CN109533395B - Landing ladder with dual functions of unfolding and retracting - Google Patents
Landing ladder with dual functions of unfolding and retracting Download PDFInfo
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- CN109533395B CN109533395B CN201811420025.1A CN201811420025A CN109533395B CN 109533395 B CN109533395 B CN 109533395B CN 201811420025 A CN201811420025 A CN 201811420025A CN 109533395 B CN109533395 B CN 109533395B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
Abstract
The invention provides a landing ladder with dual functions of unfolding and retracting, which comprises a main ladder structure, a locking mechanism and a rotary retracting mechanism, wherein the main ladder structure is provided with a main ladder body; the main ladder structure has a shape memory effect, the main ladder structure comprising a first end and a second end; the rotary withdrawing mechanism is connected with the first end and drives the first end to rotate; the locking structure is detachably connected with the second end, and the locking structure locks or releases the second end; wherein the main ladder structure is deployable or crimpable; in a state that the locking mechanism locks the second end, the main ladder structure is curled on the first end or the second end; and under the state that the locking mechanism releases the second end, the main ladder structure is unfolded. The main ladder structure can realize unfolding and curling by matching the locking mechanism and the rotary retracting mechanism, and solves the problems of large mass and complex structure of the traditional design.
Description
Technical Field
The invention relates to the field of spaceflight, in particular to a landing ladder with dual functions of unfolding and retracting.
Background
The landing ladder is an indispensable part of a detection landing system of lunar exploration projects and other deep space detection plans (such as fire detection plans), a detection vehicle or a astronaut can smoothly reach the surface of a satellite or a planet only through the landing ladder, and after a satellite lands, whether the landing ladder can be smoothly released and unfolded affects success or failure of the detection plans. Therefore, the landing ladder which is light in weight, simple in working process and high in unfolding reliability is designed, and has important significance for the development of aerospace technology. At present, various landing ladder schemes are proposed, and the landing ladders are in pop-up type, folding type, swing arm type and the like, but the landing ladders in the types are all in the traditional mechanical structure and have the defects of large mass, complex structure, large power of a driving motor and the like.
Disclosure of Invention
In view of the above, the present invention is directed to a landing ladder with dual functions of unfolding and folding, so as to solve the problems of large mass and complex structure of the existing landing ladder.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a landing ladder with dual functions of unfolding and retracting comprises a main ladder structure, a locking mechanism and a rotary retracting mechanism; the main ladder structure has a shape memory effect, the main ladder structure comprising a first end and a second end; the rotary withdrawing mechanism is connected with the first end and drives the first end to rotate; the locking structure is detachably connected with the second end and is used for locking or releasing the second end;
wherein the main ladder structure is deployable or crimpable; in a state that the locking mechanism locks the second end, the main ladder structure is curled on the first end or the second end; and under the state that the locking mechanism releases the second end, the main ladder structure is unfolded.
Optionally, the main ladder structure comprises a beam, a first connecting rod, a second connecting rod and a pod rod made of shape memory polymer composite material; the number of the pod rods is two, one end of each pod rod is connected with one connector, and the other end of each pod rod is connected with one loader; the two ends of the first connecting rod are respectively penetrated into one connector, the first end is formed by the connectors and the first connecting rod, and the connectors are connected with the rotary withdrawing mechanism; two ends of the second connecting rod are respectively penetrated into one loader, one end of the loader, which is far away from the second connecting rod, is provided with an auxiliary rod, the loader and the second connecting rod form the second end, and the loader is connected with the locking mechanism through the auxiliary rod; the crossbeam is equipped with a plurality ofly, and is a plurality of crossbeam parallel arrangement, and every the both ends of crossbeam are connected one respectively the pod pole.
Optionally, the material of the cross beam comprises a carbon fiber reinforced composite material.
Optionally, the shape memory polymer adopted by the shape memory polymer composite material is one of shape memory epoxy resin, shape memory cyanate ester and shape memory styrene.
