CN108890664A - A kind of robot head movement mechanism - Google Patents
A kind of robot head movement mechanism Download PDFInfo
- Publication number
- CN108890664A CN108890664A CN201811008428.5A CN201811008428A CN108890664A CN 108890664 A CN108890664 A CN 108890664A CN 201811008428 A CN201811008428 A CN 201811008428A CN 108890664 A CN108890664 A CN 108890664A
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- Prior art keywords
- neck
- nod
- nodding
- new line
- outer member
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- 230000007246 mechanism Effects 0.000 title claims abstract description 34
- 230000004886 head movement Effects 0.000 title claims abstract description 17
- 230000009471 action Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 2
- 238000009434 installation Methods 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a kind of robot head movement mechanisms, including neck internals, neck outer member, neck sub- connecting member, neck body connector and the mechanism of nodding that comes back, neck outer member is connect by big bearing with neck body connector, neck support shaft is equipped in neck outer member and the support shaft of nodding that comes back, the upper end of neck internals is stretched out neck outer member and is connect with robot head, the lower end of neck internals is sleeved on the outside of neck support shaft, and neck sub- connecting member is mounted on neck body connector；New line mechanism of nodding includes that come back nod gear wheel, nod pinion gear, nod drive bevel gear, the nod bevel gear and coming back of coming back of coming back of coming back nods motor, and horizontal rotary mechanism includes rotating horizontally motor, rotate horizontally gear wheel and rotating horizontally pinion gear.The configuration of the present invention is simple can make while receiving voice and making corresponding answer and come back, nod and head shaking movement accordingly, and robot good appearance, more humanized, processing cost is low, and convenient for safeguarding.
Description
Technical field
The present invention relates to a kind of robot head movement mechanisms, belong to robotic technology field.
Background technique
It is exactly to accompany old man that old age, which accompanies robot main application,.As artificial intelligence technology is latent in the application of household electric appliances
Power is increasingly expected, and the small scale robot epoch have arrived.As company type domestic robot, he needs to give as people
Experiencer suitably reacts.
The more life-like image of existing company type domestic robot humanoid generally can carry out well language with user
Sound interaction, but interactive process robot can only make corresponding answer according to the phonetic order received, but cannot make
Corresponding nodding action out, existing be able to achieve there are also robot are nodded, but realize that the mechanism structure nodded is complicated, outside
Unsightly, processing and maintenance cost are high for shape, are unfavorable for the popularization and application of robot.
Summary of the invention
The present invention is in view of the deficienciess of the prior art, provide that a kind of structure is simple, and easy to operate, robot can lift
Head is nodded, the more humanized robot head movement mechanism of robot.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of robot head movement mechanism, including neck
Internals, neck outer member, neck sub- connecting member, neck body connector and the new line point for driving robot head new line, nodding action
Head mechanism, the neck outer member are connect with neck body connector, neck support shaft are equipped in the neck outer member and the branch of nodding that comes back
Axis is supportted, the upper end of the neck internals is stretched out the neck outer member and connect with robot head, and the lower end of the neck internals is set
There is axle sleeve, the axle sleeve is sleeved on the outside of the neck support shaft, and the neck sub- connecting member is mounted on neck body connector；
It is described new line nod mechanism include come back nod gear wheel, come back nod pinion gear, come back nod drive bevel gear,
Nod bevel gear and coming back of new line nods motor, and new line gear wheel of nodding is mounted on the axle sleeve, and the new line is nodded
Pinion gear engage with the new line gear wheel of nodding, and new line pinion gear of nodding is mounted on the drive bevel gear of nodding that comes back
On, new line drive bevel gear of nodding is sleeved on the new line and nods on the outside of support shaft, and the new line is nodded drive bevel gear
Engage with the new line bevel gear that nods, the motor of nodding of coming back by motor contact is mounted on the neck sub- connecting member
On, it is described new line nod bevel gear be arranged in it is described new line nod motor output shaft on.
The beneficial effects of the invention are as follows：New line is nodded motor movement, drives the bevel gear movement of nodding that comes back, while driving lift
Head is nodded drive bevel gear and the pinion gear movement of nodding that comes back, and the nod bottom of gear wheel of coming back is equipped with and nods pinion gear with new line
The gear teeth of engagement, new line nod pinion gear drive come back nod gear wheel movement, due to come back nod gear wheel installation neck in
On the axle sleeve of part lower end, thus come back nod gear wheel drive neck internals beat about the bush support shaft axis be rotation axis rotate,
Neck internals drive robot head to rotate relative to neck outer member, to realize robot new line and nodding action.The present invention
Robot architecture is simple, and corresponding new line and nodding action can be not only made while receiving voice and making corresponding answer, and
And robot good appearance, more humanized, more lifelike image, processing cost is low, and convenient for safeguarding.
