CN109606542A - A method of location and installation precision of the control special equipment pedestal on block - Google Patents
A method of location and installation precision of the control special equipment pedestal on block Download PDFInfo
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- CN109606542A CN109606542A CN201811259829.8A CN201811259829A CN109606542A CN 109606542 A CN109606542 A CN 109606542A CN 201811259829 A CN201811259829 A CN 201811259829A CN 109606542 A CN109606542 A CN 109606542A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
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- Length Measuring Devices By Optical Means (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of methods of location and installation precision of control special equipment pedestal on block, mainly the installation accuracy of special equipment pedestal is controlled using reversible deformation technology, the main reversible deformation control that the reversible deformation control of general section of shipbody, the reversible deformation control that general section of shipbody carries, the processing of equipment base panel are installed to including special equipment pedestal.The present invention is by the way that building course, reversible deformation control guarantees installation accuracy stage by stage, influence of the deformation of hull to pedestal installation accuracy in the deformation of hull and the entire building course of ship that the deformation of hull, the equipment base plane machining process that block carrying generates in the process generate can be offset, guarantee that Ship Structure deformation is controlled, the precision controlling for improving base stand location installation is horizontal, and the practice of the technology is not necessarily to special equipment and technology, as long as it is i.e. implementable to have normal shipboard construction ability.
Description
Technical field
This patent is the divisional application of the June in 2018 of application for a patent for invention 201810623015.1 on the 15th.
The present invention relates to shipbuilding technical fields, determine on block more particularly to a kind of control special equipment pedestal
The method of position installation accuracy.
Background technique
In recent years, with the development of modern shipbuilding technology, in order to adapt to the development need of Modern Shipbuilding Mode, propelling ship
Block integrate building technology research, block building technology, region fitting-out technology research and practice on the basis of, with advanced
Lean production theory be guidance, carry out the location and installation technology research of special equipment pedestal block, breakthrough special equipment base
The key technology of seat block location and installation, forms the policy paper of special equipment pedestal block location and installation, meets ship block
The integrated demand built, improves block advance fitting-out rate, shortens building berth construction period, improves shipbuilding efficiency.
Special equipment pedestal location and installation after the completion of block location and installation is exactly in traditional construction technique in main hull
Construction node shift to an earlier date, the related requests such as execution conditions, technique of base stand location installation accordingly change, and will determine pedestal
The precision controlling of position installation and hull construction proposes requirements at the higher level.On the one hand, the construction process and precision controlling that block is built are wanted
It is able to satisfy the location and installation precision controlling requirement of special equipment pedestal；On the other hand, the location and installation precision of special equipment pedestal
It is required that being realized during the precision controlling that block is built.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, a kind of control special equipment pedestal is designed on block
The method of location and installation precision.
In order to achieve the above objectives, the technical scheme adopted by the invention is that:
A method of location and installation precision of the control special equipment pedestal on block, specifically includes the following steps:
Step 1: equipment base plane when horizontal distortion amount d, the block of base plane carry when setting special equipment pedestal installation
Horizontal distortion amount e, hull be lauched the horizontal distortion amount c of equipment base panel when in beam displacement；
Step 2: special equipment pedestal is installed on general section of shipbody；
Specifically, firstly, determining the reference for installation of special equipment pedestal；Then, special equipment pedestal is hung according to reference for installation
It is filled to target position, adjustment equipment base adjusts the horizontal stem direction of base plane to the horizontal distortion amount d of setting, transverse direction
Level-adjusting is 0 °, and cutting allowance line is marked in base plane, cuts surplus；Finally, being carried out pair to special equipment pedestal
Welding equipment is claimed to fix；
Step 3: general section of shipbody is carried on building berth；
Specifically, general section of shipbody is lifted on building berth, adjusts general section of shipbody horizontality, makes the vertical equity degree of equipment base
In [e-1 ', e+1 '] range；Then, boxing is carried out to general section of shipbody to fix；
Step 4: calibration hull center line；0o, 90o, 180o, 270o graduation mark are marked on equipment base panel, by quadrant
Instrument is processed base plane using anchor ring milling machine, with hull center line for longitudinally adjusted benchmark by the longitudinal direction of base plane
Level-adjusting is c, transversely and horizontally degree is adjusted to 0 °；After processing is completed, to the vertical equity value of base plane and transversely and horizontally
Value is detected.