Optionally, the locking mechanism includes a base, a screw rod sliding table mechanism, a third driving motor, a support seat, a transmission shaft and a rotating support seat; the screw rod sliding table mechanism is arranged on the base; the support seat is arranged on a sliding table of the screw rod sliding table mechanism; the third driving motor is arranged on the supporting seat; the transmission shaft is connected with a rotating shaft of the third driving motor, and a screw is arranged on the transmission shaft; the rotating support is provided with a support body and a rotating block, and the support body is provided with a clamping groove for clamping the second end; the one end rotary type of turning block is connected the support body, the turning block passes through the screw is opened and is closed the draw-in groove.
Optionally, the support body is provided with a first threaded hole, and the rotating block is provided with a second threaded hole; and under the state that the turning block closes the clamping groove, the axes of the first threaded hole and the second threaded hole are overlapped, and the first threaded hole and the second threaded hole are connected together through the screw.
Optionally, a first notch is formed in the support body, and a second notch is formed in the rotating block; and under the state that the rotating block is spliced with the support body, the first notch and the second notch form the clamping groove.
Optionally, the rotary retracting mechanism comprises a first driving motor, a coupler, a connecting shaft and a bearing support; the rotating shaft of the first driving motor, the coupler, the connecting shaft and the first end are sequentially connected; the bearing support is provided with a ball bearing, and the ball bearing is sleeved on the connecting shaft.
Optionally, the landing ladder further comprises two bases, the two bases are symmetrically arranged on two sides of the main ladder structure, and the main ladder structure is provided with the locking mechanism and the rotary retracting mechanism.
Optionally, the base includes a first placing surface and a second placing surface; under the normal placing state of the base, the vertical height of the first placing surface is greater than that of the second placing surface; the first placing surface fixes the rotary withdrawing mechanism; the second placing surface is used for fixing the locking mechanism.
Compared with the prior art, the invention has the following advantages:
(1) the main ladder structure can realize unfolding and curling by matching the locking mechanism and the rotary retracting mechanism, and solves the problems of large mass and complex structure of the traditional design.
(2) The main ladder structure has the shape memory effect, does not need other complex mechanisms to realize unfolding and fixing, and reduces the consumption of satellite electric energy resources.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another embodiment of the present invention;
FIG. 3 is a state diagram of the present invention in use;
FIG. 4 is a schematic structural view of one embodiment of a base;
FIG. 5 is a schematic structural view of one embodiment of a rotary retraction mechanism;
FIG. 6 is a schematic structural view of one embodiment of a locking mechanism;
FIG. 7 is a schematic diagram of the construction of one embodiment of a pod rod;
FIG. 8 is a schematic cross-sectional view of FIG. 7;
FIG. 9 is a graph of ultimate strength of a shape memory cyanate ester composite as a function of temperature.
Description of reference numerals:
1-main ladder structure, 2-rotary retraction mechanism, 3-locking mechanism and 4-base;
11-pod rods, 12-cross beams, 13-first connecting rods, 14-connectors, 15-second connecting rods, 16-loaders, 21-first driving motors, 22-couplers, 23-bearing supports, 24-connecting shafts, 31-bases, 32-screw rod sliding table mechanisms, 33-third driving motors, 34-supporting supports, 35-transmission shafts, 36-rotating supports, 41-first placing surfaces and 42-second placing surfaces;
161-auxiliary rod, 211-motor support, 231-ball bearing, 321-second driving motor, 322-sliding table, 323-screw rod nut, 324-sliding bar, 351-screw, 361-support body, 362-rotating block and 363-clamping groove;
3611-first threaded hole, 3621-second threaded hole, 3631-first notch, 3632-second notch.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. In addition, the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, which refer to the orientation or positional relationship indicated in the embodiments of the present invention, are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
As shown in fig. 1-3, a landing ladder with dual functions of unfolding and folding comprises a main ladder structure 1, a locking mechanism 3 and a rotary folding mechanism 2; the main ladder structure 1 has a shape memory effect, and the main ladder structure 1 comprises a first end and a second end; the rotary withdrawing mechanism 2 is connected with the first end and drives the first end to rotate; the locking mechanism is detachably connected with the second end, and the locking mechanism 3 is used for locking or releasing the second end;
in this embodiment, the main ladder structure 1 can be unfolded or rolled; in the state that the locking mechanism 3 locks the second end, the main ladder structure 1 is curled at the first end or the second end; in a state where the locking mechanism 3 releases the second end, the main ladder structure 1 is unfolded. From this, main ladder structure 1 cooperation locking mechanism 3 and rotatory mechanism 2 of retrieving can realize launching and curling, have solved the problem that traditional design quality is big, the structure is complicated.
