CN110549364A - Hydraulic drive high accuracy pendulum favourable turn constructs - Google Patents
Hydraulic drive high accuracy pendulum favourable turn constructs Download PDFInfo
- Publication number
- CN110549364A CN110549364A CN201910811030.3A CN201910811030A CN110549364A CN 110549364 A CN110549364 A CN 110549364A CN 201910811030 A CN201910811030 A CN 201910811030A CN 110549364 A CN110549364 A CN 110549364A
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- Prior art keywords
- transmission shaft
- bearing seat
- swing motor
- hydraulic servo
- pressing plate
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- 230000002349 favourable effect Effects 0.000 title description 2
- 230000005540 biological transmission Effects 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000007704 transition Effects 0.000 claims description 30
- 238000003825 pressing Methods 0.000 claims description 24
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hydraulic Motors (AREA)
Abstract
A hydraulic drive high-precision swing mechanism relates to a swing mechanism, which comprises a base, a transmission shaft and a hollow shaft hydraulic servo swing motor, wherein the hollow shaft hydraulic servo swing motor is arranged in the base, the stator of the hollow shaft hydraulic servo swing motor is fixed with the base through an anti-torsion stud A and an anti-torsion stud B on two sides respectively, the middle section of the transmission shaft is arranged in the hollow shaft hydraulic servo swing motor, and is fixedly connected with the rotor of the hydraulic servo swing motor through an expansion sleeve A and an expansion sleeve B on two sides respectively, a bearing seat A and a bearing seat B are arranged in bearing seat holes on two ends of the base respectively, the middle section of the transmission shaft extends towards two sides and is respectively provided with a plurality of stages, a step section close to the middle section of the transmission shaft is arranged into a conical section, roller bearings A and B are respectively arranged between the bearing seat A and the bearing seat B and the tapered steps on the two sides of the transmission shaft; the invention has high matching precision and is easy to manufacture and realize.
Description
Technical Field
The invention relates to a swing mechanism, in particular to a hydraulic drive high-precision swing mechanism.
Background
the well-known technical research and development and application projects of the heavy-duty industrial robot in China are increased year by year, and the heavy-duty industrial robot relates to the industrial fields of aerospace, electronics, metallurgy, building materials, mines, ports and the like. The hydraulic drive high-precision swinging mechanism is a key joint component of a heavy-duty industrial robot, has the characteristics of light weight and large output torque, and is widely applied to the engineering fields of heavy-duty clamping, heavy-duty transportation, equipment installation and the like.
Because heavy-duty industrial robot bears complicacy, and the motion joint generally can bear big moment of torsion, big moment of flexure and big axial force simultaneously, and the mechanism size is also corresponding great, so adopt hydraulic drive to realize the first-choice mode of high power density transmission, it can reduce mechanism's quality by a wide margin, promotes heavy-duty industrial robot's complete machine performance.
When the conventional hydraulic motor is adopted for driving, a large-speed-ratio boosting and speed reducing mechanism needs to be matched, a mechanical transmission path is long, mechanical loss is serious, and transmission precision is low. Even if a conventional low-speed motor is adopted, the low-speed controllability is poor due to large internal leakage of the hydraulic motor, and the low-speed controllability is far from the precision control requirement of the joint. Therefore, a hydraulic drive swing mechanism with strong comprehensive bearing capacity and high operation precision is provided, and becomes a basic appeal for technical personnel in the field.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses a hydraulic drive high-precision swing mechanism.
In order to realize the purpose, the invention adopts the following technical scheme:
a hydraulic drive high-precision swing mechanism comprises a base, a transmission shaft and a hollow shaft hydraulic servo swing motor, wherein the hollow shaft hydraulic servo swing motor is arranged in the base, a stator of the hollow shaft hydraulic servo swing motor is fixed with the base through anti-torsion studs A and anti-torsion studs B on two sides respectively, the middle section of the transmission shaft is arranged in the hollow shaft hydraulic servo swing motor and fixedly connected with a rotor of the hydraulic servo swing motor through an expansion sleeve A and an expansion sleeve B on two sides respectively, bearing seats A and B are arranged in bearing seat holes at two ends of the base respectively, the middle section of the transmission shaft extends towards two sides and is provided with a plurality of stages respectively, the stage section close to the middle section of the transmission shaft is set to be a conical section, and a roller bearing A, a roller bearing B, a roller bearing A, a roller bearing B, a roller bearing A, The outer end face of the roller bearing B is locked through locking nuts A and B on two sides respectively, thrust bearings A and B are installed in end face rabbets of the bearing seat A and the bearing seat B respectively, the axial positions of a transmission shaft and a hollow shaft hydraulic servo swing motor are fixed through a transition pressing plate A, a transition pressing plate B, the locking nuts A and B respectively, two ends of the transmission shaft are fixedly connected with a transmission output device through a pin key group A and a pin key group B respectively, and the transmission output device is tightly pressed through a shaft end baffle A and a shaft end baffle B on the outer end respectively.