Preferably, it after cutting surplus to the base plane of special equipment pedestal in the step 2, also needs to cut surface
It polishes to remove cutting burr, and the transversely and horizontally degree of the installation site and base plane to equipment base and longitudinal water
Pingdu carries out repetition measurement, and control installation accuracy deviation is no more than 1mm, transversely and horizontally spends and the deviation of vertical equity degree is no more than 1 '；
After the completion of repetition measurement, then special equipment pedestal is welded and fixed.
Preferably, the specific steps of the reference for installation of special equipment pedestal are determined in the step 2 are as follows:
Laser transit is set up to target position, laser transit is leveled on the basis of the earth level, in conjunction with hull
The actual location center line that building berth carries on structure lines and block, marks block on general section of shipbody deck using laser transit
Center line, and label is developed and printed with ocean, longitudinal reference line which is installed as equipment base；By the earth horizontal plane
Horizontal plane as equipment base installation；The lateral base that the rib bit line marked when block is always organized is installed as equipment base
Directrix.
Preferably, special equipment pedestal lifted according to reference for installation in the step 2 specific to target position
Step are as follows:
Firstly, lifting equipment base to the target position of general section of shipbody, make delimit in advance on equipment base installation position ten
Longitudinal groove of wordline coincides with block center line, lateral groove and respective rib bit line align；
Then, whether lifted in place using laser transit detection device pedestal, if meeting prescribed requirement, adjust and put down on pedestal
The levelness of plane, adjusts the horizontal stem direction of base plane to setting in the height on identity distance general section of shipbody deck, pedestal
Horizontal distortion amount d, transversely and horizontally degree be adjusted to 0 °.
Preferably, horizontal distortion amount d=a+c of the special equipment pedestal, wherein a is that block always organizes main hull
The levelness deflection of equipment base plane after structural integrity, b are that the vertical equity degree of equipment base plane when block carries becomes
Shape amount, c are the horizontal distortion of equipment base panel when equipment base is lauched to hull in beam displacement after plane machining
Amount.
Preferably, after fixed to general section of shipbody progress boxing in the step 3, equipment base on general section of shipbody is measured
Vertical equity degree whether in [d-1 ', d+1 '] range, if meeting the requirements, then follow the steps 4.
Preferably, horizontal distortion amount e=a+b+c of equipment base plane when the block carries, wherein a is block
The levelness deflection of equipment base plane after total group arrives main hull structure completely, b are equipment base plane when block carries
Vertical equity degree deflection, c are equipment base face when equipment base is lauched to hull in beam displacement after plane machining
The horizontal distortion amount of plate.
Positive beneficial effect of the invention:
1, installation accuracy control method controllability of the invention is high, by analysis and research going on board installation to special equipment pedestal
Precision controlling decomposes three phases and is controlled, and facilitates the adjusting of control precision, ensure that determining for pedestal erection stage Forward
Position installation accuracy.Compared with prior art, the Forward for realizing special equipment base stand location installation node, it is pre- to effectively improve block
Fitting-out rate shortens building berth construction period, improves shipbuilding efficiency.
2, the method for the present invention can offset block by the way that reversible deformation control guarantees installation accuracy stage by stage to building course
The deformation of hull and ship that the deformation of hull, the equipment base plane machining process generated during carrying generates entirely were built
Influence of the deformation of hull to pedestal installation accuracy in journey guarantees that Ship Structure deformation is controlled, improves the essence of base stand location installation
Controlled level is spent, and the practice of the technology is not necessarily to special equipment and technology, as long as having normal shipboard builds energy
Power, that is, implementable.
Detailed description of the invention
In order to become apparent to illustrate the embodiment of the present invention or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the process flow chart of installation accuracy control of the invention.