In the embodiment, the login ladder can be applied to the landing of detection vehicles and astronauts in lunar exploration projects, fire detection plans or other deep space detection plans, and can also be used as a ladder in future space stations or used as a ladder on some ground equipment.
Example 2
As shown in fig. 1, 2 and 3, compared with the above-mentioned embodiment, the main ladder structure 1 of the present embodiment includes a beam 12, a first connecting rod 13, a second connecting rod 15 and pod rods 11 made of shape memory polymer composite material.
Two pod rods 11 are arranged, one end of each pod rod 11 is connected with one connector 14, and the other end of each pod rod 11 is connected with one loader 16; two ends of the first connecting rod 13 are respectively penetrated into a connector 14, the connector 14 and the first connecting rod 13 form a first end, and the connector 14 is connected with the rotary withdrawing mechanism 2; two ends of the second connecting rod 15 respectively penetrate into a load device 16, one end of the load device 16, which is far away from the second connecting rod 15, is provided with an auxiliary rod 161, the load device 16 and the second connecting rod 15 form a second end, and the load device 16 is connected with the locking mechanism 3 through the auxiliary rod 161; the beam 12 is provided with a plurality of beams 12 which are arranged in parallel, and two ends of each beam 12 are respectively connected with a pod rod 11. Thereby, with the above configuration, the expansion and contraction of the main ladder structure 1 is achieved.
In this embodiment, the connector 14 and the load device 16 are sleeve-shaped, and both are provided with through holes therethrough, whereby the through holes of the connector 14 are used to engage the first connecting rod 13 and the rotation retraction mechanism 2; the load device 16 is mainly used for bearing when releasing, and the through hole of the load device 16 is used for matching the second connecting rod 15 and the locking mechanism 3.
In this embodiment, as shown in fig. 8 and 9, the pod rod 11 is formed by symmetrically bonding two upper and lower omega-shaped shape memory polymer composite material sheets, and has a pod shape with a central symmetry cross section, which has greater specific stiffness and specific strength than a conventional rectangular cross section. The main geometric parameters of the pod-shaped section comprise a straight section length L, a single-layer thickness t, a middle circular arc radius R1, a central angle alpha and two side circular arc radii R2, and specific parameter values are determined according to the required length and width of the pod rod 11. After the shape memory polymer composite pod rods 11 are crimped, their cross-sections are compressed into a flattened state, no longer in a regular circular arc.
In this embodiment, the material of the cross beam 12 includes carbon fiber reinforced composite material, thereby promoting the cross beam 12 to have certain strength and increasing the bearing capacity of the main ladder structure 1. The shape memory polymer composite material adopts shape memory polymers such as shape memory epoxy resin, shape memory cyanate ester, shape memory styrene and the like, and each polymer has a resin system with different glass transition temperatures (Tg) for selection, wherein the shape memory epoxy resin system has a glass transition temperature (Tg): the temperature of 37-163 ℃, the shape memory cyanate system has Tg: 153 ℃ to 255 ℃, the shape memory styrene system has Tg: 63 to 78 ℃. Other parts of the main ladder structure 1 are made of light alloy materials with high strength, such as titanium alloy and the like.