The hydraulic drive high-precision swing mechanism is characterized in that a transition pressing plate A and a transition pressing plate B are respectively arranged on the outer end faces of a thrust bearing A and a thrust bearing B, the outer ends of the transition pressing plate A and the transition pressing plate B are respectively locked through a thrust bearing locking nut A and a thrust bearing locking nut B, and a supporting sleeve A and a supporting sleeve B are respectively fixed on a transmission shaft between a transmission output device and a bearing seat A and a bearing seat B.
The hydraulic drive high-precision swing mechanism is characterized in that the supporting sleeve A and the supporting sleeve B respectively comprise an inner sleeve ring and an outer sleeve ring arranged on the outer circular surface of the inner sleeve ring, the inner end surface of the outer sleeve ring is respectively contacted with the outer end surfaces of the bearing seat A and the bearing seat B, the inner sleeve ring is positioned on the transmission shaft and is arranged outside the thrust bearing locking nut A and the thrust bearing locking nut B, and the inner end surface of the inner sleeve ring is contacted with the outer end surfaces of the transition pressing plate A and the transition pressing plate B.
The hydraulic drive high-precision swinging mechanism is characterized in that an angle sensor and a support thereof are arranged at one end shaft end of the transmission shaft.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
According to the hydraulic drive high-precision swing mechanism, the transmission shaft and the hollow shaft hydraulic swing motor are fixedly connected through the expansion sleeve, and no installation and transmission gap errors exist while torque is transmitted; the hollow shaft hydraulic swing motor is arranged in the closed frame base, the whole bearing capacity is strong, the high-precision radial bearing and the thrust bearing are respectively arranged at the two ends of the base, the radial force, the axial force and the bending moment can be borne, the complex load working condition can be adapted, the hollow shaft hydraulic swing motor only bears the torque, the structural characteristic of the hydraulic servo motor is met, and the control precision of the hydraulic motor is improved.
According to the hydraulically-driven high-precision swinging mechanism, the high-precision radial roller bearings on the two sides are matched with the transmission shaft by adopting the conical shaft, and the locking nut can be locked after adjusting the clearance of the roller bearings through axial pre-tightening; the two-side thrust bearing is pre-locked in a bidirectional and opposite mode by adopting the locking nut, and the same effect is achieved. The measure method can minimize the radial and axial motion errors of the swing mechanism and improve the swing motion precision.
According to the hydraulic drive high-precision swing mechanism, the output device is connected with the output end of the transmission shaft through the pin key set, the matching precision is high, the manufacturing is easy to realize, and the connection precision is high.
Drawings
FIG. 1 is a fragmentary view of the structural assembly of the present invention along the drive axis;
FIG. 2 is a cross-sectional view taken perpendicular to the drive axis and through the centerline of the anti-torque screw of FIG. 1;
in the figure: 1. a base; 2. a hollow shaft hydraulic swing motor; 201. a stator; 202. a rotor; 3. a drive shaft; 401. expanding the sleeve A; 402. expanding the sleeve B; 501. a bearing seat A; 502. a bearing seat B; 601. a roller bearing A; 602. a roller bearing B; 701. a thrust bearing A; 702. a thrust bearing B; 801. a roller bearing lock nut A; 802. a roller bearing lock nut B; 901. a transition pressing plate A; 902. a transition pressing plate B; 1001. a thrust bearing locking nut A; 1002. a thrust bearing locking nut B; 1101. a support sleeve A; 1102. a support sleeve B; 1201. a pin key group A; 1202. a pin key group B; 13. a transmission output device; 14. a sensor holder; 15. an angle sensor; 1601. a torsion-resistant stud A; 1602. a torsion resistant stud B; 1701. a shaft end baffle A; 1702. a shaft end baffle B;
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