Fig. 2 is certain type ship special equipment base stand location figure.
Fig. 3 is certain type ship special equipment base mounting surface schematic diagram.
The concrete meaning of figure label are as follows: 1 is 1 deck, and 2 be 01 deck.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit model of the invention
It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, it is of the invention to avoid unnecessarily obscuring
Concept.
The method of the location and installation precision of control special equipment pedestal of the invention on block mainly uses reversible deformation skill
Art controls the installation accuracy of special equipment pedestal, the main reversible deformation that general section of shipbody is installed to including special equipment pedestal
The reversible deformation control of reversible deformation control, the processing of equipment base panel that control, general section of shipbody carry.
The special equipment pedestal is installed to the reversible deformation control of general section of shipbody, is mainly used for during counteracting shipbuilding
Influence of the deformation of hull to pedestal installation accuracy.By analyzing shipbuilding whole process hull precision controlling, in conjunction with
The horizontal change for determining special equipment base plane in block location and installation is summarized in the characteristic of special equipment pedestal and requirement
Shape amount is adjusted equipment base according to the horizontal distortion value, and to avoid horizontal distortion deviation is generated, it is fixed to reduce entire installation
The deviation accumulation of position process, the precision controlling for improving equipment base location and installation are horizontal.
The reversible deformation control that the general section of shipbody carries is mainly used for offsetting the deformation generated during hull carries to base
The influence of seat installation accuracy.Scheme is carried according to general section of shipbody, according to " requirement of surface vessel Ship Production Accuracy ", CBT4000-
The ship production accuracy control requirement proposed in the standards and specifications such as 2005 " China Shipbuilding Quality Standard ", by being built to block
Precision controlling and the data acquisition of links carry out comprehensive analysis, in conjunction with the actual conditions that block is built, to welding deformation, cut
Cut the essence of precision, plate scribing line, reversible deformation value, reference line (face) determination, hanging ring and structural strengthening setting, block carrying etc.
Degree control requires to be analyzed, and research, which is summarized, determines position offset when block carries, according to the offset to the water of block
Level state is adjusted, and to offset influence of the deformation carried and generated in the process to pedestal installation accuracy, guarantees that Ship Structure becomes
Shape is controlled.
The reversible deformation control of the equipment base panel processing, the deformation of hull pair when being mainly used for offsetting base plane processing
The influence of pedestal installation accuracy.According to " requirement of surface vessel Ship Production Accuracy ", CBT4000-2005 " Shipbuilding of China quality mark
It is quasi- " etc. related requirement in standards and specifications to the installation of special equipment base stand location, in conjunction with the shipment technology of ship equipment system
Condition specifies the deviation requirement of special equipment pedestal precision controlling when main hull structure completely apply for checking and examination afterwards by installation, in conjunction with reality
The deformation of face plate of foundation processing determines out deformation amount of panel when equipment base processing.
Below with reference to Fig. 1 by taking a certain type ship series ship as an example, illustrates control special equipment pedestal of the invention and exist
The method of location and installation precision on block.This method specifically includes the following steps:
Step 1: equipment base plane when horizontal distortion amount d, the block of base plane carry when setting special equipment pedestal installation
Horizontal distortion amount e, hull be lauched the horizontal distortion amount c of equipment base panel when in beam displacement.
Horizontal distortion amount d=a+c of the special equipment pedestal, wherein a be block always organize main hull structure it is complete after
The vertical equity degree deflection of equipment base plane, b are the vertical equity degree deflection of equipment base plane when block carries, c
The vertical equity degree deformation of equipment base panel when being lauched to hull in beam displacement after plane machining for equipment base
Amount.
Horizontal distortion amount e=a+b+c of equipment base plane when the block carries.
When the vertical equity degree deflection a, block of equipment base plane are carried after block always organizes main hull structure completely
Vertical equity degree deflection b, the hull of equipment base plane are lauched longitudinal water of equipment base panel when in beam displacement
Pingdu deflection c by the measurement statistics and analysis to ship body baseline amount of deflection, horizontal auxiliary detection benchmark, comprehensively considers total
Section building technology and construction process, the variation quantity research summary of horizontality is determined after block always organizes main hull structure completely
's.
