side plate and the first tablet 300 on stacking rack 503
Gap welded.
Step S106：Second tablet and core pipe 200 are assembled.
Specifically, the second tablet, side plate, the first tablet 300 and the core pipe 200 on stacking rack 503 are sent to heating furnace 600
In heated, make core pipe 200 and the second tablet welding.
Step S107：Assembled second tablet, side plate and the first tablet 300, core pipe 200 are subjected to blanking.
Specifically, the second tablet, side plate and the first tablet 300 after heating, core pipe 200 are subjected to blanking and rewinding, and
By 503 return of stacking rack.
It is to be appreciated that step S107 can be removed, by manually by the second tablet, side plate and the first tablet after heating
300, core pipe 200 carries out rewinding, has no effect on assembling.
In the present embodiment, the supporting table 10 includes supporting rack 11 and the support plate 12 being set on supporting rack 11, support
Multiple adsorption holes are offered on plate 12, but not limited to this, the supporting table 10 can be directly a fixed mesa, and described first is flat
Plate 300 can be fixed on the table top by fixture.
In the present embodiment, the rack 20 includes two sliding rails 21 and portal frame 22, and portal frame 22 includes multiple pillars
221, transfer beam 222 and welded grider 223, but not limited to this, the rack 20 can be other structures, as long as feeding machine can be driven
Structure 30, transfer mechanism 40 and welding mechanism 50 are slided with respect to supporting table 10.
In the present embodiment, the feeding machanism 30 includes feed frame 31 and the rollway 32 being set on feed frame 31, but
Without being limited thereto, the feeding machanism 30 can be other structures, such as individually be slideably positioned in the rollway of rack, as long as can be to move
Mounted mechanism 40 provides core pipe 200.
In the present embodiment, the transfer mechanism 40 includes transfer module 41 and is set to multiple on the transfer module 41
Grippers 42, the transfer module 41 include the first actuator 411 and the second actuator 412, and the grippers 42 include third
Actuator 421, fourth drive member 422 and two clamping pieces 423, but not limited to this, the transfer module 41 can be other knots
Structure, such as mechanical arm, the grippers 42 can be other structures, such as sucker, as long as can be put in core pipe 200 by grippers 42
On first tablet 300.
Core pipe 200 is welded on the first tablet 300 by above-mentioned core plate assemble method by welder 100, passes through spot welding
Plate-side plate welding will be welded with core pipe 200 by device 400 on the second tablet, then by the first overhead traveling crane 501 and the second overhead traveling crane 502
The second tablet that first tablet 300 is welded with side plate with point is put on stacking rack 503, is welded to it by welding robot 504
It connects, welding is carried out to the second tablet and core pipe 200 finally by heating furnace 600, to fast and accurately complete the second tablet
With the welding of side plate and the first tablet 300 after plant pipe, production efficiency and accuracy are improved.
In addition, those skilled in the art can also do other variations in spirit of that invention, certainly, these are smart according to the present invention
The variation that god is done, should all be included in scope of the present invention.
Claims (10)
1. a kind of core plate assemble method comprising following steps：
An assembling equipment is provided, the assembling equipment includes welder, spot welding device, bunching device and heating furnace, the weldering
Connection device includes supporting table, rack, at least one feeding machanism, at least one transfer mechanism and welding mechanism, the rack frame
In the supporting table, at least one feeding machanism, at least one transfer mechanism and the welding mechanism are all provided with
It is placed in the rack, the spot welding device includes positioning table, transfer machine and mash welder, and the bunching device includes first day
Vehicle, the second overhead traveling crane, stacking rack and at least one welding robot；
First tablet is positioned in the supporting table；
Second tablet is positioned on the positioning table；
Multiple core pipes are positioned over from the feeding machanism on first tablet by the transfer mechanism；
Side plate is positioned on second tablet by the transfer machine；
Multiple core pipes are welded on first tablet by the welding mechanism；
The side plate is welded on second tablet by the mash welder；
First tablet for being welded with the core pipe is positioned on the stacking rack by first overhead traveling crane, second overhead traveling crane
There is second tablet of the side plate to be positioned on first tablet on the stacking rack spot welding；
The welding robot is by the plate-side plate welding on first tablet；
The core pipe is fused on second tablet by the heating furnace.
2. core plate assemble method as described in claim 1, it is characterised in that：Second tablet and the core pipe are subjected to group
It further includes later carrying out down assembled second tablet, the side plate and first tablet, the core pipe to fill step
The step of material.
