CN109702340B - Auxiliary welding device for rotor core and end ring - Google Patents
Auxiliary welding device for rotor core and end ring Download PDFInfo
- Publication number
- CN109702340B CN109702340B CN201910090773.6A CN201910090773A CN109702340B CN 109702340 B CN109702340 B CN 109702340B CN 201910090773 A CN201910090773 A CN 201910090773A CN 109702340 B CN109702340 B CN 109702340B
- Authority
- CN
- China
- Prior art keywords
- rotor core
- positioning
- end ring
- wall
- groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000003466 welding Methods 0.000 title claims abstract description 24
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 125000006850 spacer group Chemical group 0.000 abstract 4
- 239000000463 material Substances 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/027—Carriages for supporting the welding or cutting element for making circular cuts or welds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The invention aims to provide a rotor core and end ring welding auxiliary device which can realize positioning between an end ring and a rotor core so as to facilitate welding of the end ring and the rotor core. The utility model provides a rotor core and end ring welding auxiliary device, includes spacer sleeve, annular briquetting, fixed lid, the spacer sleeve is formed with the holding tank, holding tank center department is equipped with the reference column, fixed lid includes the caping, caping circumference outward flange downwardly extending has and is annular fixed part, fixed part inner wall and spacer sleeve upper end outer wall are formed with mutually supporting helicitic texture, the caping is formed with the groove of stepping down that runs through from top to bottom, when annular briquetting placed in the holding tank, rotor core cover is established on the reference column, and rotor core circumference inner wall and reference column circumference outer wall contact, fixed lid rotates in order to make caping lower terminal surface and annular briquetting upper end offset on the spacer sleeve to make rotor core and end ring restricted between terminal surface and holding tank bottom under the annular briquetting.
Description
Technical Field
The invention relates to an auxiliary device for assembling motor parts, in particular to an auxiliary device for welding a rotor core and an end ring.
Background
The rotor core and the end ring need to be welded, but the existing positioning means between the rotor core and the end ring are poor, concentricity of the end ring and the rotor core is difficult to realize, and the position of the welded end ring is deviated from the set position.
Disclosure of Invention
The invention aims to provide a rotor core and end ring welding auxiliary device which can realize positioning between an end ring and a rotor core so as to facilitate welding of the end ring and the rotor core.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a rotor core and end ring welding auxiliary device, includes locating sleeve, annular briquetting, fixed lid, the locating sleeve is formed with the holding tank that is used for holding annular briquetting, rotor core and end ring, holding tank center department is equipped with the reference column that is used for fixing a position rotor core circumference position, fixed lid includes the caping, the caping circumference outward flange downwardly extending has the annular fixed part that is, fixed part inner wall and locating sleeve upper end outer wall are formed with the helicitic texture that mutually support, the caping is formed with the groove of stepping down that runs through from top to bottom, annular briquetting internal diameter is greater than end ring internal diameter and stepping down the groove internal diameter, annular briquetting external diameter is less than the end ring external diameter, the groove internal diameter of stepping down is greater than the end ring internal diameter, when annular briquetting is placed in the holding tank, rotor core cover is established on the reference column, and rotor core circumference inner wall contacts with the reference column circumference outer wall, fixed lid and locating sleeve are fixed so that the caping is located rotor core and end ring axial side, the fixed lid rotates in order to make the caping face and end ring top and bottom to be restrained between annular briquetting and the bottom and the groove bottom of holding tank.
When the auxiliary device is used, the rotor core and the end ring are sequentially placed in the accommodating groove, then the annular pressing block is placed on the end ring, the end ring is pressed on the rotor core through the cooperation of the fixed cover and the positioning sleeve, so that the axial surface iron cores of the end ring and the rotor core are ensured, and then laser welding is conveniently carried out to fix the end ring and the rotor core. The positioning column is used for realizing circumferential positioning of the rotor core, and the annular pressing block is used for axial positioning of the rotor core. The abdication groove of the fixed cover is used for abdicating the welding gun.
Preferably, the circumferential inner edge of the cross section of the accommodating groove is circular, and when the end ring is placed in the accommodating groove, the circumferential outer wall of the end ring is contacted with the circumferential inner wall of the accommodating groove. Positioning of the outer edge of the end ring is achieved through the circumferential groove wall of the containing groove, so that the end ring is concentric with the rotor core.