Based on the above technical solution, the present invention can also be improved as follows.
It further, further include horizontal rotary mechanism, the horizontal rotary mechanism includes rotating horizontally motor, rotating horizontally
Gear wheel and horizontal rotation pinion gear, the inside for rotating horizontally motor and being mounted on neck body connector, the horizontal rotation are small
The output end for rotating horizontally motor is arranged in gear, and the gear wheel that rotates horizontally is mounted on the outer of the neck outer member
Side, the neck outer member are connect by big bearing with neck body connector, and the horizontal rotation gear wheel and the horizontal rotation are small
Gear engagement.
Beneficial effect using above-mentioned further scheme is to rotate horizontally motor movement, drives and rotates horizontally pinion gear fortune
It is dynamic, it rotates horizontally pinion gear and is engaged with gear wheel is rotated horizontally, rotate horizontally pinion gear drive and rotate horizontally gear wheel movement, water
Flat rotation gear wheel is fixedly mounted in neck outer member, left and right rotation of the neck outer member relative to neck body connector, to realize
The head shaking movement of robot head.Total of the present invention is simple, processes and easy to maintain quick, and at low cost, robot head
Portion can not only rotate left and right realization head shaking movement, and can come back and nod, and robot is more humanized, and does not influence robot
Good appearance.
Further, the neck outer member includes the first neck component and the second neck component, the first neck component and second
The engaging of neck component, and be bolted.
Beneficial effect using above-mentioned further scheme is to facilitate the installation and maintenance of support shaft and neck internals.
Further, the neck internals include third neck component and the 4th neck component, the third neck component and the 4th
The engaging of neck component, and be bolted.
Beneficial effect using above-mentioned further scheme is to facilitate the installation of neck internals, convenient for the axle sleeve of neck internals
It is sleeved on the outside of support shaft.
Further, be equipped with big bearing connection inside the neck body connector, the neck outer member by big bearing with
The big bearing connection connection, the horizontal rotation motor are mounted on the big bearing connection.
Beneficial effect using above-mentioned further scheme is, convenient for rotating horizontally the installation of motor and big bearing, thus real
Existing neck outer member is turned left and right relative to neck body connector.
Further, the big bearing connection includes the first big bearing connection and the second largest bearing connection, described
First big bearing connection is connect by bolt with the neck body connector, and the second largest bearing connection passes through bolt and institute
State the first big bearing connection.
Beneficial effect using above-mentioned further scheme is, convenient for the installation and positioning of big bearing.
Further, the third neck component is equipped with neck locating part.
Beneficial effect using above-mentioned further scheme is that neck locating part one end is mounted on third neck component, another
End may act on neck outer member, limit the position for coming back and nodding by neck locating part.
Further, the axle sleeve supports axis connection by neck bearing and the neck.
Beneficial effect using above-mentioned further scheme is to realize that neck internals are rotated relative to neck support shaft, avoided
The abrasion of neck support shaft.
Further, the new line nods to be equipped with first between bevel gear and the neck sub- connecting member and come back and nod bearing；
The new line, which nods support shaft, and the new line is nodded is equipped with second between drive bevel gear and comes back bearing of nodding.
Beneficial effect using above-mentioned further scheme is, first comes back, and bearing of nodding is used to support and positions new line and nods
Bevel gear；Second comes back, and bearing of nodding is used to support positioning and comes back and nods drive bevel gear.
Further, the neck body connector includes the first neck body connector and the second neck body connector, institute
It states the first neck body connector to engage with the second neck body connector, and is bolted.
