CN110255430A - A kind of guide rail climbing robot - Google Patents
A kind of guide rail climbing robot Download PDFInfo
- Publication number
- CN110255430A CN110255430A CN201910534957.7A CN201910534957A CN110255430A CN 110255430 A CN110255430 A CN 110255430A CN 201910534957 A CN201910534957 A CN 201910534957A CN 110255430 A CN110255430 A CN 110255430A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- moving cell
- sliding seat
- driving
- wheel
- 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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- 230000009194 climbing Effects 0.000 title claims abstract description 24
- 230000001105 regulatory effect Effects 0.000 claims abstract description 21
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000013011 mating Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0633—Mechanical arrangements not covered by the following subgroups
Abstract
The invention discloses a kind of guide rail climbing robots, comprising: at least one guide rail；Hoistable platform, moving cell；Wherein, moving cell includes a moving cell shell；Driven wheel；Sliding seat is provided with driving wheel, driving mechanism on sliding seat；Pressure regulating mechanism, the pressure regulating mechanism can force on the sliding seat and the sliding seat driven to move close to the driven wheel.Since guide rail climbing robot of the invention pushes sliding seat that driving wheel is driven to move close to driven wheel by using pressure regulating mechanism, so that driving wheel and driven wheel being capable of clamping guide-rails securely, greatly increase the frictional force between driving wheel and guide rail, it is moved up and down so that moving cell can effectively drive hoistable platform along guide rail, and then user can carry out corresponding high altitude operation or interim loading or manned on hoistable platform, meet the needs of users.
Description
Technical field
The present invention relates to lifting device field, especially a kind of guide rail climbing robot.
Background technique
The height of current building is continuously increased as technology continues to advance, greening, cleaning for external wall, or
Person is by material transportation to the top of building, or fire occurs, and when personnel need emergency escape, the building increasingly increased is all urgently
It need to solve the problem above-mentioned.
Therefore, to solve the above-mentioned problems, people have made miscellaneous lifting device, and one of which is in building
A portal frame is arranged in top, is provided with a pulley on portal frame, a wire sling, wire sling are movably installed on the pulley
Free end be connected with one for loading the carrying platform of article or interim carrying, pass through wire sling and drive carrying platform liter
Drop, to realize lifting article or manned lift.
Although above-mentioned lifting device can be realized article or the lifting of personnel, but the lifting device is due to passing through steel wire
Lifting rope pulls carrying platform to go up and down, and wire sling flexible relative, is easy to shake in the air high, is not easy to high altitude operation.
Summary of the invention
Since existing lifting device is there are still place to be improved, the purpose of the present invention is to provide one kind to be able to solve
The guide rail climbing robot of one of above-mentioned technical problem.
The present invention be solve its technical problem and the technical solution adopted is that:
A kind of guide rail climbing robot, comprising:
At least one guide rail, the guide rail are placed in setting；
Hoistable platform, the hoistable platform are movably installed on the guide rail；
Moving cell, the moving cell are set on the hoistable platform, which can match with the guide rail
Cooperation is to drive the hoistable platform along the guide rail oscilaltion；
Wherein, the moving cell includes a moving cell shell, the moving cell shell to be internally provided with one spacious
The cavity of mouth；More than one driven wheel is movably installed on the moving cell shell；One is movably set in the cavity
It can be movable relatively the mobile sliding seat of unit housings, be movably set with more than one driving wheel, the master on the sliding seat
Driving wheel and driven wheel are located at the two sides of the guide rail；Being provided on the moving cell shell can be with the driving wheel phase
The driving mechanism of connection, the driving mechanism can drive the driving wheel to rotate；Pressure adjusting is additionally provided in cavity simultaneously
Mechanism, the pressure regulating mechanism can force on the sliding seat and the sliding seat driven to move close to the driven wheel.
As the improvement of above-mentioned technology, the quantity of the driving wheel is two, and two driving wheel flat rafts are set to the fortune
On moving cell shell；The driving mechanism is connected with two driving wheels simultaneously by one group of gear drive.
As the further improvement of above-mentioned technology, the driving mechanism is a motor；The gear drive includes one
A driving gear and two driven gears, two driven gears are connected correspondingly with two driving wheels, the driving tooth
Wheel is connected with the output shaft of the motor, wherein the driving gear is meshed with two driven gears simultaneously.
Further, the driving wheel and/or driven wheel are also connected with the clutch that automatically lock is capable of in a power-off；When described
When clutch powers off, which can lock the driving wheel and/or driven wheel.