Preferably, the rotor core is formed with at least two positioning holes, the positioning holes penetrate through the rotor core up and down, the ring part of the end ring is formed with positioning grooves corresponding to the positioning holes, the inner edge of the ring part of the end ring extends outwards to form the positioning grooves, the positioning holes and the positioning grooves are matched with positioning pins, and the positioning holes, the positioning grooves and the positioning pins are in one-to-one correspondence. The locating pin is used for adjusting and aligning the angle of the rotor core and the end ring.
Preferably, the positioning pin comprises a positioning pin lower part and a positioning pin upper part, when the positioning pin is matched with the rotor core and the end rings, the lower part of the positioning pin sequentially penetrates through the positioning groove and the positioning hole, the upper end of the positioning pin is positioned above the ring part of the end rings, when the annular pressing block is placed on the ring part of the end rings, the annular pressing block is sleeved outside the positioning pin upper part, and the inner wall of the annular pressing block is contacted with the circumferential outer wall of the upper part of each positioning pin. The upper part of the locating pin is used for locating the annular pressing block.
Preferably, a fixing hole is formed in the bottom of the accommodating groove of the positioning sleeve, a fixing pin is arranged in the fixing hole, and when the rotor core is placed in the accommodating groove, the upper end of the fixing pin is located in the positioning hole of the rotor core. The above arrangement is used for positioning the rotor core to prevent the rotor core from rotating.
Preferably, the diameter of the positioning groove is larger than that of the positioning hole, and when the lower part of the positioning pin is positioned in the positioning hole so that the upper part of the positioning pin is supported on the rotor core, the circumferential groove wall of the positioning groove is contacted with the circumferential outer wall of the upper part of the positioning pin. The positioning pin is supported on the upper portion of the positioning pin through the axial end face of the rotor core, so that the deflection of the positioning pin caused by uneven thickness of the end ring is avoided, and the positioning effect of the positioning pin on the annular pressing block is better.
Preferably, the positioning sleeve is provided with a central hole penetrating up and down, the positioning column comprises an upper positioning column section and a lower positioning column section, and when the lower positioning column section is positioned in the central hole, the upper positioning column section is supported at the upper side of the bottom of the accommodating groove. The arrangement facilitates the manufacture and assembly of the auxiliary device of the invention.
Preferably, the positioning sleeve is matched with a material returning block, the positioning sleeve is provided with at least two yielding holes penetrating up and down, the yielding holes deviate from the positioning holes, at least two jacking columns are arranged on the material returning block, and when the positioning sleeve is placed on the material returning block, the upper ends of the jacking columns penetrate through the yielding holes and extend to the upper portion of the bottom of the accommodating groove. The arrangement is convenient for blanking of the welded rotor core.
The invention has the advantages of realizing the positioning between the end ring and the rotor core so as to facilitate the welding of the end ring and the rotor core.
Drawings
FIG. 1 is a schematic view of a structure of the present invention in use;
FIG. 2 is an exploded view of the present invention;
Fig. 3 is a schematic structural view of the rotor core and the end ring after welding and fixing;
FIG. 4 is a schematic view of a structure of the ejector block of the present invention in use;
Fig. 5 is a schematic structural view of the material withdrawal block of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific embodiments.
As shown in fig. 1 to 3, the auxiliary device of the present invention is used for positioning the rotor core 4 and the end ring 5, and for positioning and fixing between the rotor core 4 and the end ring 5, so as to facilitate subsequent welding to form a weld mark 55. The invention relates to an auxiliary welding device for a rotor core and an end ring, which comprises a positioning sleeve 1, an annular pressing block 2 and a fixed cover 3, wherein the positioning sleeve 1 is provided with a containing groove 11 for containing the annular pressing block 2, the rotor core 4 and the end ring 5, a positioning column 6 for positioning the circumferential position of the rotor core 4 is arranged at the center of the containing groove 11, the fixed cover 3 comprises a cover top 31, the circumferential outer edge of the cover top 31 is downwards extended to form an annular fixing part 32, the inner wall of the fixing part 32 and the outer wall of the upper end of the positioning sleeve 1 are provided with mutually matched thread structures, the cover top 31 is provided with a yielding groove 33 penetrating up and down, the inner diameter of the annular pressing block 2 is larger than the inner diameter of the end ring 5 and the inner diameter of the yielding groove 33, the outer diameter of the annular pressing block 2 is smaller than the outer diameter of the end ring 5, the inner diameter of the yielding groove 33 is larger than the inner diameter of the end ring 5, when the annular pressing block 2 is placed in the containing groove 11, the circumferential inner wall of the rotor core 4 is sleeved on the positioning column 6, the circumferential inner wall of the rotor core 4 is contacted with the circumferential outer wall of the positioning column 6, the fixed cover 3 and the positioning sleeve 1 are fixed so that the cover top 31 is positioned on the axial side of the rotor core 4 and the end ring 5, the upper end face of the end ring 2 is limited by the annular pressing block 2 and the lower end ring 2 and the end ring 11. Wherein the circumferential inner edge of the cross section of the accommodating groove 11 is circular, and when the end ring 5 is placed in the accommodating groove 11, the circumferential outer wall of the end ring 5 is contacted with the circumferential inner wall of the accommodating groove 11.