Beneficial effect using above-mentioned further scheme is, convenient for the installation and dimension of neck outer member and various components inside
Shield.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the sectional view in Fig. 1 along the direction A-A；
Fig. 3 is the sectional view in Fig. 1 along the direction B-B；
Fig. 4 is the partial enlarged view in Fig. 2 at C；
Fig. 5 is the partial enlarged view in Fig. 3 at D；
Fig. 6 is that present invention new line is nodded the structural schematic diagram of gear wheel；
Fig. 7 is that present invention new line is nodded the structural schematic diagram of pinion gear；
In figure, 1, horizontal rotation motor；2, bearing is rotated horizontally；3, pinion gear is rotated horizontally；4, gear wheel is rotated horizontally；
5, come back motor of nodding；6, it first comes back and nods bearing；7, come back the bevel gear that nods；8, come back drive bevel gear of nodding；9,
Two, which come back, nods bearing；10, come back pinion gear of nodding；11, come back support shaft of nodding；12, big bearing；13, the first big bearing connects
Fitting；14, the second largest bearing connection；15, the first neck component；16, neck support shaft；17, neck bearing；18, neck limits
Part；19, the second neck component；20, come back gear wheel of nodding；21, neck sub- connecting member；22, motor contact；23, the first neck body
Body connector；24, the second neck body connector；25. third neck component；26, the 4th neck component；27, robot head.
Specific embodiment
Principles and features of the present invention are described below in conjunction with example, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Fig. 1-Fig. 7, a kind of robot head movement mechanism, including neck internals, neck outer member, neck sub- connecting member
21, neck body connector and for driving robot head to come back, the new line of nodding action nods mechanism, the neck outer member and neck
The connection of body connector, the neck outer member is interior to be equipped with neck support shaft 16 and the support shaft 11 of nodding that comes back, the neck internals
Upper end is stretched out the neck outer member and is connect with robot head 27, and the lower end of the neck internals is equipped with axle sleeve, the axle sleeve set
Mounted in the outside of the neck support shaft, the neck sub- connecting member 21 is mounted on neck body connector；
It is described new line nod mechanism include come back nod gear wheel 20, come back nod pinion gear 10, come back nod transmission cone
Nod bevel gear 7 and coming back of gear 8, new line nods motor 5, and new line gear wheel of nodding is mounted on the axle sleeve, described
Come back and nod pinion gear and the new line is nodded the gear teeth meshing of gear wheel bottom, the new line nod pinion gear be mounted on it is described
Come back nod drive bevel gear gear shaft on, it is described new line nod drive bevel gear be sleeved on it is described new line nod outside support shaft
Side, drive bevel gear of the new line nodding engages with the new line bevel gear that nods, and the motor of nodding of coming back passes through motor company
Fitting 22 is mounted on the neck sub- connecting member, and the new line bevel gear that nods is arranged in the new line and nods the output shaft of motor
On.
It is described new line nod gear wheel bottom stretch out a connecting pin, it is described new line nod gear wheel the gear teeth be arranged in institute
On the connecting pin stated, the gear teeth are engaged with the new line pinion gear of nodding.The gear teeth are provided only on the bottom of gear wheel of nodding that comes back
Portion not only realizes power transmitting, reduces taking up space for transmission mechanism compared with the gear teeth are evenly arranged on gear surface；And it takes turns
Tooth pitch has a distance from gear wheel center, and new line pinion gear of nodding only needs to rotate low-angle, can complete to come back and nod
Amplitude requirement.
It further include horizontal rotary mechanism, the horizontal rotary mechanism includes rotating horizontally motor 1, rotating horizontally gear wheel 4
And pinion gear 3 is rotated horizontally, the horizontal rotation motor is mounted on neck body connector, and the horizontal rotation pinion gear setting exists
The output end for rotating horizontally motor, the outside for rotating horizontally gear wheel and being mounted on the neck outer member, the neck
Outer member is connect by big bearing 12 with neck body connector, and the horizontal rotation gear wheel is engaged with the horizontal rotation pinion gear.
The horizontal rotation pinion gear is connect by rotating horizontally bearing 2 with the described first big bearing connection.Rotate horizontally motor fortune
It is dynamic, it drives and rotates horizontally pinion gear movement, rotate horizontally pinion gear and engaged with gear wheel is rotated horizontally, rotate horizontally pinion gear band
It is dynamic to rotate horizontally gear wheel movement, it rotates horizontally gear wheel and is fixedly mounted in neck outer member, neck outer member connects relative to neck body
The left and right rotation of fitting, to realize the head shaking movement of robot head.Total is simple, processes and easy to maintain quick,
And it is at low cost, robot head can not only rotate left and right realization head shaking movement, and can come back and nod, robot more human nature
Change, and does not influence the good appearance of robot.
The neck outer member includes the first neck component 15 and the second neck component 19, the first neck component and the second neck component
Engaging, and be bolted.Facilitate the installation and maintenance of support shaft and neck internals.
The neck internals include third neck component 25 and the 4th neck component 26, the third neck component and the 4th neck component
Engaging, and be bolted.Facilitate the installation of neck internals, the outside of support shaft is sleeved on convenient for the axle sleeve of neck internals.
