CN109533016A - A kind of electric vehicle chassis for outdoor unmanned delivery - Google Patents
A kind of electric vehicle chassis for outdoor unmanned delivery Download PDFInfo
- Publication number
- CN109533016A CN109533016A CN201811650483.4A CN201811650483A CN109533016A CN 109533016 A CN109533016 A CN 109533016A CN 201811650483 A CN201811650483 A CN 201811650483A CN 109533016 A CN109533016 A CN 109533016A
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- electric
- vehicle chassis
- electric vehicle
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- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 239000000725 suspension Substances 0.000 claims abstract description 10
- 241000883966 Astrophytum capricorne Species 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 230000001419 dependent effect Effects 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005779 cell damage Effects 0.000 description 1
- 208000037887 cell injury Diseases 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Steering Mechanism (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of electric vehicle chassis for outdoor unmanned delivery, including vehicle frame, battery and battery quick changing mechanism, steering mechanism, arrestment mechanism, suspension mechanism, driving mechanism, electric control system and security protection system；Chassis uses bearing-type vehicle frame, and the loading space for storing cargo is placed on above vehicle frame, and battery and control system are fixed on frame interior, and electric control system, motor provide electric power by battery；Electric control system carries out real-time control to motor by bus communication.Electric vehicle chassis of the invention has obstacle detouring and climbing capacity, can adapt to urban road and district environment, and have daily waterproof ability, meets the needs that urban district cargo dispenses automatically.
Description
Technical field
The invention belongs to unmanned dispatching vehicle technology fields, and in particular to a kind of electric vehicle for outdoor unmanned delivery
Chassis.
Background technique
To Express Logistics industry, more stringent requirements are proposed for the fast development of e-commerce, and wherein city and garden dispense mesh
Preceding completely by being accomplished manually, not only efficiency is lower, but also required cost of labor is higher.In order to solve dispatching field, " last is public
In " the problem of, propose nobody a kind of automatic distribution vehicle chassis.
Existing unmanned dispatching electric vehicle chassis is generally to improve on the basis of orthodox car chassis, uses direction
Machine provides power as steering mechanism, and by brush direct current motor.The backlash of steering wheel is big, causes steering driving error larger,
And the control precision of direct current generator is lower, is unable to satisfy unpiloted required precision；Brake system uses stepper motor mould
Anthropomorphic foot movement drives braking vane rotation, to make to control clamp brake, the disadvantage is that being unable to accurately control braking strength, causes
The acceleration of vehicle can not dynamic regulation.
Summary of the invention
The purpose of the present invention is to provide a kind of electric vehicle chassis for outdoor unmanned delivery, to solve existing dispatching
The problem that electric vehicle rotary is low to kinematic accuracy, braking ability is insufficient, and solve the inconvenience that existing city manually dispenses cargo.
Realize the technical solution of the object of the invention are as follows: a kind of electric vehicle chassis for outdoor unmanned delivery, it is described electronic
Chassis includes vehicle frame, steering mechanism, arrestment mechanism, driving mechanism, suspension mechanism, battery, battery quick changing mechanism, electrical control
System and security protection system；The steering mechanism, arrestment mechanism, driving mechanism and security protection system with electrical control system
System is connected, and electric control system is connected with battery；
The steering mechanism is located at the top Qian Qiao, including steering motor, retarder, reducer stent, the first flexural pivot, pendulum
Arm, adjustable drawbar, the second flexural pivot, goat's horn and drag link；Steering motor is connect with retarder, and retarder is solid by reducer stent
It is scheduled on front axle, swing arm connects the output shaft and the first flexural pivot of retarder, and adjustable drawbar connects the first flexural pivot and the second flexural pivot, the
Two flexural pivots are connected with goat's horn, and the goat's horn of two sides wheel is connected by drag link；
The arrestment mechanism is located at vehicle body, including braking motor, L-type support frame, line handspike, brake connecting rod and system
Dynamic master cylinder；Braking motor is fixed with line handspike, and motor output shaft enters line handspike input, is straight line fortune by rotational transform
It is dynamic；Line handspike and master cylinder are fixed on vehicle frame by L-type support frame, and line handspike output shaft is connected by brake connecting rod
To the piston of master cylinder；
The battery and battery quick changing mechanism are located at frame interior；Battery quick changing mechanism includes guide rail, and battery is placed in electricity
Inside the cabin of pond, battery flat is fixed by guide rail and vehicle frame；
The security protection system is made of touching side sensor, bumper, electromagnetic brake, and bumper is connect with vehicle frame,
It is located at before and after vehicle frame；Touching side sensor is installed inside bumper；Electromagnetic brake is mounted on main drive motor tail portion, electromagnetism
Brake bush passes through key and motor axis connection；After touching side sensor detects collision, control system controls electromagnetic brake
Braking；
The electric control system is placed in inside electric cabinet, by controlling revolving speed and the corner of motor to control vehicle
Movement velocity, brake strength and steering direction；
The vehicle frame is connected by suspension mechanism with front-rear axle.
