CN108814901A - A kind of lower limb postoperative rehabilitation auxiliary moving machine device people - Google Patents
A kind of lower limb postoperative rehabilitation auxiliary moving machine device people Download PDFInfo
- Publication number
- CN108814901A CN108814901A CN201810648465.6A CN201810648465A CN108814901A CN 108814901 A CN108814901 A CN 108814901A CN 201810648465 A CN201810648465 A CN 201810648465A CN 108814901 A CN108814901 A CN 108814901A
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- China
- Prior art keywords
- thigh
- shank
- motor
- pendulum bar
- fixed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 23
- 230000002980 postoperative effect Effects 0.000 title claims abstract description 21
- 210000000689 upper leg Anatomy 0.000 claims abstract description 66
- 210000001699 lower leg Anatomy 0.000 abstract description 48
- 210000002414 leg Anatomy 0.000 abstract description 2
- 230000011218 segmentation Effects 0.000 abstract description 2
- 230000000153 supplemental effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/106—Leg for the lower legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/108—Leg for the upper legs
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of lower limb postoperative rehabilitation auxiliary moving machine device people, including rack, described four Angle Positions of frame lower slide setting there are four strut respectively, and the strut lower part is connected with wherein one end of crossed joint, and the crossed joint is mounted on track frame.The present invention carries out segmentation rehabilitation training by the way that lower limb are divided into two positions of shank and thigh, and being adjusted flexibly by setting front and rear, left and right and the multiple dimensions of length, adaptable；The present invention is cooperated by adjustable armpit branch with leg training structure, and postoperative patient can use alone, carry out lower limb rehabilitation supplemental training；The present invention is by adjustable strut and caterpillar belt structure, to make the patient of postoperative different rehabilitation degree that training strength be adjusted flexibly.
Description
Technical field
The present invention relates to surgical medical equipment technical fields, and in particular to a kind of lower limb postoperative rehabilitation auxiliary moving machine device
People.
Background technique
In surgical operation, after general lower limb are performed the operation, need to carry out rehabilitation training in the later period recuperates, and it is more tight
The patient of weight, then need special caregiver to nurse, while also needing traditional crutch or wheel when needing to walk
The tools such as chair, traditional tool can only realize that help is walked, and without having the function of auxiliary rehabilitation exercise, be unable to satisfy postoperative extensive
It is multiple to require.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of lower limb postoperative rehabilitation auxiliary moving machine device people, can well solve
The above problem.
The technical scheme adopted by the invention is as follows：A kind of lower limb postoperative rehabilitation auxiliary moving machine device people, including rack, it is described
Four Angle Positions of frame lower slide setting respectively, and there are four struts, and the strut lower part is connected with wherein one end of crossed joint
It connects, the crossed joint is mounted on track frame.
Surely high bar has been symmetrically arranged at left and right sides of upper rack, the fixed high bar lower part horizontally slips be equipped with before
Rocker afterwards, the front and back rocker outside are provided with motor before and after thigh, and rotation is provided with thigh corner fittings, institute on the inside of the rocker of front and back
The thigh corner fittings side stated is connected with electric machine main shaft before and after thigh, and the thigh corner fittings other side is provided with thigh or so motor, institute
It is provided with thigh fixed pendulum bar on the inside of the thigh corner fittings stated, and is connected with thigh or so electric machine main shaft；The thigh fixed pendulum bar
In be slidably fitted with thigh movable pendulum bar, the thigh movable pendulum bar lower outside is provided with motor before and after shank, thigh movable pendulum bar
Lower inside is provided with shank corner fittings, and the shank corner fittings side is connected with electric machine main shaft before and after shank, and shank corner fittings is another
Side is provided with shank or so motor, is provided with shank fixed pendulum bar on the inside of the shank corner fittings, and with shank or so motor master
Axis is connected；Shank movable pendulum bar, the shank movable pendulum bar lower rearward side setting are slidably fitted in the shank fixed pendulum bar
There is sole or so motor, shank movable pendulum bar lower part is additionally provided with sole corner fittings, the sole corner fittings and sole or so motor master
Axis is connected, and motor before and after sole is provided on the outside of sole corner fittings, is additionally provided with rear treadle, the rear foot on the inside of sole corner fittings
It steps on and is connected with electric machine main shaft before and after sole；The rear treadle front is provided with front pedal；The thigh fixed pendulum bar, thigh
Bandage is provided on the inside of movable pendulum bar, shank fixed pendulum bar and shank movable pendulum bar.