Be equipped with big bearing connection inside the neck body connector, the neck outer member by the big bearing 12 with it is described
Big bearing connection connection, the horizontal rotation motor are mounted on the big bearing connection.Convenient for rotate horizontally motor and
The installation of big bearing, to realize that neck outer member is turned left and right relative to neck body connector.
The big bearing connection includes the first big bearing connection 13 and the second largest bearing connection 14, and described first is big
Bearing connection is connect by bolt with the neck body connector, and the second largest bearing connection passes through bolt and described first
Big bearing connection.Convenient for the installation and positioning of big bearing.
The third neck component is equipped with neck locating part 18.Neck locating part one end is mounted on third neck component, separately
One end may act on neck outer member, limit the position for coming back and nodding by neck locating part.
The axle sleeve is connect by neck bearing 17 with the neck support shaft 16.Realize neck internals relative to neck branch
The rotation of support axis, the abrasion for avoiding neck support shaft.
The new line nods to be equipped with first between bevel gear 7 and the neck sub- connecting member 21 and come back and nod bearing 6；The lift
Head, which nods support shaft 11, and the new line is nodded is equipped with second between drive bevel gear 8 and comes back bearing 9 of nodding.First, which comes back, nods
Bearing is used to support and positions new line and nods bevel gear；Second come back nod bearing be used to support positioning come back nod transmission cone tooth
Wheel.
The neck body connector include the first neck body connector 23 and the second neck body connector 24, described first
Neck body connector engages with the second neck body connector, and is bolted.It is each convenient for neck outer member and inside
The installation and maintenance of component.
New line is nodded motor movement, and the bevel gear movement of nodding that comes back is driven, at the same drive new line nod drive bevel gear and
New line is nodded pinion gear movement, and the nod bottom of gear wheel of coming back is equipped with and the gear teeth that pinion gear engages of nodding that come back, new line point
Head pinion gear drive come back nod gear wheel movement, due to come back nod gear wheel installation neck internals lower end axle sleeve on, therefore
It comes back and nods that drive the beat about the bush axis of support shaft of neck internals be that rotation axis rotates to gear wheel, neck internals are with mobile robot
Head is rotated relative to neck outer member, to realize robot new line and nodding action.Motor movement is rotated horizontally, is driven horizontal
Rotary pinion movement rotates horizontally pinion gear and engages with gear wheel is rotated horizontally, and rotates horizontally pinion gear drive and rotates horizontally
Gear wheel movement rotates horizontally gear wheel and is fixedly mounted in neck outer member, and neck outer member is left and right relative to neck body connector
Rotation, to realize the head shaking movement of robot head.Total is simple, processes and easy to maintain quick, and at low cost, machine
Device head part not only can left and right rotation realize head shaking movement, and can come back, nod, robot is more humanized, and not shadow
Ring the good appearance of robot.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot head movement mechanism, which is characterized in that including neck internals, neck outer member, neck sub- connecting member, neck body
Connector and for driving robot head to come back, the new line of nodding action nod mechanism, the neck outer member is connect with neck body
Part connection, the neck outer member is interior to be equipped with neck support shaft and the support shaft of nodding that comes back, and institute is stretched out in the upper end of the neck internals
It states neck outer member to connect with robot head, the lower end of the neck internals is equipped with axle sleeve, and the axle sleeve is sleeved on the neck
The outside of support shaft, the neck sub- connecting member are mounted on neck body connector；
It is described new line nod mechanism include come back nod gear wheel, come back nod pinion gear, come back nod drive bevel gear, come back
The bevel gear and coming back of nodding nods motor, and new line gear wheel of nodding is mounted on the axle sleeve, and the new line is nodded small tooth
Wheel engage with the new line gear wheel of nodding, and the pinion gear of nodding of coming back is mounted on described come back and nods in drive bevel gear,
New line drive bevel gear of nodding is sleeved on the new line and nods on the outside of support shaft, and the new line is nodded drive bevel gear and institute
It states new line to nod bevel gear engagement, the new line motor of nodding is mounted on the neck sub- connecting member by motor contact, institute
State come back nod bevel gear be arranged in it is described new line nod motor output shaft on.
