CN109808887B - Throwing mechanism for small unmanned aerial vehicle - Google Patents
Throwing mechanism for small unmanned aerial vehicle Download PDFInfo
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- CN109808887B CN109808887B CN201910083392.5A CN201910083392A CN109808887B CN 109808887 B CN109808887 B CN 109808887B CN 201910083392 A CN201910083392 A CN 201910083392A CN 109808887 B CN109808887 B CN 109808887B
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Abstract
The invention discloses a throwing mechanism for a small unmanned aerial vehicle, which consists of a steering engine and a set of mechanical system; the throwing mechanism is arranged on the load airplane, and the hanging connecting pieces are reasonably designed, so that the hanging objects only need to be fixedly connected with the hanging connecting pieces, the hanging of different hanging objects can be realized, and the task types of the unmanned aerial vehicle are expanded; the mission endurance and the load can be increased, the cost is reduced, and the method is favorable for mass application. The locking mechanism is reasonable in design, and the reliability is high after locking; the mechanical device is used for locking, the influence of external conditions is small, and the phenomenon that the hung object accidentally falls due to locking failure caused by interference of an external electromagnetic field and vibration in the flight process can be avoided. The steering engine and the locking mechanism are separately arranged, the structure is simple, the assembly and disassembly are convenient, the size of the mechanism is small, the occupied space is small, the weight is light, and the requirements on the load and the space of the unmanned aerial vehicle are small. Can be replaced independently when damaged, and is favorable for later maintenance.
Description
Technical Field
The invention relates to a mechanical throwing device for an unmanned aerial vehicle, in particular to a throwing mechanism for a small unmanned aerial vehicle, and belongs to the field of aviation machinery.
Background
An unmanned aircraft, called an unmanned plane for short, is an unmanned aircraft controlled by electronic equipment and can be divided into a rotary wing type unmanned plane, a fixed wing type unmanned plane and a flapping wing type unmanned plane. At present, unmanned aerial vehicles are integrated into the current life, such as agricultural plant protection, unmanned aerial vehicle aerial photography, electric power cruise and the like. Numerous innovative applications for drones are gradually replacing the work of humans in some special cases.
In some task processes of the unmanned aerial vehicle, some objects need to be thrown in the flight process, such as throwing of fire extinguishing bombs of the fire-fighting unmanned aerial vehicle and throwing of submachine of the primary and secondary unmanned aerial vehicles, and therefore a reliable mechanism is needed to complete the throwing process.
The invention CN107128491A patent 'a master-slave unmanned aerial vehicle system charged by high voltage mutual inductance' adopts a mode that a slave machine induces a master machine through a Hall switch, but has the defect that an electromagnetic switch is easy to work abnormally due to the interference of an external electromagnetic field, particularly under a special operating environment, such as a circuit inspection process, the electromagnetic switch is interfered by a strong magnetic field generated by high voltage electricity. The mechanism for controlling the plane to be folded and unfolded is arranged on the submachine, so that the weight of the submachine is increased, and the endurance of the small plane is reduced; on the other hand, the consumed electric quantity is increased in the use of the mechanism, and the endurance of the small airplane is also reduced. The electromagnetic switch has high cost and is not beneficial to being used in large quantity.
The patent CN107187605A 'a multifunctional patrol primary-secondary unmanned aerial vehicle for agriculture and forestry and a control method' adopts a mode of clamping by electric clamping jaws, but has the problems that the electric clamping jaws and a T-shaped end plate of a submachine are only fixed by friction force in the sailing direction during clamping, and the submachine is easy to drop due to relative displacement caused by vibration in the flying process. The wireless charging and transmitting module in the electric clamping arm can influence the flight control function of the submachine, so that the submachine is out of control in the task process.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a throwing mechanism for a small unmanned aerial vehicle; the throwing mechanism consists of a steering engine and a set of mechanical system, and has the advantages of high structural reliability, light weight, small occupied space and low cost; different objects can be hung, and the application is wide; through mechanical structure locking, the influence of external conditions is small.