In the present embodiment, the excitation applied to the pod rods 11 is diversified, and thermal excitation can be applied by applying electric current such as attaching an electric heating film to the surface of the pod rods 11 or embedding a resistance wire inside the pod rods 11, and the pod rods 11 in a curled state can also be expanded by heating with light, and infrared light or ultraviolet light can be applied to apply external stimulus to the pod rods 11. Fig. 9 schematically shows a graph of the ultimate strength of the shape memory cyanate ester composite as a function of temperature, wherein the higher the temperature, the lower the ultimate strength.
In this embodiment, if the main ladder structure 1 has a wider span, the pod rod 11 may be added in the middle to increase the carrying capacity of the landing ladder.
Example 3
As shown in fig. 6, compared with the above-described embodiment, the lock mechanism 3 in the present embodiment includes a base 31, a screw slide mechanism 32, a third drive motor 33, a support base 34, a transmission shaft 35, and a rotary support 36.
The screw rod sliding table mechanism 32 is arranged on the base 31; the support base 34 is arranged on the sliding table 322 of the screw rod sliding table mechanism 32; the third driving motor 33 is arranged on the supporting seat 34; the transmission shaft 35 is connected with a rotating shaft of the third driving motor 33, and a screw 351 is arranged on the transmission shaft 35; the rotating support 36 is provided with a support body 361 and a rotating block 362, and the support body 361 is provided with a clamping groove 363 for clamping the second end; one end of the rotating block 362 is rotatably connected to the holder body 361, and the rotating block 362 opens and closes the card slot 363 through the screw 351, thereby locking and releasing the second end through the card slot 363.
In this embodiment, the support body 361 has a first threaded hole 3611, and the rotating block 362 has a second threaded hole 3621; in a state that the rotation block 362 closes the slot 363, axes of the first threaded hole 3611 and the second threaded hole 3621 are overlapped, and the first threaded hole 3611 and the second threaded hole 3621 are connected together through the screw 351, so that the first threaded hole 3611 and the second threaded hole 3621 are convenient to be matched with the screw 351, and the support body 361 and the rotation block 362 are connected together.
In this embodiment, the support body 361 is provided with a first notch 3631, and the rotating block 362 is provided with a second notch 3632; when the rotating block 362 is assembled with the support body 361, the first notch 3631 and the second notch 3632 form a slot 363, so that the slot 363 is conveniently connected with the auxiliary rod 161 at the second end.
In this embodiment, the screw sliding table mechanism 32 further includes a second driving motor 321, a sliding bar 324, and a screw nut 323, wherein the second driving motor 321, the sliding bar 324, and the screw nut 323 are respectively supported by a support, specifically, the second driving motor 321 is supported by a support, two ends of the sliding bar 324 are respectively supported by a support, and two ends of the screw nut 323 are also respectively supported by a support; the two sliding bars 324 penetrate through the sliding table 322 respectively, the lead screw nut 323 is in threaded connection with the sliding table 322, and one end of the lead screw nut 323 is connected with the rotating shaft of the second driving motor 321, so that when the rotating shaft of the second driving motor 321 drives the lead screw nut 323 to rotate, the sliding table 322 can move linearly along the lead screw 324 under the limitation of the sliding bar 324.
In the present embodiment, the models of the second driving motor 321 and the third driving motor 33 may be determined according to the size of the structure and the required power.
Example 4
As shown in fig. 5, compared with the above-described embodiment, the rotation retraction mechanism 2 in the present embodiment includes a first drive motor 21, a coupling 22, a connecting shaft 24, and a bearing support 23.
The rotating shaft of the first driving motor 21, the coupling 22, the connecting shaft 24 and the connector 14 at the first end are connected in sequence; the bearing support 23 is provided with a ball bearing 231, and the ball bearing 231 is sleeved on the connecting shaft 24, so that when the first driving motor 21 rotates, the connecting shaft 24 can drive the first end to rotate, thereby realizing the retraction of the main ladder structure 1.