2. robot head movement mechanism according to claim 1, which is characterized in that it further include horizontal rotary mechanism, institute
Stating horizontal rotary mechanism includes rotating horizontally motor, rotate horizontally gear wheel and rotating horizontally pinion gear, the horizontal rotation electricity
Machine is mounted on the inside of neck body connector, and the output end for rotating horizontally motor, institute is arranged in the pinion gear that rotates horizontally
It states and rotates horizontally the outside that gear wheel is mounted on the neck outer member, the neck outer member is connected by big bearing and neck body connector
It connects, the horizontal rotation gear wheel is engaged with the horizontal rotation pinion gear.
3. robot head movement mechanism according to claim 1 or 2, which is characterized in that the neck outer member includes the
One neck component and the second neck component, the first neck component engages with the second neck component, and is bolted.
4. robot head movement mechanism according to claim 1, which is characterized in that the neck internals include third neck
Component and the 4th neck component, the third neck component engages with the 4th neck component, and is bolted.
5. robot head movement mechanism according to claim 2, which is characterized in that be equipped with inside the neck body connector
Big bearing connection, the neck outer member are connect by the big bearing with the big bearing connection, the horizontal rotation electricity
Machine is mounted on the big bearing connection.
6. robot head movement mechanism according to claim 5, which is characterized in that the big bearing connection includes the
One big bearing connection and the second largest bearing connection, the first big bearing connection pass through bolt and the neck body connector
Connection, the second largest bearing connection pass through bolt and the described first big bearing connection.
7. robot head movement mechanism according to claim 1, which is characterized in that the third neck component is equipped with neck
Sub- locating part.
8. robot head movement mechanism according to claim 1, which is characterized in that the axle sleeve by neck bearing with
The neck supports axis connection.
9. robot head movement mechanism according to claim 1, which is characterized in that bevel gear and the institute of nodding that come back
It states to be equipped with first between neck sub- connecting member and come back and nod bearing；Support shaft and the transmission cone tooth of nodding that comes back of nodding that come back
It it is equipped with second between wheel comes back and nod bearing.
10. robot head movement mechanism according to claim 1, which is characterized in that the neck body connector includes the
One neck body connector and the second neck body connector, the first neck body connector are connect with the second neck body
Part engaging, and be bolted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008428.5A CN108890664B (en) | 2018-08-31 | 2018-08-31 | Robot head movement mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008428.5A CN108890664B (en) | 2018-08-31 | 2018-08-31 | Robot head movement mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108890664A true CN108890664A (en) | 2018-11-27 |
| CN108890664B CN108890664B (en) | 2024-05-07 |
Family
ID=64358741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811008428.5A Active CN108890664B (en) | 2018-08-31 | 2018-08-31 | Robot head movement mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108890664B (en) |
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| CN101020119A (en) * | 2007-01-05 | 2007-08-22 | 陈国梁 | Simulating electronic doll |
| CN101745921A (en) * | 2009-12-21 | 2010-06-23 | 大连理工大学 | Human eye and human neck simulating vision device |
| US7942720B1 (en) * | 2007-05-29 | 2011-05-17 | Rima Galoustian | Animated “peek-a-boo” stuffed toy creature |
| CN106976098A (en) * | 2017-06-05 | 2017-07-25 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot neck structure |
| CN107081752A (en) * | 2017-05-15 | 2017-08-22 | 中国科学院西安光学精密机械研究所 | A kind of compact machines head part and compact machines people |
| CN206748427U (en) * | 2017-05-31 | 2017-12-15 | 河北工业大学 | One kind can the rotatable robot head structure of pitching |
| CN209007555U (en) * | 2018-08-31 | 2019-06-21 | 山东锘博特智能科技有限公司 | A kind of robot head movement mechanism |
-
2018
- 2018-08-31 CN CN201811008428.5A patent/CN108890664B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101020119A (en) * | 2007-01-05 | 2007-08-22 | 陈国梁 | Simulating electronic doll |
| US7942720B1 (en) * | 2007-05-29 | 2011-05-17 | Rima Galoustian | Animated “peek-a-boo” stuffed toy creature |
| CN101745921A (en) * | 2009-12-21 | 2010-06-23 | 大连理工大学 | Human eye and human neck simulating vision device |
| CN107081752A (en) * | 2017-05-15 | 2017-08-22 | 中国科学院西安光学精密机械研究所 | A kind of compact machines head part and compact machines people |
| CN206748427U (en) * | 2017-05-31 | 2017-12-15 | 河北工业大学 | One kind can the rotatable robot head structure of pitching |
| CN106976098A (en) * | 2017-06-05 | 2017-07-25 | 游尔（北京）机器人科技股份有限公司 | A kind of service robot neck structure |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108890664B (en) | 2024-05-07 |
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