The technical scheme adopted by the invention for solving the technical problems is that the device comprises an outer cylinder component, a steering engine connecting rod, an installation bottom plate, two binding belts, two hanging force bearing pieces and a hanging connecting piece, and is characterized in that the outer cylinder component also comprises a locking rod, a push rod, a sliding groove cylinder, a spring and a cylinder body;
the outer cylinder assembly is fixed in a mounting groove on the mounting bottom plate through two binding belts;
the locking rod is of a cylindrical stepped structure and is divided into a front section, a middle section and a rear section according to thickness, the front section of the locking rod is thin, the rear section of the locking rod is thick, the end part of the front section of the locking rod is provided with a chamfer, the diameter of the middle section is consistent with the inner diameter of a spring, the spring is nested in the middle section of the locking rod, one end of the spring abuts against the front end part of the rear section of the locking rod, locking rod end pieces are uniformly distributed at the rear section of the locking rod in the circumferential direction, and the end surfaces of the locking rod end pieces and the axis of the locking rod form an acute angle;
the sliding groove barrel is cylindrical, axial grooves are uniformly distributed in the barrel wall of the sliding groove along the circumferential direction, the width of each groove is the same as that of the locking rod end piece, the locking rod end piece can slide in the groove along the axial direction, clamping grooves are uniformly distributed in the circumferential direction at the front end part of the barrel wall of the sliding groove, the shapes of the clamping grooves and the locking rod end pieces are the same, grooves are distributed in the inner wall of the sliding groove barrel along the circumferential direction, and the grooves of the sliding groove barrel and the grooves are distributed in a staggered mode along the circumferential direction at equal intervals; the end piece of the locking rod is inserted into the groove of the sliding groove cylinder and can slide along the axial direction;
the push rod is of a cylindrical structure, the outer diameter of the push rod is consistent with the inner diameter of the sliding groove barrel, a plurality of bosses are distributed at one end of the push rod along the circumferential direction, the width of each boss is the same as that of a groove and a groove of the sliding groove barrel, the push rod is inserted into the sliding groove barrel, the boss of the push rod is matched with the groove and the groove of the sliding groove barrel and can relatively slide along the axial direction, a round hole is formed at the other end of the push rod, and the diameter of the round hole is the same as that of the steering engine connecting rod;
the barrel body is divided into a long barrel and a short barrel, the outer diameter of the long barrel is the same as the inner diameter of the short barrel, a cylindrical stepped groove is formed in the long barrel, the diameter of each section of the cylindrical stepped groove is the same as that of each section of the cylindrical stepped structure of the locking rod, the sliding groove barrel, the spring and the push rod are installed in a matched mode and inserted into the long barrel, and the short barrel is nested at one end of the long barrel;
the steering engine connecting rod is of a two-connecting-rod structure, one end of the steering engine connecting rod is fixedly connected with the steering engine, and the other end of the steering engine connecting rod is hinged with the push rod through the matching of the push rod small hole;
the hanging bearing pieces are positioned at the front part of the outer barrel assembly and fixed on the mounting bottom plate, the hanging bearing pieces are triangular pieces, the upper parts of the hanging bearing pieces are provided with round holes, the diameters of the round holes are the same as the diameter of the front section of the locking rod, the axes of the round holes are coincident, the mounting bottom plate is provided with slotted holes positioned between the two hanging bearing pieces, the hanging connecting piece is formed by combining a pentagonal plate and two rectangular plate-clamped cross beams, the upper parts of the pentagonal plates are provided with round holes, the upper parts of the hanging connecting pieces pass through the slotted holes in the mounting bottom plate and are coaxially mounted with the hanging bearing pieces on two sides, and the hanging connecting pieces are fixedly connected with a hanging object;
the steering engine is fixed on the mounting bottom plate, is positioned on one side of the cylinder body and can rotate within the range of 180 degrees; when the steering engine rotates anticlockwise, the connecting rod of the steering engine drives the push rod to slide along the axial direction, the push rod pushes the locking rod to slide, meanwhile, the spring is compressed, when the end piece of the locking rod slides out of the chute barrel groove, the locking rod slides along the boss of the push rod under the elastic action of the spring, the locking rod rotates around the shaft under the limitation of the long barrel until the locking rod is clamped by the chute barrel groove, the locking rod moves along the axial direction, the front part of the locking rod is inserted into the hanging load bearing piece and the small hole in the hanging load connecting piece, and meanwhile, the hanging load connecting piece and the hanging object position are locked;
when the steering engine rotates clockwise, the steering engine connecting rod drives the push rod to slide along the axial direction, the push rod pushes the locking rod to slide, meanwhile, the spring is compressed, when the end piece of the locking rod slides out of the clamping groove of the sliding groove barrel, the end piece of the locking rod slides along the boss of the push rod under the action of the elastic force of the spring, the locking rod rotates around the shaft under the limitation of the long barrel, when the locking rod rotates to the groove of the sliding groove barrel, the end piece of the locking rod is inserted into the sliding groove barrel to be grooved under the action of the elastic force of the spring, when the steering engine rotates, the front part of the locking rod is drawn out from the small holes of the hanging load bearing piece and the hanging load connecting piece, and meanwhile, the hanging load connecting piece and the hanging load are thrown.