referring to the accompanying drawings 1 and 2, the hydraulically-driven high-precision swing mechanism includes a base 1, a transmission shaft 3 and a hollow shaft hydraulic servo swing motor 2, the hollow shaft hydraulic servo swing motor 2 is disposed in the base 1, a stator 201 of the hollow shaft hydraulic servo swing motor 2 is fixed to the base 1 through an anti-torque stud a1601 and an anti-torque stud B1602 respectively, a middle section of the transmission shaft 3 is disposed in the hollow shaft hydraulic servo swing motor 2 and is fixedly connected to a rotor 202 of the hydraulic servo swing motor 2 through an expansion sleeve a401 and an expansion sleeve B402 respectively, a bearing seat a501 and a bearing seat B502 are disposed in bearing seat holes at two ends of the base 1, the middle section of the transmission shaft 3 extends to two sides and is provided with a plurality of stages, a step section near the middle section of the transmission shaft 3 is set as a tapered section, and roller bearings a601 and B601 are respectively disposed between the bearing seat a501, the bearing seat B502 and the tapered steps at two sides of, The outer end faces of the roller bearing A601 and the roller bearing B602 are respectively locked by locking nuts A801 and B802 at two sides, thrust bearings A701 and B702 are respectively installed in end face rabbets of the bearing seat A501 and the bearing seat B502, axial positions of the transmission shaft 3 and the hollow shaft hydraulic servo swing motor 2 are respectively fixed by a transition pressing plate A901, a transition pressing plate B902, a locking nut A1001 and a locking nut B1002, two ends of the transmission shaft 3 are respectively fixedly connected with the transmission output device 13 through a pin key group A1201 and a pin key group B1202, and the transmission output device 13 is respectively pressed tightly by an outer end shaft end baffle A1701 and an outer end baffle B1702 at the outer end.
In the hydraulic drive high-precision swinging mechanism, a transition pressure plate A901 and a transition pressure plate B902 are respectively arranged on the outer end surfaces of a thrust bearing A701 and a thrust bearing B702, the outer ends of the transition pressure plate A901 and the transition pressure plate B902 are respectively locked by a thrust bearing locking nut A1001 and a thrust bearing locking nut B1002, and a supporting sleeve A1101 and a supporting sleeve B1102 are respectively fixed on a transmission shaft 3 between a transmission output device 13 and a bearing seat A501 and a bearing seat B502.
In the hydraulic drive high-precision swinging mechanism, the supporting sleeve A1101 and the supporting sleeve B1102 respectively comprise an inner sleeve ring and an outer sleeve ring arranged on the outer circular surface of the inner sleeve ring, the inner end surface of the outer sleeve ring is respectively contacted with the outer end surfaces of the bearing seat A501 and the bearing seat B502, the inner sleeve ring is positioned on the transmission shaft 3 and is arranged outside the thrust bearing locking nut A1001 and the thrust bearing locking nut B1002, and the inner end surface of the inner sleeve ring is contacted with the outer end surfaces of the transition pressing plate A901 and the transition pressing plate B902.
The hydraulic driving high-precision swinging mechanism is characterized in that an angle sensor 15 and a support 14 thereof are arranged at one end shaft end of the transmission shaft 3.
When the hydraulic drive high-precision swing mechanism disclosed by the invention is implemented, in operation, the transmission shaft 3 is fixedly connected with the rotor 202 of the hollow shaft hydraulic swing motor 2 through the expansion sleeve A401 and the expansion sleeve B402, and the stator 201 of the hollow shaft hydraulic servo swing motor 2 is limited to the circumferential opposite position with the base 1 through the anti-torque studs 1601 and 1602 on the two sides. The torsion-resistant stud A1601 and the torsion-resistant stud B1602 deviate from a rotation center and have torsion resistance and action, the hollow shaft hydraulic servo swing motor 2 generates relative motion between a rotor 202 and a stator 201 and outputs torque under the action of hydraulic oil, the torque drives a transmission output device 13 to swing, and torque support reaction force is applied to the torsion-resistant stud A1601 or the torsion-resistant stud B1602 (depending on the direction of force) through the stator 201, is transmitted to the base 1 and is received by the base 1; the outer rings of two roller bearings A601 and B602 with inner taper holes are respectively arranged in the holes of a bearing seat A501 and a bearing seat B502, the inner rings are arranged on the taper steps of the transmission shaft 3 and are limited at the determined positions on the transmission shaft 3 through a locking nut A801 and a locking nut B802; the thrust bearing A701 and the thrust bearing B702 are arranged in end face spigots of the bearing seat A501 and the bearing seat B502, and the axial positions of the transmission shaft 3 and the hollow shaft hydraulic servo swing motor 2 are fixed through a transition pressing plate A901, a transition pressing plate B902, a thrust bearing locking nut A1001 and a thrust bearing locking nut B1002; the bearing seat A501 and the bearing seat B502 are installed in bearing seat holes at two ends