Further, the quantity of the guide rail is two, and two guide rails are respectively arranged at the two sides of the hoistable platform, institute
Stating that hoistable platform is provided with far from one end of the moving cell can be with the directive wheel of guide rail mating reaction；In two guide rails
A piece guide rail is used cooperatively with the moving cell, and another guide rail is used cooperatively with the directive wheel.
Preferably, the surface of the driving wheel and/or driven wheel, which is provided with, is capable of increasing its rubbing between the guide rail
Wipe the texture of power.
Further preferably, the texture is the salient point or dimpled grain for being opened in driving wheel and/or driven wheel surface.
Further, the pressure regulating mechanism includes a compressed spring, and one end of the compressed spring and the movement are single
First shell abuts, and the other end is in contact with the sliding seat.
Further, the pressure regulating mechanism further includes the adjusting spiral shell that a screw thread is installed on the moving cell shell
Bolt, one end of the compressed spring are abutted against with the adjusting bolt, and the other end is in contact with the sliding seat.
Further, there are swing for the opposite moving cell shell of the sliding seat between the cavity inner wall and sliding seat
Gap.
The beneficial effects of the present invention are: since guide rail climbing robot of the invention is pushed by using pressure regulating mechanism
Sliding seat drives driving wheel to move close to driven wheel so that driving wheel and driven wheel can clamping guide-rail securely, greatly
Ground increases the frictional force between driving wheel and guide rail, so that moving cell can effectively drive hoistable platform along leading
Rail moves up and down, and then user can carry out corresponding high altitude operation or interim loading or manned on hoistable platform, meet user
Demand.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the surface structure schematic diagram of one embodiment of the present invention；
Fig. 2 is the assembling structure schematic diagram of moving cell and guide rail in one embodiment of the present invention；
Fig. 3 is the structural schematic diagram of moving cell in one embodiment of the present invention；
Fig. 4 is the structural decomposition diagram of moving cell in one embodiment of the present invention；
Fig. 5 is the schematic diagram of internal structure of moving cell in one embodiment of the present invention；
When Fig. 6 is that the sliding seat of moving cell and moving cell shell are in discrete state in one embodiment of the present invention
Structural schematic diagram.
Specific embodiment
This part will be described in specific embodiments of the present invention, and the preferred embodiments of the invention is shown in the accompanying drawings, attached
The effect of figure be with figure remark additionally book word segment description, enable a person to intuitively, visually understand of the invention
Each technical characteristic and overall technical architecture, but it should not be understood as limiting the scope of the invention.
In the description of the present invention, it is to be understood that, be related to orientation description, for example, above and below, front, rear, left and right etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.
In the description of the present invention, several to be meant that one or more, it is multiple to be meant that two or more, be greater than,
Be less than, more than etc. be interpreted as not including this number, it is above, following, within etc. be interpreted as including this number.If there is being described to first,
Second is only intended to for the purpose of distinguishing technical characteristic, is not understood to indicate or imply relative importance or implicitly indicates institute
The quantity of the technical characteristic of instruction or the precedence relationship for implicitly indicating indicated technical characteristic.
In description of the invention, unless otherwise restricted clearly, the words such as setting, installation, connection be shall be understood in a broad sense, institute
Above-mentioned word in the present invention specific can rationally be determined with the particular content of combination technology scheme by belonging to technical field technical staff
Meaning.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, an a kind of preferred embodiment of guide rail climbing robot of the invention, including extremely
A few guide rail 11, the guide rail 11 is in placement is erect, and herein, the guide rail 11 can be in erect to put along external wall
It sets, alternatively, additionally one support frame 10 of setting, the guide rail 11 is close to the outer surface setting of support frame 10；On the guide rail 11
It is movably installed with a hoistable platform 20, a moving cell 30 is provided on the hoistable platform 20, which can be with
11 mating reaction of guide rail is to drive the hoistable platform 20 along 11 oscilaltion of guide rail；Wherein, the movement is single
Member 30 includes a moving cell shell 300, and the moving cell shell 300 is internally provided with an open cavity；The fortune
More than one driven wheel 31 is movably installed on moving cell shell 300, herein, the quantity of the driven wheel 31 can be one
A, two, three or more, specifically can be determined according to actual needs, and in the present embodiment, the quantity of the driven wheel 31 is more
It is a, it is set on the moving cell shell 300 to multiple 31 flat rafts of driven wheel；One is movably set in the cavity can be opposite
The mobile sliding seat 32 of moving cell shell 300 is movably set with more than one driving wheel 33 on the sliding seat 32, at this
In, the quantity of the driving wheel 33 may be one, two, three or more, specifically can be determined according to actual needs, described
Driving wheel 33 and driven wheel 31 are located at the two sides of the guide rail 11；Being provided on the moving cell shell 300 can be with
The driving mechanism 34 that the driving wheel 33 is connected, the driving mechanism 34 can drive the driving wheel 33 to rotate；Cavity simultaneously
In be additionally provided with a pressure regulating mechanism, which can force on the sliding seat 32 and drive the sliding
Seat 32 moves close to the driven wheel 31.