The locking rod, the chute barrel, the spring, the push rod, the long barrel and the short barrel are matched with each other and are coaxially arranged with the hanging load bearing piece.
The end part of the push rod is circumferentially provided with a plurality of pentagonal bosses.
Advantageous effects
The throwing mechanism for the small unmanned aerial vehicle is arranged on a loaded aircraft, and the mounted object is only required to be fixedly connected with the connecting piece, so that the excessive weight of the mounted object is avoided, the mission endurance and the load can be increased, the cost is reduced, and the large-scale use is facilitated.
The locking mechanism is reasonable in design and high in reliability after locking, and the phenomenon that the hung object accidentally falls due to locking failure caused by interference of an external electromagnetic field and vibration in the flying process is avoided; through reasonable design carry connecting piece, can realize the carry of different carry thing, extension unmanned aerial vehicle's task kind can realize "a tractor serves several purposes". The completion of the task is facilitated.
The throwing mechanism for the small unmanned aerial vehicle is simple in structure, convenient to assemble and disassemble, small in size, small in occupied space, light in weight and low in requirements for load and space of the unmanned aerial vehicle. Can be replaced independently when damaged, and is favorable for later maintenance.
Drawings
The following describes a throwing mechanism for a small unmanned aerial vehicle in further detail with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic view of a throwing mechanism for a small unmanned aerial vehicle according to the present invention.
Fig. 2 is an exploded view of the inventive throwing mechanism for a small unmanned aerial vehicle.
Figure 3 is an exploded view of the outer barrel assembly of the present invention.
Figure 4 is a schematic view of the assembly of the outer barrel assembly of the present invention.
Fig. 5 (a) and (b) are schematic views illustrating the outer cylinder assembly of the present invention switched from the release state to the lock state.
FIG. 6 is a schematic diagram showing the relative relationship between the components in the locked state according to the present invention.
Fig. 7 (a) and (b) are schematic diagrams illustrating the switching from the locked state to the released state in the present invention.
FIG. 8 is a schematic diagram showing the relative relationship between the components in the released state of the present invention.
In the figure:
1. outer cylinder assembly 2, steering engine connecting rod 3, steering engine 4, mounting bottom plate 5, mounting connecting piece 6, mounting bearing piece 7, long cylinder 8, short cylinder 9, sliding groove cylinder 10, push rod 11, locking rod 12 and spring
Detailed Description
The embodiment is a throwing mechanism for a small unmanned aerial vehicle.
Referring to fig. 1 to 8, in the embodiment, the coordinate systems of all legends in the throwing mechanism for the small unmanned aerial vehicle are consistent, where the left direction refers to the negative direction of the y axis, the front direction refers to the positive direction of the x axis, and the upper direction refers to the positive direction of the z axis.
The embodiment is used for small unmanned aerial vehicle's throwing mechanism, comprises urceolus subassembly 1, steering wheel 3, steering wheel connecting rod 2, mounting plate 4, two bandages, two carry bearing piece 6 and carry connecting piece 5, and wherein, urceolus subassembly 1 includes locking lever 11, push rod 10, a spout section of thick bamboo 9, spring 12 and barrel. The outer cylinder component 1 is fixed in the mounting groove on the mounting bottom plate through two binding belts. The locking rod 11 is a cylindrical stepped structure and is divided into a front section, a middle section and a rear section according to thickness, the front section of the locking rod is thin, the rear section of the locking rod is thick, the end part of the front section of the locking rod 11 is provided with a chamfer, the diameter of the middle section is consistent with the inner diameter of a spring, the spring 12 is nested in the middle section of the locking rod, one end of the spring 12 abuts against the front end part of the rear section of the locking rod, locking rod end pieces are evenly distributed in the circumferential direction of the rear section of the locking rod, and the end faces of the locking rod end pieces and the axis of the locking rod form an acute angle and face towards the same direction.