Step 2: special equipment pedestal is installed on general section of shipbody.
Firstly, determine special equipment pedestal reference for installation, the reference for installation include block center line, horizontal plane and
Transverse reference line.
Determine the specific steps of the reference for installation of special equipment pedestal are as follows:
Demarcate block center line: laser transit set up to target position, by the earth it is horizontal on the basis of to laser transit into
Row leveling, when leveling, require compound bubble orientation in office to show, it is horizontal that confirmation theodolite has been in the earth；In conjunction with hull knot
The actual location center line that building berth carries on structure line and block is marked on 1 deck of general section of shipbody total using laser transit
Section center line, and label is developed and printed with ocean, block center line marks and after acceptance(check), using the block center line as equipment base
Longitudinal reference line of installation；
The horizontal plane that the earth horizontal plane is installed as equipment base, in equipment base actual installation process, according to total
Practical construction control precision, the smooth gradient of total break deck of section carry out appropriate adjustment；
The transverse reference line that the rib bit line marked when block is always organized is installed as equipment base, in equipment base actual installation mistake
Cheng Zhong carries out appropriate adjustment according to the practical Ship Structure built of block.
Then, it is determined that the Construction State of base stand location installation site, total group of block is finished, near sites hull where pedestal
Firework correction terminates substantially, base stand location reference for installation (center line, horizontality) demarcate after, by equipment base lift to
The target position of general section of shipbody (FZ01 block), make longitudinal groove of the cross hairs delimited in advance on equipment base installation position with
Block center line coincides, lateral groove and respective rib bit line align；It is set using laser transit in setting test point detection
Standby pedestal whether lift in place (i.e. whether longitudinal groove of detection cross hairs coincide with block center line, lateral groove whether
Align with the rib bit line of the installed position), if meeting prescribed requirement, adjust plane separation general section of shipbody deck on pedestal
Highly, on pedestal plane levelness, adjusting the horizontal stem direction of base plane will to the horizontal distortion amount d(of setting
The vertical equity degree of base plane be adjusted to d), transversely and horizontally degree be adjusted to 0 °.After equipment base is adjusted in place, in base plane
On mark cutting allowance line, cut surplus.It after surplus cutting, polishes cut surface to remove cutting burr, then to setting
The installation site of standby pedestal and the transversely and horizontally degree and vertical equity degree of base plane carry out repetition measurement, control installation accuracy deviation
No more than 1mm, transversely and horizontally spends and the deviation of vertical equity degree is no more than 1 ', and carry out interim backstop and fixation；Repetition measurement is completed
Afterwards, using qualified welding machine, using appropriate welding material, and electric current appropriate is used, the electric welder that qualification is on duty, by Welder
Skill requirement, is welded and fixed special equipment pedestal, when tack-weld should symmetrically and evenly spot welding, control welding deformation, spot welding
Repetition measurement related data again afterwards, and carry out data record.
Welding terminates, and after thoroughly cooling down, cuts off the temporary support in pedestal, the burr of cleaning polishing cutting, self-test knot
It applies for checking and examination after beam and to quality department.
Step 3: general section of shipbody is carried on building berth.
Specifically, general section of shipbody is lifted on building berth, when lifting in place, measures the special type that location and installation finishes on block
The vertical equity value of equipment base is adjusted general section of shipbody horizontality, is made longitudinal water of equipment base using three adjustment toolings
Pingdu is in [e-1 ', e+1 '] range；Then, boxing is carried out to general section of shipbody to fix.After general section of shipbody boxing is fixed, measurement
Whether the vertical equity degree for the equipment base that location and installation has finished on general section of shipbody is in [d-1 ', d+1 '] range, if meeting
It is required that implementable subsequent processing can give its vertical equity degree when base plane is processed micro- if exceeding above-mentioned section
It adjusts.