The rotor core 4 is formed with two positioning holes 41, the positioning holes 41 penetrate the rotor core 4 up and down, the ring part 51 of the end ring 5 is formed with positioning grooves 52 corresponding to the positioning holes 41, the inner edge of the ring part 51 of the end ring 5 extends outwards to form the positioning grooves 52, the positioning holes 41 and the positioning grooves 52 are matched with the positioning pins 7, and the positioning holes 41, the positioning grooves 52 and the positioning pins 7 are in one-to-one correspondence.
The locating pin 7 comprises a locating pin lower portion 71 and a locating pin upper portion 72, when the locating pin 7 is matched with the rotor core 4 and the end ring 5, the locating pin lower portion 71 sequentially penetrates through the locating groove 52 and the locating hole 41, the upper end of the locating pin upper portion 72 is located above the ring portion of the end ring, when the annular pressing block 2 is placed on the ring portion 51 of the end ring 5, the annular pressing block 2 is sleeved outside the locating pin upper portion 72, and the inner wall of the annular pressing block 2 is in contact with the circumferential outer wall of each locating pin upper portion 71. Wherein the diameter of the positioning groove 52 is larger than the diameter of the positioning hole 41, and when the positioning pin lower portion 72 is positioned in the positioning hole 41 so that the positioning pin upper portion 71 is supported on the rotor core 4, the positioning groove 52 circumferential groove wall is in contact with the positioning pin upper portion 71 circumferential outer wall.
The bottom of the accommodating groove 11 of the positioning sleeve 1 is provided with a fixing hole 12, a fixing pin 8 is arranged in the fixing hole 12, and when the rotor core 4 is placed in the accommodating groove 11, the upper end of the fixing pin 8 is positioned in the positioning hole 41 of the rotor core 4.
The positioning sleeve 1 is formed with a central hole 13 penetrating up and down, the positioning column 6 comprises an upper positioning column section 61 and a lower positioning column section 62, when the lower positioning column section 62 is positioned in the central hole 13, the upper positioning column section 61 is supported at the upper side of the bottom of the accommodating groove 11, and the rotor core 4 is sleeved outside the upper positioning column section 61 of the positioning column.
As shown in fig. 4 and 5, the positioning sleeve 1 is matched with the material returning block 9, the positioning sleeve 1 is provided with two through yielding holes which are vertically penetrated, the yielding holes deviate from the positioning holes 41, two jacking columns 91 are arranged on the material returning block 9, and when the positioning sleeve 1 is placed on the material returning block 9, the upper ends of the jacking columns 91 penetrate through the yielding holes and extend to the upper portion of the bottom of the accommodating groove 11.
When the auxiliary device is used, the positioning sleeve is placed on the fixed platform, the fixed platform is provided with the fixed groove for positioning the lower end of the positioning sleeve, the shape of the fixed groove is the same as that of the lower end of the positioning sleeve, and the side of the fixed platform is provided with the laser welding device.
Placing a fixed pin in a fixed hole of a locating sleeve, then sequentially placing a rotor core and an end ring in a containing groove, rotating the end ring to align the locating hole with the locating groove, then matching the locating pin with the rotor core and the end ring to enable the lower part of the locating pin to be positioned in the rotor core so as to enable the upper part of the locating pin to be supported on the rotor core, placing an annular pressing block on the annular part of the end ring, positioning the annular pressing block through the upper part of the locating pin, and finally performing threaded matching of a fixed cover and the locating sleeve, and pressing the rotor core and the end ring through rotating the fixed cover. After the rotor core and the end ring are positioned, the laser welding device is started, and the welding gun arranged vertically is aligned with the part between the inner edge of the abdication groove and the inner edge of the end ring to weld.