The chute barrel 9 is cylindrical, axial grooves are uniformly distributed in the wall of the chute barrel 9 along the circumferential direction, the width of each groove is the same as that of the locking rod end piece, the locking rod end piece can slide in the groove along the axial direction, clamping grooves are uniformly distributed in the circumferential direction at the front end part of the wall of the chute barrel, the shapes of the clamping grooves and the locking rod end pieces are the same, grooves are distributed in the circumferential direction on the inner wall of the chute barrel, and the grooves of the chute barrel and the grooves are distributed in a staggered manner along the circumferential direction at equal intervals; the end piece of the locking rod is inserted into the groove of the sliding groove barrel and can slide along the axial direction. The push rod 10 is a cylindrical structure, the outer diameter of the push rod 10 is consistent with the inner diameter of the sliding groove barrel 9, a plurality of bosses are uniformly distributed at one end of the push rod 10 along the circumferential direction, the width of each boss is the same as that of a groove formed in the sliding groove barrel, the push rod 10 is inserted into the sliding groove barrel 9, the bosses of the push rod are matched with the grooves formed in the sliding groove barrel and the grooves and can slide relatively along the axial direction, a round hole is formed in the other end of the push rod 10, and the diameter of the round hole is the same as that of the steering engine connecting rod 2. The barrel is divided into a long barrel 7 and a short barrel 8, the outer diameter of the long barrel 7 is the same as the inner diameter of the short barrel 8, a cylindrical stepped groove is formed in the long barrel 7, and the diameter of the cylindrical stepped groove is the same as that of the cylindrical stepped structure of the locking rod. The locking rod 11, the chute barrel 9, the spring 12 and the push rod 10 are installed in a matched mode and inserted into the long barrel 7, and the short barrel 8 is nested at one end portion of the long barrel 7.
In the embodiment, the steering engine connecting rod 2 is of a two-connecting-rod structure, one end of the steering engine connecting rod 2 is fixedly connected with the steering engine, and the other end of the steering engine connecting rod 2 is hinged with the push rod through the matching of the push rod small hole; two threaded holes are formed in two side edges of the mounting position of the steering engine 3 respectively and are overlapped with the axis of the threaded hole of the steering engine 3, and the steering engine 3 is fixedly connected through bolts. The two hanging load bearing pieces 6 are positioned at the front part of the outer cylinder component 1 and fixed on the mounting bottom plate 4; the hanging bearing piece 6 is in a triangular piece shape, the upper part of the hanging bearing piece is provided with a round hole, the diameter of the round hole is the same as that of the front section of the locking rod, and the axes of the round hole are superposed. Slotted holes are formed between the hanging bearing pieces on the mounting base plate 4, the hanging connecting piece 5 is formed by combining a pentagonal plate and two rectangular plate-clamped cross beams, a round hole is formed in the upper portion of the pentagonal plate, the upper portion of the hanging connecting piece 5 penetrates through the slotted holes in the mounting base plate 4 and is coaxially mounted with the hanging bearing pieces on the two sides, and the hanging connecting piece 5 is fixedly connected with a hanging object.
In the embodiment, the steering engine 3 is fixed on the mounting bottom plate and can rotate within 180 degrees on one side of the outer cylinder; the steering wheel 3 drives the push rod 10 to slide along the axial direction through the steering wheel connecting rod 2 when rotating anticlockwise, the push rod 10 pushes the locking rod 11 to slide, meanwhile, the spring 12 is compressed, when the end piece of the locking rod 11 slides out of the chute barrel 9 to be grooved, the limitation of the chute barrel 9 is avoided, the end face of the end piece of the locking rod 11 is an inclined end face, the boss of the push rod 10 can slide under the elastic action of the spring 12, the locking rod 11 rotates around the shaft under the limitation of the long end 7 of the outer barrel until being clamped by the chute barrel 9 clamping groove, at the moment, the locking rod 11 moves along the axial straight line, the hanging load bearing piece 6 is inserted into the front part of the locking rod 11, the position of the hanging load connecting piece 5 is locked, and therefore the position of the hanging load is locked.