Since guide rail climbing robot of the invention pushes sliding seat 32 to drive driving wheel by using pressure regulating mechanism
33 move close to driven wheel 31 so that driving wheel 33 and driven wheel 31 can clamping guide-rail 11 securely, greatly increase
Frictional force between driving wheel 33 and guide rail 11 so that moving cell 30 can effectively drive hoistable platform 20 along
Guide rail 11 moves up and down, and then user can carry out corresponding high altitude operation or interim loading or manned on hoistable platform 20, full
The demand of sufficient user.
Referring to Fig. 2, Fig. 3 and Fig. 4, in order to increase the frictional force between moving cell 30 and guide rail 11, herein, preferably
Ground, the quantity of the driving wheel 33 are two, and two 33 flat rafts of driving wheel are set on the moving cell shell 300；It is described
Driving mechanism 34 is connected with two driving wheels 33 simultaneously by one group of gear drive.By using two driving wheels 33 with
Guide rail 11 contacts, and can increase the contact area between moving cell 30 and guide rail 11, and then increase moving cell 30 and guide rail
Frictional force between 11, thus, moving cell 30 can remain to driving 20 edge of hoistable platform when hoistable platform 20 loads heavy burden
Guide rail 11 go up and down, enhance the climbing performance of guide rail climbing robot.
Further, in order to enable the structure of moving cell 30 is simpler, herein, it is preferable that the driving mechanism 34
For a motor；The gear drive includes a driving gear 41 and two driven gears 42, two driven gears 42 with
Two driving wheels 33 are connected correspondingly, and the driving gear 41 is connected with the output shaft of the motor, wherein described
Driving gear 41 is meshed with two driven gears 42 simultaneously.By using above-mentioned structure, moving cell 30 is not only simplified
Structure, while can guarantee that driving mechanism 34 can effectively drive the rotation of driving wheel 33 again.
Certainly above-mentioned driving mechanism 34 can also be replaced using rotary cylinder or the driving mechanism 34 uses rack gear
The mode of sliding tooth wheel rotation drives driving wheel 33 to rotate.
Referring to figure 5 and figure 6, in order to guarantee guide rail climbing robot when driving mechanism 34 powers off, still with enough peaces
Full performance, herein, the driving wheel 33 and/or driven wheel 31 are also connected with the clutch 50 that automatically lock is capable of in a power-off；
When the clutch 50 power-off, which can lock the driving wheel 33 and/or driven wheel 31.I.e. clutch 50 exists
When power-off, locking it can lock automatically, so that driving wheel 33 and/or driven wheel 31 are unable to the rotation of opposite rail 11, thus
So that clamping guide-rail 11 guarantees safety without moving down to guide rail climbing robot when power is off.In the present embodiment, described
Clutch 50 is an electromagnetic clutch, it is preferable that be can be used as the production of Wuxi winner Autotek S. r. l., model
The electromagnetic clutch of DHM4-5 is not repeating herein since the electromagnetic clutch is known techniques.
Referring to Fig.1, wherein in order to enable hoistable platform 20 is more steady in lifting process, it is preferable that the guide rail 11
Quantity be two, two guide rails 11 are respectively arranged at the two sides of the hoistable platform 20, and the hoistable platform 20 is far from described
One end of moving cell 30 is provided with can be with the directive wheel of 11 mating reaction of guide rail；A guide rail 11 in two guide rails 11 with
The moving cell 30 is used cooperatively, and another guide rail 11 is used cooperatively with the directive wheel.It, can by using above-mentioned structure
To prevent the both ends of hoistable platform 20 from tilting or swinging, so that hoistable platform 20 can be more along 11 oscilaltion of guide rail
Steadily, it is not easy to shake.