3. core plate assemble method as described in claim 1, it is characterised in that：The welding mechanism includes adjusting actuator, weldering
Actuator, weldment and height sensor are connect, the adjusting actuator is set in the rack, the welding actuator setting
In on the adjusting actuator, the weldment and the height sensor are set on the welding actuator, the adjusting
Actuator is for driving the welding actuator to move, and the welding actuator is for driving the weldment to move, the height
Degree sensor is for sensing the distance between the weldment and first tablet, and the weldment is for welding the core pipe
It is connected on first tablet.
4. core plate assemble method as claimed in claim 3, it is characterised in that：The supporting table includes supporting rack and is set to institute
The support plate on supporting rack is stated, the support plate is for placing first tablet.
5. core plate assemble method as claimed in claim 4, it is characterised in that：Multiple adsorption holes are offered in the support plate,
Multiple adsorption holes are used to first tablet absorption being fixed on the support plate.
6. core plate assemble method as claimed in claim 4, it is characterised in that：The rack includes two sliding rails and portal frame,
Two sliding rails are set to the opposite sides of the supporting table, and the portal frame includes multiple pillars, transfer beam and welded grider,
Multiple pillars are slidingly arranged on two sliding rails, and the transfer beam and the welded grider are arranged in parallel in multiple institutes
It states on pillar, the feeding machanism is set on multiple pillars, and the transfer mechanism is set on the transfer beam, described
Actuator is adjusted to be set on the welded grider.
7. core plate assemble method as claimed in claim 6, it is characterised in that：The feeding machanism includes feed frame and is set to
Rollway on the feed frame, the feed frame are set on multiple pillars, and the rollway is for placing multiple institutes
State core pipe.
8. core plate assemble method as described in claim 1, it is characterised in that：The transfer mechanism includes transfer module and setting
Multiple grippers on the transfer module, the transfer module are set in the rack, and the transfer module is used for band
Dynamic multiple grippers movements, multiple grippers are used to capture the core pipe and will under the driving of the transfer module
The core pipe is positioned on first tablet.
9. core plate assemble method as claimed in claim 8, it is characterised in that：The transfer module includes the first actuator and the
Two actuators, second actuator are set on first actuator and are moved under the driving of first actuator,
Multiple grippers are set on the driving end of second actuator and are moved under the driving of second actuator.
10. core plate assemble method as claimed in claim 9, it is characterised in that：The grippers include third actuator, the 4th
Actuator and two clamping pieces, the third actuator are set on second actuator, and the fourth drive member is set to
It is moved on the third actuator and under the driving of the third actuator, two clamping pieces are set to the 4 wheel driven
On moving part, two clamping piece movements are to clamp or discharge the core pipe under the driving of the fourth drive member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400952.0A CN108747071B (en) | 2018-04-28 | 2018-04-28 | Core board assembling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400952.0A CN108747071B (en) | 2018-04-28 | 2018-04-28 | Core board assembling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108747071A true CN108747071A (en) | 2018-11-06 |
| CN108747071B CN108747071B (en) | 2020-11-24 |
Family
ID=64012450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810400952.0A Active CN108747071B (en) | 2018-04-28 | 2018-04-28 | Core board assembling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108747071B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365938A (en) * | 2018-12-28 | 2019-02-22 | 远大可建科技有限公司 | A plant core laser soldering device |
| CN110977165A (en) * | 2019-12-20 | 2020-04-10 | 芜湖隆深机器人有限公司 | Multi-robot steel pipe welding station and welding method thereof |
| CN115156678A (en) * | 2022-07-07 | 2022-10-11 | 广东铸伟实业有限公司 | Screen frame butt-welding production line |
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| EP2471625A2 (en) * | 2010-12-13 | 2012-07-04 | Tadeusz Eckert | Machine for laser cutting with a gantry |
| CN103894751A (en) * | 2014-04-14 | 2014-07-02 | 江苏远洋数据股份有限公司 | Spot welding machine with movable welding head |
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| CN109365938A (en) * | 2018-12-28 | 2019-02-22 | 远大可建科技有限公司 | A plant core laser soldering device |
| CN110977165A (en) * | 2019-12-20 | 2020-04-10 | 芜湖隆深机器人有限公司 | Multi-robot steel pipe welding station and welding method thereof |
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| CN115156678A (en) * | 2022-07-07 | 2022-10-11 | 广东铸伟实业有限公司 | Screen frame butt-welding production line |
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| Publication number | Publication date |
|---|---|
| CN108747071B (en) | 2020-11-24 |
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