Compared with prior art, the present invention has the advantage that (1) electric vehicle chassis of the invention is driven using servo motor
Dynamic steering mechanism and braking mechanism, precision is high, control is reliable；(2) chassis center of gravity is low, structural strength is high；(3) electrical system is put
It sets in the electric cabinet of waterproof, daily life waterproofing grade can be reached.
Detailed description of the invention
Plane stereo figure when Fig. 1 is unmanned dispatching electric vehicle chassis forward sight.
Perspective view when Fig. 2 is unmanned dispatching electric vehicle chassis forward sight.
Fig. 3 is unmanned dispatching electric vehicle chassis left view.
Fig. 4 is unmanned dispatching electric vehicle steering mechanism partial view.
Fig. 5 is unmanned dispatching electric vehicle brake mechanism partial view.
Specific embodiment
As shown in Figure 1, a kind of electric vehicle chassis for outdoor unmanned delivery, the electric vehicle chassis include vehicle frame 1, turn
It is anti-to mechanism 2, arrestment mechanism 3, driving mechanism, suspension mechanism, battery 7, battery quick changing mechanism 8, electric control system 4 and safety
Protecting system；The steering mechanism, arrestment mechanism, driving mechanism and security protection system are connected with electric control system 4, electrically
Control system 4 is connected with battery；Driving mechanism includes main drive motor and gearbox；
The steering mechanism is located at the top Qian Qiao, including steering motor 14, retarder 15, reducer stent 16, the first ball
Hinge 17, swing arm 18, adjustable drawbar 19, the second flexural pivot 20, goat's horn 21 and drag link 22；Steering motor 14 is connect with retarder 15,
Retarder 15 is fixed on front axle by reducer stent 16, and swing arm 18 connects the output shaft and the first flexural pivot 17 of retarder 15,
Adjustable drawbar 19 connects the first flexural pivot 17 and the second flexural pivot 20, the second flexural pivot 20 are connected with goat's horn 21, and the goat's horn of two sides wheel is logical
Drag link 22 is crossed to be connected；
The arrestment mechanism is located at vehicle body, including braking motor 26, L-type support frame 27, line handspike 23, brake company
Bar 28 and master cylinder 25；Braking motor 26 and line handspike 23 are fixed, and motor output shaft enters the input of line handspike 23, will turn
It is dynamic to be transformed to move along a straight line；Line handspike 23 and master cylinder 25 are fixed on vehicle frame by L-type support frame 27, and line handspike is defeated
Shaft is connected to the piston of master cylinder 25 by brake connecting rod 28；
The battery 7 and battery quick changing mechanism 8 are located at frame interior；Battery quick changing mechanism 8 includes guide rail, and battery 7 is placed
Inside battery flat, battery flat is fixed by guide rail and vehicle frame；Guide rail is made of retaining mechanism and handle, is opened and is locked by lower handle
Tight mechanism can extract battery flat out；Battery is placed in battery flat, bottom is pushed into and release handle can lock battery flat.