of the base 1 and fixedly connected through bolts. The transmission output device 13 is fixedly connected with two output ends of the transmission shaft 3 through a pin key group A1201 and a pin key group B1202, a supporting sleeve A1101 and a supporting sleeve B1102 are axially positioned on the back surfaces of a transition pressure plate A901 and a transition pressure plate B902 of a thrust bearing A701 and a thrust bearing B702 and are radially positioned on the shaft diameter of the transmission shaft 3, and the transmission output device 13 is axially positioned on the outer end surfaces of the supporting sleeve A1101 and the supporting sleeve B1102 and is axially compressed by a shaft end baffle A1701 and a shaft end baffle B1702 to prevent axial movement; based on position sensing and control requirements, an angle sensor 15 and a bracket 14 are installed at one end of the transmission shaft 3, and the bracket 14 is fixedly installed on the base 1. The invention can realize the high-precision relative swinging motion between the base 1 and the transmission output device 13 around the central line of the transmission shaft 3, namely: one end is fixed, the other end can realize swinging movement under the hydraulic drive, and the two ends can be output in an interchangeable manner, depending on application requirements. The swing range of the hydraulic driving high-precision swing mechanism depends on the reachable range of a hydraulic driving piece-hollow shaft hydraulic servo swing motor 2, and the driving load capacity of the hydraulic driving high-precision swing mechanism depends on the driving torque of the hollow shaft hydraulic servo swing motor 2 and the overall bearing capacity of the structure and the mechanism. The external type of the transmission output 13 is determined according to the external connection requirement and is not explicitly specified in this description.
The present invention is not described in detail in the prior art.
The embodiments selected for the purpose of disclosing the invention, are presently considered to be suitable, it being understood, however, that the invention is intended to cover all variations and modifications of the embodiments which fall within the spirit and scope of the invention.
Claims (4)
1. The utility model provides a hydraulic drive high accuracy pendulum changes mechanism, includes base, transmission shaft and hollow shaft hydraulic servo swing motor, characterized by: the hollow shaft hydraulic servo swing motor is arranged in a base, a stator of the hollow shaft hydraulic servo swing motor is fixed with the base through anti-torque studs A and anti-torque studs B on two sides respectively, the middle section of a transmission shaft is arranged in the hollow shaft hydraulic servo swing motor and is fixedly connected with a rotor of the hydraulic servo swing motor through an expansion sleeve A and an expansion sleeve B on two sides respectively, bearing seats A and B are arranged in bearing seat holes at two ends of the base respectively, the middle section of the transmission shaft extends towards two sides and is provided with a plurality of stages respectively, a step section close to the middle section of the transmission shaft is arranged into a conical section, roller bearings A and B are arranged between the bearing seats A and the conical steps on two sides of the transmission shaft respectively, the outer end surfaces of the roller bearings A and B are locked through locking nuts A and locking nuts B on two sides respectively, and are locked on the bearing, The thrust bearing A and the thrust bearing B are respectively installed in the end face seam allowances of the bearing seat B, the axial positions of the transmission shaft and the hollow shaft hydraulic servo swing motor are respectively fixed through the transition pressing plate A, the transition pressing plate B, the locking nut A and the locking nut B, two ends of the transmission shaft are respectively fixedly connected with the transmission output device through the pin key group A and the pin key group B, and the transmission output device is respectively pressed tightly through the shaft end baffle A and the shaft end baffle B at the outer ends.
2. The hydraulically driven high precision oscillating mechanism of claim 1, wherein: the transition pressing plate A and the transition pressing plate B are respectively arranged on the outer end faces of the thrust bearing A and the thrust bearing B, the outer ends of the transition pressing plate A and the transition pressing plate B are respectively locked through a thrust bearing locking nut A and a thrust bearing locking nut B, and a supporting sleeve A and a supporting sleeve B are respectively fixed on a transmission shaft between the transmission output device and the bearing seat A and between the transmission output device and the bearing seat B.