Step 4: calibration hull center line, hull center line demarcate when should in conjunction with building berth reference line, block center line and
Special equipment base central line marks hull center line on 1 deck and 01 deck with laser transit respectively, while getting phase
The ocean answered rushes a little, and installs center line mark plate, 1 deck and 01 in corresponding position by hull center line mark plate arrangement installation diagram
After deck upper hull center line marks, this center line is as the unique center line benchmark of full ship.After the completion of the calibration of hull center line,
Some checkpoint as erection theodolite to hull center line repetition measurement is respectively set in equipment base leading portion and back segment, to hull center
Line carries out repetition measurement.After hull center line acceptance(check), the adjustment of vertical equity value when which is processed as base plane
Benchmark.
When equipment base panel is processed, using reference checks platform as horizontal aligument benchmark.
Then, in conjunction with lengthwise position, away from middle size, base height and face plate of foundation inside and outside circle surplus, thickness surplus, pedestal
The factors such as level value mark 0o, 90o, 180o, 270o graduation mark on equipment base panel, by quadrant, with hull center
Line is longitudinally adjusted benchmark, is processed using anchor ring milling machine to base plane, the vertical equity degree of base plane is adjusted to
C, transversely and horizontally degree is adjusted to 0 °；After processing is completed, using electrolevel or quadrant to the vertical equity value of base plane
Transversely and horizontally value is detected, and depth of parallelism numerical value should meet the requirement of corresponding index, inspector's recording detection data.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that；Still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (4)
1. a kind of method of location and installation precision of the control special equipment pedestal on block, which is characterized in that specifically include with
Lower step:
Step 1: equipment base plane when horizontal distortion amount d, the block of base plane carry when setting special equipment pedestal installation
Horizontal distortion amount e, hull be lauched the horizontal distortion amount c of equipment base panel when in beam displacement；
Step 2: special equipment pedestal is installed on general section of shipbody；
Specifically, firstly, determining the reference for installation of special equipment pedestal；Then, special equipment pedestal is hung according to reference for installation
It is filled to target position, adjustment equipment base adjusts the horizontal stem direction of base plane to the horizontal distortion amount d of setting, transverse direction
Level-adjusting is 0 °, and cutting allowance line is marked in base plane, cuts surplus；Finally, being carried out pair to special equipment pedestal
Welding equipment is claimed to fix；
After cutting surplus to the base plane of special equipment pedestal, also need to polish to cut surface to remove cutting burr, and
The transversely and horizontally degree and vertical equity degree of installation site and base plane to equipment base carry out repetition measurement, control installation accuracy
Deviation is no more than 1mm, transversely and horizontally spends and the deviation of vertical equity degree is no more than 1 '；After the completion of repetition measurement, then to special equipment base
Seat is welded and fixed；
Determine the specific steps of the reference for installation of special equipment pedestal are as follows:
Laser transit is set up to target position, laser transit is leveled on the basis of the earth level, in conjunction with hull
The actual location center line that building berth carries on structure lines and block, marks block on general section of shipbody deck using laser transit
Center line, and label is developed and printed with ocean, longitudinal reference line which is installed as equipment base；
The horizontal plane that the earth horizontal plane is installed as equipment base；
The transverse reference line that the rib bit line marked when block is always organized is installed as equipment base；
Step 3: general section of shipbody is carried on building berth；
Specifically, general section of shipbody is lifted on building berth, adjusts general section of shipbody horizontality, makes the vertical equity degree of equipment base
In [e-1 ', e+1 '] range；Then, boxing is carried out to general section of shipbody to fix；
Step 4: calibration hull center line marks 0o, 90o, 180o, 270o graduation mark, by quadrant on equipment base panel
Instrument is processed base plane using anchor ring milling machine, with hull center line for longitudinally adjusted benchmark by the longitudinal direction of base plane
Level-adjusting is c, transversely and horizontally degree is adjusted to 0 °；After processing is completed, to the vertical equity value of base plane and transversely and horizontally
Value is detected.