Referring to figure 5 and figure 6, herein, described in order to further increase the frictional force between moving cell 30 and guide rail 11
The surface of driving wheel 33 and/or driven wheel 31 is provided with the texture 35 for being capable of increasing its frictional force between the guide rail 11.
Further preferably, the texture 35 is the salient point or dimpled grain for being opened in 31 surface of driving wheel 33 and/or driven wheel.In the present invention
In, the texture 35 is preferably a plurality of recessed groove for being opened in 32 surface of driving wheel.
Referring to figure 5 and figure 6, herein, described in order to enable pressure regulating mechanism can more preferably force on sliding seat 32
Pressure regulating mechanism includes a compressed spring 60, and one end of the compressed spring 60 is abutted with the moving cell shell 300, separately
One end is in contact with the sliding seat 32.It can push sliding seat 32 that driving wheel 33 is driven to move close to institute by the compressed spring 60
Driven wheel 31 is stated, the structure of moving cell 30 can be not only simplified, but also can guarantee that pressure regulating mechanism can be forced in persistently
On sliding seat 32, and then guarantee that driving wheel 33 and driven wheel 31 can continue clamping guide-rail 11, to guarantee moving cell 30 and lead
Frictional force continuous and effective between rail 11.
Certainly, above-mentioned pressure regulating mechanism can also be replaced using other structures, and such as pressure regulating mechanism is one
Cylinder or hydraulic cylinder, by cylinder or Hydraulic Cylinder sliding seat 32 and 33 synchronizing moving of driving wheel close to driven wheel 31, and
Can with.Alternatively, motor can be used for the pressure regulating mechanism and the structure of screw body cooperation replaces, it specifically can be according to reality
Depending on needing.
Wherein, in order to can be in order to adjust the elastic deformation power of compressed spring 60, herein, the pressure regulating mechanism be also
Be installed on the adjusting bolt 61 on the moving cell shell 300 including a screw thread, one end of the compressed spring 60 with it is described
It adjusts bolt 61 to abut against, the other end is in contact with the sliding seat 32.By using above-mentioned structure, user is by turning
It adjusts bolt 61 to rotate forward or rotate backward, screws in the cavity or moved back from the cavity so that adjusting bolt 61
Out, change the adjusting bolt 61 and squeeze the amount of elastic deformation of the compressed spring 60, applied to adjust the compressed spring 60
The extruding force being added on sliding seat 32, it is simple and convenient.
Further, in order to enable the surface that can be close to guide rail 11 of driving wheel 33 is mobile, herein, the cavity inner wall with
There are the gap swung for the relatively described moving cell shell 300 of the sliding seat 32, i.e., the described cavity difference between sliding seat 32
Spacing between the two sidewalls of 32 two sides of sliding seat is greater than the width of the sliding seat 32, herein, the sliding seat
32 width refers to that sliding seat 32 moves close to the size in the direction of motion of driven wheel 31 perpendicular to it.
In the present embodiment, the sliding seat 32 can either be under the impetus of pressure regulating mechanism, 32 band of sliding seat
Dynamic driving wheel 33 is moved along towards the direction of the driven wheel 31, at the same the sliding seat 32 can also swing certain angle with
The direction of the driven wheel 31 is deflected towards, so that sliding seat 32, driving wheel 33 can follow the surface deflections of guide rail 11
And deflect, guarantee that driving wheel 33 can be close to the surface of guide rail 11, to guarantee effectively contacting between driving wheel 33 and guide rail 11
Area, the driving wheel 33 for realizing moving cell 30 can voluntarily adapt to the deflection on 11 surface of guide rail, improve moving cell 30
Driving wheel 33 and guide rail 11 between contact effect.
The above description is only a preferred embodiment of the present invention, as long as realizing the skill of the object of the invention with essentially identical means
Art scheme belongs within protection scope of the present invention.