In this embodiment, the first driving motor 21 includes a motor support 211, whereby the first driving motor 21 is mounted through the motor support 211; the model of the first driving motor 21 may be determined according to the size of the structure and the required power.
Example 5
As shown in fig. 4, compared with the above embodiments, the landing ladder in this embodiment further includes two bases 4, the two bases 4 are symmetrically disposed on two sides of the main ladder structure 1, and the main ladder structure 1 is provided with the locking mechanism 3 and the rotation retracting mechanism 2, thereby facilitating the integrity and movement of the whole device.
In the present embodiment, the base 4 includes a first placing face 41 and a second placing face 42; the vertical height of the first placing surface 41 is greater than the vertical height of the second placing surface 42 in the state where the pedestal 4 is normally placed; the first placing surface 41 fixes the rotation retracting mechanism, specifically, the first placing surface 41 fixes the motor holder 211 and the bearing holder 23; the second placement surface 42 fixes the locking mechanism 3, and specifically, the second placement surface 42 fixes the base 31 and the holder body 361.
Example 6
In this embodiment, a landing ladder with dual functions of autonomous deployment and retraction has three working modes, namely a locking and fixing mode, a releasing and deploying mode, and a curling and retracting mode:
1) locking mode
Before the spacecraft lands, the locking mechanism 3 keeps a locking state, the second driving motor 321 and the third driving motor 33 do not work, at this time, the screw 351 passes through the first threaded hole 3611 and the second threaded hole 3621, the rotating block 362 is not released, and the pod rods 11 in the main ladder structure 1 cannot be unfolded even under the photo-thermal excitation condition, and always keep a rolling state.
2) Releasing the deployment mode
After the spacecraft lands, the landing ladder needs to be provided for a probe vehicle or a spacecraft for landing, the second driving motor 321 and the third driving motor 33 are powered on firstly, after the power is turned on, the second driving motor 321 and the third driving motor 33 start to rotate, the second driving motor 321 drives the screw rod nut 323 to rotate, the sliding table 322 slides backwards on the sliding rod 324, meanwhile, the screw 351 is screwed out of the second threaded hole 3621 under the driving of the third driving motor 33, the rotating block 362 releases the auxiliary rod 161, and the main ladder structure 1 is unlocked. After the main ladder structure 1 is unlocked, the pod rods 11 (in a curled state) are stimulated by external conditions such as thermal stimulation or light stimulation, and the pod rods 11 in the curled state gradually return to a straight state; external excitation conditions are cancelled, the rigidity of the pod rod 11 in the flat and unfolded state is increased, and the pod rod can be used for landing of a probe vehicle or a spaceman.
3) Curl retraction mode
After the landing ladder is used, external light, heat and other excitations are applied to the pod rods 11 in the flat and straight unfolding state, the rigidity of the pod rods 11 in the flat and straight unfolding state is reduced and softened, the first driving motor 21 is started, the first end is driven to rotate by the rotation of the first driving motor 21, and the pod rods 11 in the flat and straight unfolding state are gradually curled to reach the folding state.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A landing ladder with dual functions of unfolding and retracting is characterized by comprising a main ladder structure (1), a locking mechanism (3) and a rotary retracting mechanism (2); the main ladder structure (1) has a shape memory effect, the main ladder structure (1) comprises a first end and a second end; the rotary withdrawing mechanism (2) is connected with the first end, and the rotary withdrawing mechanism (2) drives the first end to rotate; the locking mechanism (3) is detachably connected with the second end, and the locking mechanism (3) is used for locking or releasing the second end;
wherein the main ladder structure (1) is deployable or crimpable; the main ladder structure (1) is curled on the first end or the second end under the state that the locking mechanism (3) locks the second end; the main ladder structure (1) is unfolded under the state that the locking mechanism (3) releases the second end;
the main ladder structure (1) comprises a first connecting rod (13), a second connecting rod (15) and a pod rod (11) made of a shape memory polymer composite material; two pod rods (11) are arranged, one end of each pod rod (11) is connected with a connector (14), and the other end of each pod rod is connected with a load device (16); two ends of the first connecting rod (13) are respectively penetrated into one connector (14), and the connectors (14) are connected with the rotary withdrawing mechanism (2); two ends of the second connecting rod (15) penetrate into the load devices (16) respectively, an auxiliary rod (161) is arranged at one end, far away from the second connecting rod (15), of each load device (16), and the load devices (16) are connected with the locking mechanisms (3) through the auxiliary rods (161).
