CN111943091A - Control method for hydraulic steering of forklift and hydraulic steering system - Google Patents
Control method for hydraulic steering of forklift and hydraulic steering system Download PDFInfo
- Publication number
- CN111943091A CN111943091A CN202010989438.2A CN202010989438A CN111943091A CN 111943091 A CN111943091 A CN 111943091A CN 202010989438 A CN202010989438 A CN 202010989438A CN 111943091 A CN111943091 A CN 111943091A
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- steering wheel
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000003921 oil Substances 0.000 claims description 71
- 239000010720 hydraulic oil Substances 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Structural Engineering (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a control method and a hydraulic steering system for hydraulic steering of a forklift, wherein the control method comprises the following steps: acquiring a steering wheel rotation signal; driving a steering wheel of the forklift to rotate, and detecting the real-time corner position of the steering wheel of the forklift; comparing the real-time corner position with the left and right limit corner positions of the steering wheel, and judging whether the steering wheel reaches the limit position; when the steering wheel does not reach the limit position, the wheel-direction wheel continues to rotate; when the steering wheel reaches the limit position, the hydraulic system is controlled to release pressure, and the steering wheel stops steering. The hydraulic motor is controlled to work through the hydraulic system, real-time corner position information in steering motion of the steering wheel is detected through the corner potentiometer to achieve steering limiting, hydraulic impact caused by mechanical limiting is avoided, and therefore the service life of a hydraulic part is prolonged; meanwhile, the mechanical impact noise is reduced, and the driving comfort is improved.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a control method for hydraulic steering of a forklift and a hydraulic steering system.
Background
The steering system of the forklift mainly comprises a hydraulic oil tank, a steering wheel and the like, the current main steering drive is composed of a hydraulic control pump, a pump motor, a steering gear, a hydraulic motor, a transmission gear box, the steering wheel, a pump motor controller 11 and the like, the pump motor controller controls the pump motor to drive the hydraulic pump to work, hydraulic oil in the hydraulic oil tank is led into the steering gear connected with the steering wheel, the steering wheel is rotated, and the hydraulic oil enters the transmission gear box through the hydraulic motor to drive the steering wheel to work, so that the steering work of the forklift is realized.
However, in the existing forklift which uses the hydraulic motor to steer the forklift, the limit position of the steering wheel is usually limited by welding a stop block on a steering main shaft of the steering wheel, the mechanical limitation easily causes large hydraulic impact, the service life of a hydraulic part is shortened, and severe impact sound exists, so that the driving comfort is seriously influenced.
Disclosure of Invention
The invention aims to provide a control method for hydraulic steering of a forklift and a hydraulic steering system, which aim to solve the problems in the background art, avoid hydraulic impact caused by mechanical limit, prolong the service life of a hydraulic part, reduce mechanical impact noise and improve driving comfort.
In order to achieve the purpose, the invention provides the following technical scheme:
a control method for hydraulic steering of a forklift comprises the following steps:
(1) acquiring a steering wheel rotation signal;
(2) driving a steering wheel of the forklift to rotate, and detecting the real-time corner position of the steering wheel of the forklift;
(3) comparing the real-time corner position with the left and right limit corner positions of the steering wheel, and judging whether the steering wheel reaches the limit position;
(4) when the steering wheel does not reach the limit position, the wheel-direction wheel continues to rotate;
(5) when the steering wheel reaches the limit position, the hydraulic system is controlled to release pressure, and the steering wheel stops steering.
As a further scheme of the invention: the steering wheel rotation signal obtained in the step (1) is detected by a steering wheel encoder arranged on a driving shaft of the steering wheel.
As a further scheme of the invention: and (3) detecting the real-time corner position of the steering wheel of the forklift in the step (2) by using a corner positioner arranged on a connecting shaft between the steering wheel and the transmission gear box.
As a further scheme of the invention: comparing the real-time corner position with the left and right limit corner positions of the steering wheel in the step (3), and judging that the steering wheel reaches the limit position when the real-time corner position is equal to the limit corner position; and when the real-time corner position is smaller than the limit corner position, judging that the steering wheel does not reach the limit position.