Claims (10)
1. a kind of guide rail climbing robot characterized by comprising
At least one guide rail (11), the guide rail (11) are placed in setting；
Hoistable platform (20), the hoistable platform (20) are movably installed on the guide rail (11)；
Moving cell (30), the moving cell (30) are set on the hoistable platform (20), which can
With the guide rail (11) mating reaction to drive the hoistable platform (20) along the guide rail (11) oscilaltion；
Wherein, the moving cell (30) includes a moving cell shell (300), the inside of the moving cell shell (300)
It is provided with an open cavity；More than one driven wheel (31) are movably installed on the moving cell shell (300)；It is described
One is movably set in cavity can be movable relatively unit housings (300) mobile sliding seat (32), live on the sliding seat (32)
Dynamic to be provided with more than one driving wheel (33), the driving wheel (33) and driven wheel (31) are located at the guide rail (11)
Two sides；The driving mechanism (34) that can be connected with the driving wheel (33) is provided on the moving cell shell (300), it should
Driving mechanism (34) can drive the driving wheel (33) to rotate；It is additionally provided with a pressure regulating mechanism in cavity simultaneously, the pressure
Power regulating mechanism can force on the sliding seat (32) and the sliding seat (32) is driven to move close to the driven wheel
(31)。
2. a kind of guide rail climbing robot according to claim 1, it is characterised in that:
The quantity of the driving wheel (33) is two, and two driving wheel (33) flat rafts are set to the moving cell shell (300)
On；
The driving mechanism (34) is connected with two driving wheels (33) simultaneously by one group of gear drive.
3. a kind of guide rail climbing robot according to claim 2, it is characterised in that:
The driving mechanism (34) is a motor；
The gear drive includes a driving gear (41) and two driven gears (42), two driven gears (42) and
Two driving wheels (33) are connected correspondingly, and the driving gear (41) is connected with the output shaft of the motor,
Wherein, the driving gear (41) is meshed with two driven gears (42) simultaneously.
4. a kind of guide rail climbing robot according to claim 1, it is characterised in that:
The driving wheel (33) and/or driven wheel (31) are also connected with the clutch (50) that automatically lock is capable of in a power-off；
When the clutch (50) power-off, which can lock the driving wheel (33) and/or driven wheel (31).
5. a kind of guide rail climbing robot according to claim 1, it is characterised in that:
The quantity of the guide rail (11) is two, and two guide rails (11) are respectively arranged at the two sides of the hoistable platform (20), institute
Stating the one end of hoistable platform (20) far from the moving cell (30), be provided with can be with the directive wheel of guide rail (11) mating reaction；
A guide rail (11) in two guide rails (11) is used cooperatively with the moving cell (30), another guide rail (11) and institute
Directive wheel is stated to be used cooperatively.
6. a kind of guide rail climbing robot according to claim 1, it is characterised in that:
The surface of the driving wheel (33) and/or driven wheel (31), which is provided with, is capable of increasing its rubbing between the guide rail (11)
Wipe the texture (35) of power.
7. a kind of guide rail climbing robot according to claim 6, it is characterised in that:
The texture (35) is the salient point or dimpled grain for being opened in driving wheel (33) and/or driven wheel (31) surface.
8. a kind of guide rail climbing robot according to claim 1, it is characterised in that:
The pressure regulating mechanism includes a compressed spring (60), one end of the compressed spring (60) and the moving cell shell
Body (300) abuts, and the other end is in contact with the sliding seat (32).
9. a kind of guide rail climbing robot according to claim 8, it is characterised in that:
The pressure regulating mechanism further includes the adjusting bolt (61) that a screw thread is installed on the moving cell shell (300),
One end of the compressed spring (60) is abutted against with the adjusting bolt (61), and the other end connects with the sliding seat (32)
Touching.
10. a kind of guide rail climbing robot according to claim 1, it is characterised in that:
There are for relatively described moving cell shell (300) pendulum of the sliding seat (32) between the cavity inner wall and sliding seat (32)
Dynamic gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534957.7A CN110255430B (en) | 2019-06-20 | 2019-06-20 | Guide rail climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534957.7A CN110255430B (en) | 2019-06-20 | 2019-06-20 | Guide rail climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110255430A true CN110255430A (en) | 2019-09-20 |
| CN110255430B CN110255430B (en) | 2023-11-03 |
Family
ID=67919626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910534957.7A Active CN110255430B (en) | 2019-06-20 | 2019-06-20 | Guide rail climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110255430B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110588825A (en) * | 2019-10-28 | 2019-12-20 | 南京中科特检机器人有限公司 | Climbing mechanism and cleaning robot |
| CN115217320A (en) * | 2022-08-04 | 2022-10-21 | 广西博强建筑科技有限公司 | Intelligent building equipment for building scaffold |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115217320A (en) * | 2022-08-04 | 2022-10-21 | 广西博强建筑科技有限公司 | Intelligent building equipment for building scaffold |
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| Publication number | Publication date |
|---|---|
| CN110255430B (en) | 2023-11-03 |
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