The security protection system is made of touching side sensor 6, bumper, electromagnetic brake, and bumper is connect with vehicle frame,
It is located at before and after vehicle frame；Touching side sensor 6 is installed inside bumper；Electromagnetic brake is mounted on main drive motor tail portion, electricity
Magnetic brake friction plate passes through key and motor axis connection；After touching side sensor detects collision, control system controls electromagnetic braking
Device braking.
The electric control system is placed in inside electric cabinet, controls revolving speed and the corner of motor to control the fortune of vehicle
Dynamic speed, brake strength and steering direction, including breaker, contactor, voltage transformation module, relay, VCU；The VCU is logical
It crosses CAN bus to communicate with steering motor driver, braking motor driver and main drive motor driver 9, realizes speed or position
Closed-loop control.
The vehicle frame is connected by suspension mechanism with front-rear axle；
Further, the steering motor 14 is AC servo motor, absolute value encoder of arranging in pairs or groups.
Further, suspension mechanism is hung using dependent formula.
Further, electric cabinet is placed in central frame beam side, is connected by screw with vehicle frame.
Further, the cable for passing in and out electric cabinet is drawn by water-proof connector.
Further, the length of adjustable drawbar 19 is adjustable, so as to adjust the toe-in angle of front-wheel.
Further, security protection system further includes emergency stop switch, is used for emergency braking.
Further, main drive motor is equipped with band-type brake, if vehicle breaks down in driving process on the slope to be caused to lose
Power, band-type brake can prevent vehicle anti-slide with the automatic locking of power loss.Band-type brake can be triggered by pressing emergency stop switch.In addition, cell damage
When can not power, band-type brake also can automatic work, prevent out of hand in descending.
The following describes the present invention in detail with reference to examples.
Embodiment
As shown in Figure 1 and Figure 2, a kind of unmanned dispatching electric vehicle chassis, comprising: vehicle frame 1, steering mechanism 2, braking mechanism 3,
Electric cabinet 4, main drive motor 5, bumper 6, battery 7 and battery quick changing mechanism 8.The electric cabinet 4 is fixed on 1 left side of vehicle frame, electricity
It controls case side and is equipped with chamber door, can be from side opening, convenient overhaul to electric elements inside is replaced.Electric cabinet 4 and battery 7 turn
It is connected to motor, brake motor, main drive motor, touching side sensor.
Battery 7 is placed on 8 top of battery quick changing mechanism, and battery quick changing mechanism 8 is fixed on the right side of vehicle frame.Press fast changing battery
Mechanism 8 can pull out battery 7 by the guide rail inside quick-changing mechanism, be replaced.
As shown in figure 3, steering and brake motor driver 10, contactor 11, breaker 12, VCU Vehicle Controller 13 are solid
It is scheduled on inside electric cabinet.Battery 7 is powered by breaker 12 and contactor 11 to motor driver and VCU.
As shown in figure 4, steering mechanism by steering motor 14, retarder 15, reducer stent 16, flexural pivot 17, swing arm 18, can
Pull rod 19, flexural pivot 20, goat's horn 21 and drag link 22 is adjusted to form.Steering motor 14 is connect with retarder 15, and retarder 15 passes through branch
Frame 16 is fixed on front axle.Swing arm 18 connects the output shaft and flexural pivot 17 of retarder 15, and adjustable drawbar 19 connects flexural pivot 17 and ball
Hinge 20.Flexural pivot 20 is connected with goat's horn, and the goat's horn of two sides wheel is connected by drag link 22.The length of adjustable drawbar 19 can be adjusted
Section, so as to adjust the toe-in angle of front-wheel.
As shown in figure 5, braking mechanism is by push rod 23, brake master cylinder 25, brake motor 26, L-type support 27 and 28 groups of connecting rod
At.Brake motor 26 is fixed on push rod 23, and push rod 23 and brake master cylinder 25 are each attached in L-type support 27, and L-type support 27 is solid
It is scheduled on the girder 29 of vehicle frame.The output shaft of push rod 23 is connected by connecting rod 28 with the input shaft for the master cylinder 25 that brakes.When brake, stop
Brake fluid is compressed in brake front and back wheel by extruding of the piston by 23 output shaft of push rod in car owner's cylinder 25 by oil outlet 24
Brake callipers on, realize brake.