3. The hydraulically driven high precision oscillating mechanism of claim 1, wherein: the supporting sleeve A and the supporting sleeve B respectively comprise an inner sleeve ring and an outer sleeve ring arranged on the outer circular surface of the inner sleeve ring, the inner end surface of the outer sleeve ring is respectively contacted with the outer end surfaces of the bearing seat A and the bearing seat B, the inner sleeve ring is positioned on the transmission shaft and is arranged outside the thrust bearing locking nut A and the thrust bearing locking nut B, and the inner end surface of the inner sleeve ring is contacted with the outer end surfaces of the transition pressing plate A and the transition pressing plate B.
4. The hydraulically driven high precision oscillating mechanism of claim 1, wherein: an angle sensor and a bracket thereof are arranged on one end shaft end of the transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910811030.3A CN110549364B (en) | 2019-08-30 | 2019-08-30 | Hydraulic drive high accuracy pendulum changes mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910811030.3A CN110549364B (en) | 2019-08-30 | 2019-08-30 | Hydraulic drive high accuracy pendulum changes mechanism |
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| Publication Number | Publication Date |
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| CN110549364A true CN110549364A (en) | 2019-12-10 |
| CN110549364B CN110549364B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910811030.3A Active CN110549364B (en) | 2019-08-30 | 2019-08-30 | Hydraulic drive high accuracy pendulum changes mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696173A (en) * | 2021-09-15 | 2021-11-26 | 哈尔滨工业大学 | Direct-acting type swing hydraulic actuator for articulated robot |
| CN113847299A (en) * | 2021-09-18 | 2021-12-28 | 北京中金泰达电液科技有限公司 | Rotary vane type steering engine motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR972837A (en) * | 1941-05-13 | 1951-02-05 | Pont A Mousson Fond | Hydraulic brake for measuring motor power |
| CN101344067A (en) * | 2008-08-22 | 2009-01-14 | 哈尔滨工业大学 | Oil distribution disk and continuous slewing electro-hydraulic servo motor using the same |
| CN101499693A (en) * | 2009-03-19 | 2009-08-05 | 哈尔滨工程大学 | Oil path built-in swivel motor for underwater manipulator |
| RU128855U1 (en) * | 2012-12-17 | 2013-06-10 | Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации | TURNING TABLE DOUBLE-ORDER TABLE |
| CN103423506A (en) * | 2012-05-22 | 2013-12-04 | 徐学新 | Multi-rotation hydraulic valve |
| CN103567469A (en) * | 2013-11-14 | 2014-02-12 | 天津第一机床总厂 | Machine tool spindle device of numerically-controlled gear milling machine for spiral bevel gear |
| CN105537629A (en) * | 2016-02-05 | 2016-05-04 | 河南正航主轴科技有限公司 | Intelligent electric spindle |
| CN210998801U (en) * | 2019-08-30 | 2020-07-14 | 中信重工机械股份有限公司 | Hydraulic drive high accuracy pendulum favourable turn constructs |
-
2019
- 2019-08-30 CN CN201910811030.3A patent/CN110549364B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR972837A (en) * | 1941-05-13 | 1951-02-05 | Pont A Mousson Fond | Hydraulic brake for measuring motor power |
| CN101344067A (en) * | 2008-08-22 | 2009-01-14 | 哈尔滨工业大学 | Oil distribution disk and continuous slewing electro-hydraulic servo motor using the same |
| CN101499693A (en) * | 2009-03-19 | 2009-08-05 | 哈尔滨工程大学 | Oil path built-in swivel motor for underwater manipulator |
| CN103423506A (en) * | 2012-05-22 | 2013-12-04 | 徐学新 | Multi-rotation hydraulic valve |
| RU128855U1 (en) * | 2012-12-17 | 2013-06-10 | Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации | TURNING TABLE DOUBLE-ORDER TABLE |
| CN103567469A (en) * | 2013-11-14 | 2014-02-12 | 天津第一机床总厂 | Machine tool spindle device of numerically-controlled gear milling machine for spiral bevel gear |
| CN105537629A (en) * | 2016-02-05 | 2016-05-04 | 河南正航主轴科技有限公司 | Intelligent electric spindle |
| CN210998801U (en) * | 2019-08-30 | 2020-07-14 | 中信重工机械股份有限公司 | Hydraulic drive high accuracy pendulum favourable turn constructs |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696173A (en) * | 2021-09-15 | 2021-11-26 | 哈尔滨工业大学 | Direct-acting type swing hydraulic actuator for articulated robot |
| CN113847299A (en) * | 2021-09-18 | 2021-12-28 | 北京中金泰达电液科技有限公司 | Rotary vane type steering engine motor |
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| Publication number | Publication date |
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| CN110549364B (en) | 2024-03-19 |
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