Two free bearings are also respectively provided at left and right sides of the upper rack, a hinge is hingedly provided on each free bearing
It covers, is fitted with armpit branch in two hinge sleeves of the same side.
Further, crawler belt and driving motor, the driving motor driving crawler belt fortune are provided on the track frame
It is dynamic.
Further, four Angle Positions of the frame lower are also respectively provided with strut motor, the strut motor
Strut gear is connected on main shaft, the strut top is provided with rack structure, and is intermeshed with strut gear, strut electricity
The extension elongation of machine driving adjustment strut on the rack.
Further, the upper rack front position is additionally provided with controller and display screen.
Further, the fixed high bar top is provided with surely high hole, and being inserted into fixed high hole by fixed high pin will fixed high bar
It is fixed on the rack, while the fixed high hole of different height is for adjusting height of the surely high bar relative to rack.
Further, electric pushrod is provided in the thigh fixed pendulum bar, the electric pushrod is for adjusting thigh
Position of the movable pendulum bar in thigh fixed pendulum bar.
Further, electric pushrod is provided in the shank fixed pendulum bar, the electric pushrod is for adjusting shank
Position of the movable pendulum bar in shank fixed pendulum bar.
Further, sole fixed ring is provided on the front pedal and rear treadle.
Further, it is provided with screw on the outside of the hinge sleeve, is provided with adjusting threaded hole, institute in the armpit branch
The screw and adjusting threaded hole stated are threadedly engaged and armpit branch are fixed in hinge sleeve, while the adjusting threaded hole of different height is used
The height relative to rack is propped up in adjustment armpit.
Since present invention employs above-mentioned technical proposal, the present invention is had the following advantages that：（1）The present invention is by dividing lower limb
Segmentation rehabilitation training is carried out for two positions of shank and thigh, and passes through the spirit of setting front and rear, left and right and the multiple dimensions of length
Adjustment living, it is adaptable；（2）The present invention is cooperated by adjustable armpit branch with leg training structure, and postoperative patient is alone
One people can use, and carry out lower limb rehabilitation supplemental training；（3）The present invention passes through adjustable strut and caterpillar belt structure, thus
Make the patient of postoperative different rehabilitation degree that training strength be adjusted flexibly.
Detailed description of the invention
Fig. 1 and Fig. 2 is the whole assembly schematic perspective view of different perspectives of the present invention.
Fig. 3 ~ Fig. 6 is the assembly schematic perspective view of parts thereof of the present invention.
Fig. 7 is the three-dimensional structure schematic diagram of bandage in the present invention.
Fig. 8 is the three-dimensional structure schematic diagram of rack in the present invention.
Drawing reference numeral：1- rack；2- armpit branch；3- determines high bar；The fixed high pin of 4-；5- screw；6- hinge sleeve；Pendulum before and after 7-
Frame；Motor before and after 8- thigh；9- thigh or so motor；10- thigh fixed pendulum bar；11- thigh movable pendulum bar；Motor before and after 12- shank；
13- shank or so motor；14- shank fixed pendulum bar；15- shank movable pendulum bar；16- bandage；17- rear treadle；18- front pedal；19- ten
Byte；20- track frame；21- crawler belt；22- strut；23- strut motor；24- strut gear；25- display screen；26- controller；
Motor before and after 27- sole；28- sole or so motor；29- free bearing；30- sole fixed ring.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
A kind of lower limb postoperative rehabilitation auxiliary moving machine device people as shown in Figures 1 to 8, including rack 1,1 lower part four of rack
A Angle Position slides setting there are four strut 22 respectively, and 22 lower part of strut is connected with wherein one end of crossed joint 19, crossed joint
19 are mounted on track frame 20.