Emergency stop switch, touching side sensor 6, bumper, main drive motor internal contracting brake constitute security protection system.Before and after chassis
Touching side sensor 6 has been internally embedded equipped with bumper, bumper.In vehicle travel process, if meeting pedestrian or other barriers
Hinder object, touching side sensor 6 will receive extruding, to generate trigger signal, VCU brakes according to this on-off model with tight
Anxious braking.In emergency circumstances, the emergency stop switch or the remote control of long distance wireless emergency stop, vehicle pressed on vehicle can also take urgent system
Dynamic measure.Main drive motor is equipped with band-type brake, if vehicle breaks down in driving process on the slope to be caused to run out of steam, band-type brake can
With the automatic locking of power loss, vehicle anti-slide is prevented.
Claims (8)
1. a kind of electric vehicle chassis for outdoor unmanned delivery, which is characterized in that including vehicle frame (1), steering mechanism (2), system
Motivation structure (3), driving mechanism, suspension mechanism, battery (7), battery quick changing mechanism (8), electric control system (4) and security protection
System；The steering mechanism (2), arrestment mechanism (3), driving mechanism and security protection system with electric control system (4) phase
Even, electric control system (4) is connected with battery (7)；
The steering mechanism (2) is located at the top Qian Qiao, including steering motor (14), retarder (15), reducer stent (16),
One flexural pivot (17), swing arm (18), adjustable drawbar (19), the second flexural pivot (20), goat's horn (21) and drag link (22)；Steering motor
(14) it is connect with retarder (15), retarder (15) is fixed on front axle by reducer stent (16), and swing arm (18) connection subtracts
The output shaft and the first flexural pivot (17) of fast device (15), adjustable drawbar (19) connect the first flexural pivot (17) and the second flexural pivot (20), the
Two flexural pivots (20) are connected with goat's horn (21), and the goat's horn (21) of two sides wheel is connected by drag link (22)；
The arrestment mechanism (3) is located at vehicle body, including braking motor (26), L-type support frame (27), line handspike (23),
Brake connecting rod (28) and master cylinder (25)；Braking motor (26) and line handspike (23) are fixed, and motor output shaft enters straight line
Rotational transform is linear motion by push rod (23) input；Line handspike (23) and master cylinder (25) pass through L-type support frame (27)
It is fixed on vehicle frame, line handspike output shaft is connected to the piston of master cylinder (25) by brake connecting rod (28)；
The battery (7) and battery quick changing mechanism (8) are located at frame interior；Battery quick changing mechanism (8) includes guide rail, battery (7)
It is placed in inside battery flat, battery flat is fixed by guide rail and vehicle frame；
The security protection system is made of touching side sensor (6), bumper, electromagnetic brake, and bumper is connect with vehicle frame, point
It Wei Yu not vehicle frame front and back；Touching side sensor (6) is installed inside bumper；Electromagnetic brake is mounted on main drive motor tail portion, electricity
Magnetic brake friction plate passes through key and motor axis connection；After touching side sensor (6) detects collision, electromagnetic brake braking；
The electric control system (4) is placed in inside electric cabinet, by controlling revolving speed and the corner of motor to control vehicle
Movement velocity, brake strength and steering direction；
The vehicle frame (1) is connected by suspension mechanism with front-rear axle.
2. the electric vehicle chassis according to claim 1 for outdoor unmanned delivery, which is characterized in that the steering motor
It (14) is AC servo motor, absolute value encoder of arranging in pairs or groups.
3. the electric vehicle chassis according to claim 1 for outdoor unmanned delivery, which is characterized in that suspension mechanism uses
The suspension of dependent formula.
4. the electric vehicle chassis according to claim 1 for outdoor unmanned delivery, which is characterized in that battery quick changing mechanism
(8) guide rail is made of retaining mechanism and handle, is opened retaining mechanism by lower handle, can be extracted battery flat out.
5. the electric vehicle chassis according to claim 1 for outdoor unmanned delivery, which is characterized in that electric cabinet is placed in
Central frame beam side is connected by screw with vehicle frame.