2. The landing ladder according to claim 1, wherein the main ladder structure (1) further comprises a plurality of cross beams (12), the plurality of cross beams (12) are arranged in parallel, and two ends of each cross beam (12) are respectively connected with one pod rod (11); the connector (14) and the first connecting rod (13) constitute the first end, and the load (16) and the second connecting rod (15) constitute the second end.
3. Landing ladder according to claim 2, wherein the material of the cross-beam (12) comprises carbon fibre reinforced composite material.
4. The landing ladder of claim 2, wherein the shape memory polymer used in the shape memory polymer composite is one of shape memory epoxy, shape memory cyanate ester, and shape memory styrene.
5. Landing ladder according to claim 1, wherein the locking mechanism (3) comprises a base (31), a screw slide mechanism (32), a third drive motor (33), a support (34), a drive shaft (35) and a rotary support (36); the screw rod sliding table mechanism (32) is arranged on the base (31); the support seat (34) is arranged on a sliding table (322) of the screw rod sliding table mechanism (32); the third driving motor (33) is arranged on the supporting seat (34); the transmission shaft (35) is connected with a rotating shaft of the third driving motor (33), and a screw (351) is arranged on the transmission shaft (35); the rotating support (36) is provided with a support body (361) and a rotating block (362), and the support body (361) is provided with a clamping groove (363) for clamping the second end; one end of the rotating block (362) is rotatably connected with the support body (361), and the rotating block (362) opens and closes the clamping groove (363) through the screw (351).
6. Landing ladder according to claim 5, wherein the seat body (361) is provided with a first threaded hole (3611), the turning block (362) is provided with a second threaded hole (3621); when the rotating block (362) closes the clamping groove (363), the axes of the first threaded hole (3611) and the second threaded hole (3621) are overlapped, and the first threaded hole (3611) and the second threaded hole (3621) are connected together through the screw (351).
7. The landing ladder of claim 5, wherein the holder body (361) is provided with a first notch (3631), and the turning block (362) is provided with a second notch (3632); under the state that the rotating block (362) is assembled with the support body (361), the first notch (3631) and the second notch (3632) form the clamping groove (363).
8. Landing ladder according to claim 1, wherein the rotary retraction mechanism (2) comprises a first drive motor (21), a coupling (22), a connection shaft (24), a bearing support (23); the rotating shaft of the first driving motor (21), the coupler (22), the connecting shaft (24) and the first end are sequentially connected; the bearing support (23) is provided with a ball bearing (231), and the ball bearing (231) is sleeved on the connecting shaft (24).
9. A landing ladder according to any of claims 1-8, further comprising two bases (4), wherein the two bases (4) are symmetrically arranged on both sides of the main ladder structure (1), and wherein the locking mechanism (3) and the rotary retraction mechanism (2) are arranged on the main ladder structure (1).
10. Landing ladder according to claim 9, wherein the base (4) comprises a first placement face (41) and a second placement face (42); the vertical height of the first placing surface (41) is greater than that of the second placing surface (42) under the normal placing state of the base (4); the first placing surface (41) fixes the rotary retracting mechanism (2); the second placing surface (42) fixes the locking mechanism (3).
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| CN201811420025.1A CN109533395B (en) | 2018-11-26 | 2018-11-26 | Landing ladder with dual functions of unfolding and retracting |
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| CN201811420025.1A CN109533395B (en) | 2018-11-26 | 2018-11-26 | Landing ladder with dual functions of unfolding and retracting |
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| CN109533395B true CN109533395B (en) | 2020-11-06 |
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