The invention has the advantages of realizing the positioning between the end ring and the rotor core so as to facilitate the welding of the end ring and the rotor core.
Claims (5)
1. The auxiliary welding device for the rotor core and the end ring is characterized by comprising a positioning sleeve, an annular pressing block and a fixing cover, wherein the positioning sleeve is provided with a containing groove for containing the annular pressing block, the rotor core and the end ring, a positioning column for positioning the circumferential position of the rotor core is arranged in the center of the containing groove, the fixing cover comprises a cover top, the circumferential outer edge of the cover top is downwards extended to form an annular fixing part, the inner wall of the fixing part and the outer wall of the upper end of the positioning sleeve are provided with threaded structures which are mutually matched, the cover top is provided with a yielding groove penetrating up and down, the inner diameter of the annular pressing block is larger than the inner diameter of the end ring and the inner diameter of the yielding groove, the outer diameter of the annular pressing block is smaller than the outer diameter of the end ring, the inner diameter of the yielding groove is larger than the inner diameter of the end ring, when the annular pressing block is placed in the containing groove, the rotor core is sleeved on the positioning column, the circumferential inner wall of the rotor core is contacted with the circumferential outer wall of the positioning column, the fixing cover is fixed with the positioning sleeve so that the cover top is positioned on the axial side of the rotor core and the end ring, the fixing cover is rotated on the upper end surface of the positioning sleeve so that the upper end surface of the positioning sleeve and the end ring abuts against the upper end of the end ring to limit the upper end ring and the lower end ring of the pressing block, and the bottom of the annular pressing block and the end ring are contained between the upper end and the end ring and the pressing block and the bottom of the end ring and the end ring. The rotor core is provided with at least two positioning holes, the positioning holes penetrate through the rotor core up and down, the ring part of the end ring is provided with positioning grooves corresponding to the positioning holes, the inner edge of the ring part of the end ring extends outwards to form the positioning grooves, the positioning holes and the positioning grooves are matched with positioning pins, and the positioning holes, the positioning grooves and the positioning pins are in one-to-one correspondence;
The circumferential inner edge of the cross section of the accommodating groove is circular, and when the end ring is placed in the accommodating groove, the circumferential outer wall of the end ring is contacted with the circumferential inner wall of the accommodating groove;
The locating pin comprises a locating pin lower portion and a locating pin upper portion, when the locating pin is matched with the rotor core and the end rings, the lower portion of the locating pin sequentially penetrates through the locating groove and the locating hole, the upper end of the locating pin is located above the ring portion of the end rings, when the annular pressing block is placed on the ring portion of the end rings, the annular pressing block is sleeved outside the locating pin upper portion, and the inner wall of the annular pressing block is in contact with the circumferential outer wall of the upper portion of each locating pin.
2. The welding auxiliary device for the rotor core and the end ring according to claim 1, wherein a fixing hole is formed at the bottom of the accommodating groove of the positioning sleeve, a fixing pin is arranged in the fixing hole, and when the rotor core is placed in the accommodating groove, the upper end of the fixing pin is positioned in the positioning hole of the rotor core.
3. The rotor core and end ring welding aid as recited in claim 1, wherein the detent groove has a diameter greater than a diameter of the detent hole, and wherein the detent groove circumferential groove wall contacts the detent pin upper circumferential outer wall when the detent pin lower portion is positioned within the detent hole such that the detent pin upper portion is supported on the rotor core.
4. The welding auxiliary device for the rotor core and the end ring according to claim 1, wherein the positioning sleeve is formed with a center hole penetrating up and down, the positioning column comprises an upper positioning column section and a lower positioning column section, and when the lower positioning column section is positioned in the center hole, the upper positioning column section is supported on the upper side of the bottom of the accommodating groove.