When the steering engine 3 rotates clockwise, the push rod 10 is driven to slide along the axial direction through the steering engine connecting rod 2, the push rod 10 pushes the locking rod 11 to slide, meanwhile, the spring 12 is compressed, when the end piece of the locking rod 11 slides out of the chute barrel clamping groove, the limitation of the chute barrel 9 clamping groove is avoided, the end piece end face of the locking rod 11 is an inclined end face, the locking rod 11 can slide along the boss of the push rod 10 under the elastic force action of the spring 12, the locking rod 11 rotates around the shaft under the limitation of the long end 7 of the outer barrel, when the chute barrel 9 is opened, the end piece of the locking rod 11 is inserted into the chute barrel 9 to be opened under the elastic force action of the spring 12, when the steering engine 3 finishes rotating, the front part of the locking rod 11 is drawn out from the hanging load bearing piece 6 and the small hole of the hanging load connecting piece 5, the hanging load connecting piece 5 is released under the action of gravity, and throwing and releasing of a hanging load is realized.
In the embodiment, the locking rod 11, the spring 12, the chute barrel 9 and the push rod 10 are assembled with each other, namely, a pentagonal boss of the push rod 10 is aligned to a groove and a groove of the chute barrel 9, the push rod 10 is inserted into the chute barrel 9, then an end piece of the locking rod 11 is inserted into the groove of the chute barrel 9, and finally the spring 12 is sleeved in the middle of the locking rod 11. The locking rod 11, the chute barrel 9, the spring 12 and the push rod 10 are assembled and then inserted into the long barrel 7, and the short barrel 8 is nested at the end part of the long barrel. The locking rod 11, the chute barrel 9, the spring 12, the push rod 10, the long barrel 7 and the short barrel 8 are matched with each other and coaxially arranged with the hanging bearing piece 6.
Claims (2)
1. A throwing mechanism for a small unmanned aerial vehicle comprises an outer cylinder assembly, a steering engine connecting rod, an installation bottom plate, two binding belts, two hanging force bearing pieces and a hanging connecting piece, and is characterized in that the outer cylinder assembly further comprises a locking rod, a push rod, a sliding groove cylinder, a spring and a cylinder body;
the outer cylinder assembly is fixed in a mounting groove on the mounting bottom plate through two binding belts;
the locking rod is of a cylindrical stepped structure and is divided into a front section, a middle section and a rear section according to thickness, the front section of the locking rod is thin, the rear section of the locking rod is thick, the end part of the front section of the locking rod is provided with a chamfer, the diameter of the middle section is consistent with the inner diameter of a spring, the spring is nested in the middle section of the locking rod, one end of the spring abuts against the front end part of the rear section of the locking rod, locking rod end pieces are uniformly distributed at the rear section of the locking rod in the circumferential direction, and the end surfaces of the locking rod end pieces and the axis of the locking rod form an acute angle;
the sliding groove barrel is cylindrical, axial grooves are uniformly distributed in the barrel wall of the sliding groove along the circumferential direction, the width of each axial groove is the same as that of the locking rod end piece, the locking rod end piece can slide in the groove along the axial direction, clamping grooves are uniformly distributed in the circumferential direction at the front end part of the barrel wall of the sliding groove, the shapes of the clamping grooves and the locking rod end pieces are the same, grooves are distributed in the inner wall of the sliding groove barrel along the circumferential direction, and the grooves of the sliding groove barrel and the grooves are distributed in a staggered mode along the circumferential direction at equal intervals; the end piece of the locking rod is inserted into the groove of the sliding groove cylinder and can slide along the axial direction;
the push rod is of a cylindrical structure, the outer diameter of the push rod is consistent with the inner diameter of the sliding groove barrel, a plurality of bosses are distributed at one end of the push rod along the circumferential direction, the width of each boss is the same as that of a groove and a groove of the sliding groove barrel, the push rod is inserted into the sliding groove barrel, the boss of the push rod is matched with the groove and the groove of the sliding groove barrel and can relatively slide along the axial direction, a round hole is formed at the other end of the push rod, and the diameter of the round hole is the same as that of the steering engine connecting rod;