6. the electric vehicle chassis according to claim 5 for outdoor unmanned delivery, which is characterized in that pass in and out electric cabinet
Cable is drawn by water-proof connector.
7. the electric vehicle chassis according to claim 1 for outdoor unmanned delivery, which is characterized in that adjustable drawbar (19)
Adjustable in length, so as to adjust the toe-in angle of front-wheel.
8. the electric vehicle chassis according to claim 1 for outdoor unmanned delivery, which is characterized in that security protection system
Further include emergency stop switch, is used for emergency braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811650483.4A CN109533016B (en) | 2018-12-31 | 2018-12-31 | Electric vehicle chassis for outdoor unmanned delivery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811650483.4A CN109533016B (en) | 2018-12-31 | 2018-12-31 | Electric vehicle chassis for outdoor unmanned delivery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109533016A true CN109533016A (en) | 2019-03-29 |
| CN109533016B CN109533016B (en) | 2024-08-06 |
Family
ID=65833836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811650483.4A Active CN109533016B (en) | 2018-12-31 | 2018-12-31 | Electric vehicle chassis for outdoor unmanned delivery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109533016B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038471A (en) * | 2019-07-09 | 2020-04-21 | 深圳中集专用车有限公司 | Electric transfer vehicle |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
| CN112590746A (en) * | 2020-12-25 | 2021-04-02 | 南京晨光集团有限责任公司 | Unmanned delivery dolly braking a steering system based on servo electronic jar |
| CN112678090A (en) * | 2020-12-28 | 2021-04-20 | 北京电满满商信充科技有限公司 | Automatic transport unmanned trolley-bus that trades of battery and transport system |
| CN114516262A (en) * | 2020-11-16 | 2022-05-20 | 郑州宇通客车股份有限公司 | Vehicle bottom battery protection system and vehicle using same |
| CN114644036A (en) * | 2020-12-18 | 2022-06-21 | 博世华域转向系统有限公司 | Controller circuit and control method of highly redundant electric power steering system |
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| CN102849072A (en) * | 2011-06-30 | 2013-01-02 | 通用汽车环球科技运作有限责任公司 | Vehicle using tire temperature to adjust active chassis systems |
| CN105771260A (en) * | 2016-04-13 | 2016-07-20 | 深圳市未知力量模型科技有限公司 | Remote-control model car |
| CN209888922U (en) * | 2018-12-31 | 2020-01-03 | 江苏金陵智造研究院有限公司 | Electric vehicle chassis for outdoor unmanned delivery |
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2018
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| WO2003018359A2 (en) * | 2001-08-23 | 2003-03-06 | General Motors Corporation | Vehicle chassis having systems responsive to non-mechanical control signals |
| WO2009089770A1 (en) * | 2008-01-19 | 2009-07-23 | Fengshan Bai | Vehicle stabilizing system having multiple azimuth control |
| CN102849072A (en) * | 2011-06-30 | 2013-01-02 | 通用汽车环球科技运作有限责任公司 | Vehicle using tire temperature to adjust active chassis systems |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038471A (en) * | 2019-07-09 | 2020-04-21 | 深圳中集专用车有限公司 | Electric transfer vehicle |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
| CN114516262A (en) * | 2020-11-16 | 2022-05-20 | 郑州宇通客车股份有限公司 | Vehicle bottom battery protection system and vehicle using same |
| CN114516262B (en) * | 2020-11-16 | 2023-08-01 | 宇通客车股份有限公司 | Vehicle bottom battery protection system and vehicle using same |
| CN114644036A (en) * | 2020-12-18 | 2022-06-21 | 博世华域转向系统有限公司 | Controller circuit and control method of highly redundant electric power steering system |
| CN112590746A (en) * | 2020-12-25 | 2021-04-02 | 南京晨光集团有限责任公司 | Unmanned delivery dolly braking a steering system based on servo electronic jar |
| CN112678090A (en) * | 2020-12-28 | 2021-04-20 | 北京电满满商信充科技有限公司 | Automatic transport unmanned trolley-bus that trades of battery and transport system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109533016B (en) | 2024-08-06 |
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