2. the method for location and installation precision of the control special equipment pedestal according to claim 1 on block, feature
It is, is lifted special equipment pedestal to the specific steps of target position according to reference for installation in the step 2 are as follows:
Firstly, lifting equipment base to the target position of general section of shipbody, make delimit in advance on equipment base installation position ten
Longitudinal groove of wordline coincides with block center line, lateral groove and respective rib bit line align；
Then, whether lifted in place using laser transit detection device pedestal, if meeting prescribed requirement, adjust and put down on pedestal
The levelness of plane, adjusts the horizontal stem direction of base plane to setting in the height on identity distance general section of shipbody deck, pedestal
Horizontal distortion amount d, transversely and horizontally degree be adjusted to 0 °.
3. the method for location and installation precision of the control special equipment pedestal according to claim 1 or 2 on block, special
Sign is, horizontal distortion amount d=a+c of the special equipment pedestal, wherein a be block always organize main hull structure it is complete after set
The levelness deflection of standby base plane, c are that equipment base is set when being lauched to hull in beam displacement after plane machining
The horizontal distortion amount of standby face plate of foundation.
4. the method for location and installation precision of the control special equipment pedestal according to claim 1 on block, feature
It is, after fixed to general section of shipbody progress boxing in the step 3, also needs the vertical equity of equipment base on measurement general section of shipbody
Degree, if meeting the requirements, thens follow the steps 4 whether in [d-1 ', d+1 '] range.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259829.8A CN109606542B (en) | 2018-06-15 | 2018-06-15 | Method for controlling positioning and mounting precision of special equipment base on block |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259829.8A CN109606542B (en) | 2018-06-15 | 2018-06-15 | Method for controlling positioning and mounting precision of special equipment base on block |
| CN201810623015.1A CN108974250B (en) | 2018-06-15 | 2018-06-15 | Method for controlling positioning and mounting precision of special equipment base on block |
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| CN201810623015.1A Division CN108974250B (en) | 2018-06-15 | 2018-06-15 | Method for controlling positioning and mounting precision of special equipment base on block |
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| CN109606542B CN109606542B (en) | 2020-10-30 |
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| CN201810623015.1A Active CN108974250B (en) | 2018-06-15 | 2018-06-15 | Method for controlling positioning and mounting precision of special equipment base on block |
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| CN110877689A (en) * | 2019-10-22 | 2020-03-13 | 沪东中华造船(集团)有限公司 | Positioning and scribing process for groove-shaped bulkhead |
| CN110877698A (en) * | 2019-11-15 | 2020-03-13 | 沪东中华造船(集团)有限公司 | 3000-ton fishery investigation ship rudder system subsection precision control method |
| CN110877698B (en) * | 2019-11-15 | 2021-06-01 | 沪东中华造船(集团)有限公司 | 3000-ton fishery investigation ship rudder system subsection precision control method |
| CN112519981A (en) * | 2020-11-26 | 2021-03-19 | 江南造船(集团)有限责任公司 | Method for mounting laser inertia platform |
| CN112550608A (en) * | 2020-12-02 | 2021-03-26 | 沪东中华造船(集团)有限公司 | Leveling installation method for inclinometer base during building of ship on slipway |
| CN112722196A (en) * | 2020-12-31 | 2021-04-30 | 启东中远海运海洋工程有限公司 | Method for mounting propeller base of deep water dynamic positioning crude oil conveying device |
| CN114379736A (en) * | 2021-12-17 | 2022-04-22 | 沪东中华造船(集团)有限公司 | Installation method of electric equipment crossing over welding line |
| CN114275115A (en) * | 2022-01-19 | 2022-04-05 | 江南造船(集团)有限责任公司 | Installation method and installation precision control system of vibration-resistant square steel of ship equipment base |
| CN114275115B (en) * | 2022-01-19 | 2023-01-20 | 江南造船(集团)有限责任公司 | Installation method and installation precision control system of vibration-resistant square steel of ship equipment base |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109606542B (en) | 2020-10-30 |
| CN108974250A (en) | 2018-12-11 |
| CN108974250B (en) | 2020-10-27 |
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