the barrel body is divided into a long barrel and a short barrel, the outer diameter of the long barrel is the same as the inner diameter of the short barrel, a cylindrical stepped groove is formed in the long barrel, the diameter of each section of the cylindrical stepped groove is the same as that of each section of the cylindrical stepped structure of the locking rod, the sliding groove barrel, the spring and the push rod are installed in a matched mode and inserted into the long barrel, and the short barrel is nested at one end of the long barrel;
the steering engine connecting rod is of a two-connecting-rod structure, one end of the steering engine connecting rod is fixedly connected with the steering engine, and the other end of the steering engine connecting rod is hinged with the push rod through the matching of the push rod small hole;
the hanging bearing pieces are positioned at the front part of the outer barrel assembly and fixed on the mounting bottom plate, the hanging bearing pieces are triangular pieces, the upper parts of the hanging bearing pieces are provided with round holes, the diameters of the round holes are the same as the diameter of the front section of the locking rod, the axes of the round holes are coincident, the mounting bottom plate is provided with slotted holes positioned between the two hanging bearing pieces, the hanging connecting piece is formed by combining a pentagonal plate and two rectangular plate-clamped cross beams, the upper parts of the pentagonal plates are provided with round holes, the upper parts of the hanging connecting pieces pass through the slotted holes in the mounting bottom plate and are coaxially mounted with the hanging bearing pieces on two sides, and the hanging connecting pieces are fixedly connected with a hanging object;
the steering engine is fixed on the mounting bottom plate, is positioned on one side of the cylinder body and can rotate within the range of 180 degrees; when the steering engine rotates anticlockwise, the connecting rod of the steering engine drives the push rod to slide along the axial direction, the push rod pushes the locking rod to slide, meanwhile, the spring is compressed, when the end piece of the locking rod slides out of the chute barrel groove, the locking rod slides along the boss of the push rod under the elastic action of the spring, the locking rod rotates around the shaft under the limitation of the long barrel until the locking rod is clamped by the chute barrel groove, the locking rod moves along the axial direction, the front part of the locking rod is inserted into the hanging load bearing piece and the small hole in the hanging load connecting piece, and meanwhile, the hanging load connecting piece and the hanging object position are locked;
when the steering engine rotates clockwise, the connecting rod of the steering engine drives the push rod to slide along the axial direction, the push rod pushes the locking rod to slide, the spring is compressed at the same time, when the end piece of the locking rod slides out of the clamping groove of the chute barrel, the locking rod slides along the boss of the push rod under the elastic force action of the spring, the locking rod rotates around the shaft under the limitation of the long barrel, when the chute barrel is rotated to be grooved, the end piece of the locking rod is inserted into the chute barrel to be grooved under the elastic force action of the spring, when the steering engine rotates, the front part of the locking rod is pulled out from the small holes of the mounting bearing piece and the mounting connecting piece, and meanwhile, the mounting connecting piece and the mounted object are thrown;
the locking rod, the chute barrel, the spring, the push rod, the long barrel and the short barrel are matched with each other and are coaxially arranged with the hanging load bearing piece.
2. The throwing mechanism for the small unmanned aerial vehicle as claimed in claim 1, wherein a plurality of pentagonal bosses are circumferentially distributed at the end of the push rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910083392.5A CN109808887B (en) | 2019-01-29 | 2019-01-29 | Throwing mechanism for small unmanned aerial vehicle |
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| CN201910083392.5A CN109808887B (en) | 2019-01-29 | 2019-01-29 | Throwing mechanism for small unmanned aerial vehicle |
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| CN109808887B true CN109808887B (en) | 2022-04-05 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110901920B (en) * | 2019-12-04 | 2022-12-06 | 中国直升机设计研究所 | Operating steel cable connecting device capable of being quickly separated |
| CN111252251B (en) * | 2020-03-17 | 2021-08-31 | 吉林省翼启飞科技有限公司 | Angle adjusting device for unmanned aerial vehicle mounting gun |
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| CN104527979A (en) * | 2014-11-21 | 2015-04-22 | 中国科学院长春光学精密机械与物理研究所 | Automatic dispenser for air-based tear gas bomb |
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|---|---|
| CN109808887A (en) | 2019-05-28 |
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