It is symmetrically arranged surely high bar 3 at left and right sides of 1 top of rack, fixed high 3 lower part of bar, which horizontally slips, is equipped with front and back
Rocker 7 is provided with motor 8 before and after thigh on the outside of front and back rocker 7, and rotation is provided with thigh corner fittings, thigh angle on the inside of front and back rocker 7
8 main shaft of motor is connected before and after part side and thigh, and the thigh corner fittings other side is provided with thigh or so motor 9, in thigh corner fittings
Side is provided with thigh fixed pendulum bar 10, and is connected with thigh or so 9 main shaft of motor；Thigh is slidably fitted in thigh fixed pendulum bar 10
Movable pendulum bar 11,11 lower outside of thigh movable pendulum bar are provided with motor 12 before and after shank, and 11 lower inside of thigh movable pendulum bar is provided with
Shank corner fittings, shank corner fittings side are connected with 12 main shaft of motor before and after shank, and the shank corner fittings other side is provided with shank or so
Motor 13, shank corner fittings inside is provided with shank fixed pendulum bar 14, and is connected with shank or so 13 main shaft of motor；Shank fixed pendulum bar
Shank movable pendulum bar 15 is slidably fitted in 14,15 lower rearward side of shank movable pendulum bar is provided with sole or so motor 28, shank movable pendulum
15 lower part of bar is additionally provided with sole corner fittings, and sole corner fittings is connected with sole or so 28 main shaft of motor, setting on the outside of sole corner fittings
There is sole front and back motor 27, is additionally provided with rear treadle 17,27 main shaft phase of motor before and after rear treadle 17 and sole on the inside of sole corner fittings
Connection；17 front of rear treadle is provided with front pedal 18；Thigh fixed pendulum bar 10, thigh movable pendulum bar 11, shank fixed pendulum bar 14 and shank
The inside of movable pendulum bar 15 is provided with bandage 16.
Two free bearings 29 are also respectively provided at left and right sides of 1 top of rack, a hinge is hingedly provided on each free bearing 29
6 are covered, armpit branch 2 is fitted in two hinge sleeves 6 of the same side.Crawler belt 21 and driving motor, driving motor are provided on track frame 20
Crawler belt 21 is driven to move.Rack 1 lower part four Angle Position is also respectively provided with strut motor 23, connects on 23 main shaft of strut motor
There is strut gear 24,22 top of strut is provided with rack structure, and is intermeshed with strut gear 24, and the driving of strut motor 23 is adjusted
Extension elongation of the whole strut 22 in rack 1.
1 top front position of rack is additionally provided with controller 26 and display screen 25.Fixed high 3 top of bar is provided with surely high hole,
And fixed high hole is inserted by surely high pin 4, surely high bar 3 is fixed in rack 1, while the fixed high hole of different height is fixed for adjusting
Height of the high bar 3 relative to rack 1.Electric pushrod is provided in thigh fixed pendulum bar 10, electric pushrod is for adjusting thigh movable pendulum
Position of the bar 11 in thigh fixed pendulum bar 10.Electric pushrod is provided in shank fixed pendulum bar 14, electric pushrod is for adjusting shank
Position of the movable pendulum bar 15 in shank fixed pendulum bar 14.Sole fixed ring 30 is provided on front pedal 18 and rear treadle 17.Outside hinge sleeve 6
Side is provided with screw 5, and adjusting threaded hole is provided in armpit branch 2, and screw 5 and adjusting threaded hole are threadedly engaged armpit branch
2 are fixed in hinge sleeve 6, while the adjusting threaded hole of different height is used to adjust height of the armpit branch 2 relative to rack 1.