5. The welding auxiliary device for the rotor core and the end ring according to claim 1, wherein the positioning sleeve is matched with a withdrawal block, the positioning sleeve is provided with at least two through yielding holes, the yielding holes deviate from the positioning holes, the withdrawal block is provided with at least two jacking columns, and when the positioning sleeve is placed on the withdrawal block, the upper ends of the jacking columns extend to the upper portion of the bottom of the containing groove through the yielding holes.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910090773.6A CN109702340B (en) | 2019-01-30 | 2019-01-30 | Auxiliary welding device for rotor core and end ring |
| NZ759214A NZ759214B2 (en) | 2019-01-30 | 2019-11-14 | Auxiliary device for welding rotor core and end ring |
| KR1020190156967A KR102186622B1 (en) | 2019-01-30 | 2019-11-29 | Welding auxiliary device for rotor iron core and end ring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910090773.6A CN109702340B (en) | 2019-01-30 | 2019-01-30 | Auxiliary welding device for rotor core and end ring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109702340A CN109702340A (en) | 2019-05-03 |
| CN109702340B true CN109702340B (en) | 2024-05-10 |
Family
ID=66263130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910090773.6A Active CN109702340B (en) | 2019-01-30 | 2019-01-30 | Auxiliary welding device for rotor core and end ring |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR102186622B1 (en) |
| CN (1) | CN109702340B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702340B (en) * | 2019-01-30 | 2024-05-10 | 浙江联宜电机有限公司 | Auxiliary welding device for rotor core and end ring |
| CN110732759B (en) * | 2019-11-18 | 2021-09-07 | 中国航发贵州黎阳航空动力有限公司 | Welding deformation control method and device for injection angle of flame tube vortex device mounting base |
| CN111716026A (en) * | 2020-07-22 | 2020-09-29 | 横店集团英洛华电气有限公司 | Auxiliary device for welding iron core punching sheet |
| CN112737236B (en) * | 2020-12-25 | 2022-05-24 | 广东松庆智能科技股份有限公司 | Automatic die-casting production method for aluminum motor rotor |
| CN113967896A (en) * | 2021-01-29 | 2022-01-25 | 航天智造（上海）科技有限责任公司 | Combined multistage expansion positioning mandrel |
| CN113193710B (en) * | 2021-05-18 | 2022-07-26 | 南阳防爆（苏州）特种装备有限公司 | Anti-deformation device and method for friction welding of rotor conducting bar |
| CN114161120B (en) * | 2021-12-24 | 2024-04-02 | 成都华川电装有限责任公司 | Crimping frock of concatenation combination iron core |
| CN114799699B (en) * | 2022-05-26 | 2024-06-18 | 宜宾长盈精密技术有限公司 | Battery cover plate pole welding tool |
| CN116317277A (en) * | 2022-12-20 | 2023-06-23 | 浙江联宜电机有限公司 | Fixing structure for motor end cover and casing |
| CN118180766B (en) * | 2024-04-23 | 2024-08-23 | 十堰普威汽车零部件有限公司 | Positioning mechanism for welding oil cylinder support |
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| CN207200541U (en) * | 2017-09-30 | 2018-04-06 | 浙江联宜电机有限公司 | Electric motor end cap bearing press mounting riveting equipment electric motor end cap bearing riveting machine structure |
| CN207200534U (en) * | 2017-10-09 | 2018-04-06 | 抚顺煤矿电机制造有限责任公司 | A kind of rotor end ring weld fixture apparatus |
| CN207593034U (en) * | 2017-10-24 | 2018-07-10 | 上海法信机电设备制造有限公司 | Cutter holder |
| CN207283285U (en) * | 2017-10-31 | 2018-04-27 | 浙江联宜电机有限公司 | Brushless electric machine reaction magnetic ring assembling structure |
| CN208015487U (en) * | 2018-04-26 | 2018-10-26 | 中车株洲电机有限公司 | A kind of motor and its electric machine end ring fixing device with U-shaped fixed seat |
| CN209520471U (en) * | 2019-01-30 | 2019-10-22 | 横店集团英洛华电气有限公司 | Rotor core and end ring welding auxiliary device |
| KR20200095343A (en) * | 2019-01-30 | 2020-08-10 | 헝디엔 그룹 인누어보 일렉트릭 컴퍼니 리미티드 | Welding auxiliary device for rotor iron core and end ring |
Also Published As
| Publication number | Publication date |
|---|---|
| NZ759214A (en) | 2021-01-29 |
| KR20200095343A (en) | 2020-08-10 |
| KR102186622B1 (en) | 2020-12-07 |
| CN109702340A (en) | 2019-05-03 |
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