Specific work process of the invention is as follows：Lower limb are separately fixed at thigh fixed pendulum bar by bandage by user first
10, on thigh movable pendulum bar 11, shank fixed pendulum bar 14 and shank movable pendulum bar 15, and passed through according to the thigh and lower-leg length of user
The electric pushrod being mounted in thigh fixed pendulum bar 10 and shank fixed pendulum bar 14 is adjusted；Track frame 20 and the composition auxiliary of crawler belt 21
Running gear, the auxiliary for patient are walked；Two armpit branch are placed on user oxter, play a supporting role；In motion process
In, motor 12 and shank or so motor 13 is used for the instruction to lower limb before and after motor 8, thigh or so motor 9, shank before and after thigh
Practice.
For the present invention by the cooperation of the track frame 20 and crossed joint 19 of four adjustment heights, having the present invention can be steady
By the ability of Various Complex landform, no matter climb or descending turning, all can guarantee that user is kept upright state.
Claims (9)
1. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people, including rack（1）, it is characterised in that：The rack（1）Lower part
Four Angle Positions slide setting respectively, and there are four struts（22）, the strut（22）Lower part and crossed joint（19）Wherein one end
It is connected, the crossed joint（19）It is mounted on track frame（20）On；
Rack（1）Surely high bar has been symmetrically arranged at left and right sides of top（3）, described determines high bar（3）Lower part horizontally slips peace
Equipped with front and back rocker（7）, the front and back rocker（7）Outside is provided with motor before and after thigh（8）, front and back rocker（7）Inside turns
It is dynamic to be provided with thigh corner fittings, motor before and after the thigh corner fittings side and thigh（8）Main shaft is connected, the thigh corner fittings other side
It is provided with thigh or so motor（9）, the thigh corner fittings inside is provided with thigh fixed pendulum bar（10）, and with thigh or so motor
（9）Main shaft is connected；The thigh fixed pendulum bar（10）In be slidably fitted with thigh movable pendulum bar（11）, the thigh movable pendulum bar
（11）Lower outside is provided with motor before and after shank（12）, thigh movable pendulum bar（11）Lower inside is provided with shank corner fittings, described
Shank corner fittings side and shank before and after motor（12）Main shaft is connected, and the shank corner fittings other side is provided with shank or so motor
（13）, the shank corner fittings inside is provided with shank fixed pendulum bar（14）, and with shank or so motor（13）Main shaft is connected；Institute
The shank fixed pendulum bar stated（14）In be slidably fitted with shank movable pendulum bar（15）, the shank movable pendulum bar（15）Lower rearward side setting
There is sole or so motor（28）, shank movable pendulum bar（15）Lower part is additionally provided with sole corner fittings, and the sole corner fittings and sole are left
Right motor（28）Main shaft is connected, and motor before and after sole is provided on the outside of sole corner fittings（27）, sole corner fittings inside is additionally provided with
Rear treadle（17）, the rear treadle（17）With motor before and after sole（27）Main shaft is connected；The rear treadle（17）Front
It is provided with front pedal（18）；The thigh fixed pendulum bar（10）, thigh movable pendulum bar（11）, shank fixed pendulum bar（14）With shank movable pendulum
Bar（15）Inside be provided with bandage（16）；
The rack（1）Two free bearings are also respectively provided at left and right sides of top（29）, each free bearing（29）Upper hinged setting
There is a hinge sleeve（6）, two hinge sleeves of the same side（6）In be fitted with armpit branch（2）.
2. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The track frame
（20）On be provided with crawler belt（21）And driving motor, the driving motor drive crawler belt（21）Movement.
3. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The rack
（1）The Angle Position of lower part four is also respectively provided with strut motor（23）, the strut motor（23）Strut is connected on main shaft
Gear（24）, the strut（22）Top is provided with rack structure, and is intermeshed with strut gear 24, strut motor（23）
Driving adjustment strut 22 is in rack（1）On extension elongation.
4. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The rack
（1）Top front position is additionally provided with controller（26）And display screen（25）.
5. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The fixed high bar
（3）Top is provided with surely high hole, and passes through fixed high pin（4）Being inserted into fixed high hole will fixed high bar（3）It is fixed on rack（1）On, simultaneously
The fixed high hole of different height is for adjusting surely high bar（3）Relative to rack（1）Height.
6. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The thigh is fixed
Swing rod（10）In be provided with electric pushrod, the electric pushrod is for adjusting thigh movable pendulum bar（11）In thigh fixed pendulum bar（10）
In position.
7. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The shank is fixed
Swing rod（14）In be provided with electric pushrod, the electric pushrod is for adjusting shank movable pendulum bar（15）In shank fixed pendulum bar（14）
In position.
8. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The front pedal
（18）And rear treadle（17）On be provided with sole fixed ring（30）.
9. a kind of lower limb postoperative rehabilitation auxiliary moving machine device people as described in claim 1, it is characterised in that：The hinge sleeve
（6）Outside is provided with screw（5）, the armpit branch（2）On be provided with adjusting threaded hole, the screw（5）With
Threaded hole is adjusted to be threadedly engaged armpit branch（2）It is fixed on hinge sleeve（6）In, while the adjusting threaded hole of different height is for adjusting armpit
Branch（2）Relative to rack（1）Height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810648465.6A CN108814901B (en) | 2018-06-22 | 2018-06-22 | Lower limb postoperative rehabilitation auxiliary walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810648465.6A CN108814901B (en) | 2018-06-22 | 2018-06-22 | Lower limb postoperative rehabilitation auxiliary walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108814901A true CN108814901A (en) | 2018-11-16 |
| CN108814901B CN108814901B (en) | 2020-08-07 |
Family
ID=64143067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810648465.6A Expired - Fee Related CN108814901B (en) | 2018-06-22 | 2018-06-22 | Lower limb postoperative rehabilitation auxiliary walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108814901B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112870015A (en) * | 2021-01-12 | 2021-06-01 | 宁夏医科大学 | Recovered device of taking exercise of department of neurology low limbs |
| CN113797066A (en) * | 2020-06-13 | 2021-12-17 | 山东天赐慧邦医养健康产业集团有限公司 | Be applied to anti-ageing rehabilitation training device of old person's leg and foot |
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| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| WO2015072479A1 (en) * | 2013-11-14 | 2015-05-21 | 村田機械株式会社 | Training apparatus |
| CN105496735A (en) * | 2016-01-27 | 2016-04-20 | 郑凯 | Caterpillar-drive walking assisting exoskeleton |
| CN106074091A (en) * | 2016-07-18 | 2016-11-09 | 广西盈锐智能机械有限公司 | Multiple degrees of freedom for rehabilitation training helps robot and operational approach thereof |
| CN107898597A (en) * | 2017-11-28 | 2018-04-13 | 肇庆高新区异星科技有限公司 | A kind of healing robot |
| CN108030645A (en) * | 2018-01-10 | 2018-05-15 | 山东科技大学 | A kind of wearable lower limb movement exoskeleton robot |
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2018
- 2018-06-22 CN CN201810648465.6A patent/CN108814901B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102415929A (en) * | 2011-09-15 | 2012-04-18 | 南京理工大学 | Electric wheel chair with waist exercising function |
| WO2015072479A1 (en) * | 2013-11-14 | 2015-05-21 | 村田機械株式会社 | Training apparatus |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN105496735A (en) * | 2016-01-27 | 2016-04-20 | 郑凯 | Caterpillar-drive walking assisting exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113797066A (en) * | 2020-06-13 | 2021-12-17 | 山东天赐慧邦医养健康产业集团有限公司 | Be applied to anti-ageing rehabilitation training device of old person's leg and foot |
| CN112870015A (en) * | 2021-01-12 | 2021-06-01 | 宁夏医科大学 | Recovered device of taking exercise of department of neurology low limbs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108814901B (en) | 2020-08-07 |
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