The hydraulic steering system comprises a pump motor controller for controlling a pump motor to drive a hydraulic pump to work, wherein the hydraulic pump guides hydraulic oil in a hydraulic oil tank into a steering gear connected with a steering wheel to drive a hydraulic motor to rotate, and the hydraulic motor drives a steering wheel to rotate through a transmission gear box; the method is characterized in that: the output end of the hydraulic pump is connected with a limiting electromagnetic valve, and an oil return port of the limiting electromagnetic valve and an oil return port of the steering gear are both connected with the hydraulic oil tank; a corner positioner is arranged on a connecting shaft of the transmission gear box and the steering wheel, and a steering wheel encoder is arranged on a driving shaft of the steering wheel; and the limiting electromagnetic valve, the corner positioner and the steering wheel encoder are all connected with a pump motor controller through control lines.
As a further scheme of the invention: the output end of the hydraulic pump is connected with a flow divider, and a working oil port of the flow divider is respectively connected with an overflow valve, a limiting electromagnetic valve and an oil inlet of a steering gear through a first four-way valve; and the overflow valve, the limiting electromagnetic valve and an oil return port of the steering gear are connected with the hydraulic oil tank through a second four-way valve to return oil.
As a further scheme of the invention: the flow divider is a monostable flow divider or a priority flow divider.
As a further scheme of the invention: the limiting electromagnetic valve is a normally closed two-position two-way electromagnetic valve, when the limiting electromagnetic valve is electrified, the valve is opened, and the oil inlet is communicated with the oil return port; when the power is off, the valve is closed, and the oil inlet is disconnected with the oil return port.
As a further scheme of the invention: the oil inlet end of the hydraulic pump is connected with an oil absorption filter.
As a further scheme of the invention: and two working oil ports of the steering gear are respectively connected with two working oil ports of the hydraulic motor.
The pump motor controller in this application is the existing equipment on the fork truck, and this application does not make substantive improvement to it, only presets the left and right extreme angle position information of steering wheel wherein in advance.
The corner potentiometer, the steering wheel encoder and the limiting electromagnetic valve in the application are all existing products, such as Sa brand three-fulcrum forklift SK corner potentiometer YCHA1036-0002 and ohm dragon E6B2-CWZ5G 3600PR encoders. The steering wheel encoder is used for detecting the rotation direction of the steering wheel.
The forklift hydraulic steering system detects real-time corner position information in steering motion of a steering wheel through a corner potentiometer, and a pump motor controller receives the information of the corner potentiometer and compares the corner real-time position information with left and right limit corner position information preset in advance to judge whether the limit position is reached. If when the steering wheel has reached the limit corner position, the pump motor controller controls the limit electromagnetic valve to be powered on, the valve is opened, the oil inlet of the valve is connected with the working oil port, hydraulic oil directly returns to the hydraulic oil tank through the limit electromagnetic valve, then the hydraulic system releases the pressure, the system cannot provide pressure oil to the steering gear, the steering hydraulic motor stops working, and the steering wheel also stops steering, so that the steering limit is limited.
The hydraulic motor is controlled to work through the hydraulic system for hydraulic steering limiting of the forklift, so that steering limiting is achieved, hydraulic impact caused by mechanical limiting is avoided, and the service life of a hydraulic part is prolonged; meanwhile, the mechanical impact noise is reduced, and the driving comfort is improved.
Drawings
Fig. 1 is a schematic diagram of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
a control method for hydraulic steering of a forklift comprises the following steps:
(1) detecting by a steering wheel encoder mounted on a drive shaft of a steering wheel to obtain a steering wheel rotation signal;
(2) driving a steering wheel of the forklift to rotate, and detecting the real-time corner position of the steering wheel of the forklift by a corner positioner arranged on a connecting shaft between the steering wheel and a transmission gear box;
(3) comparing the real-time corner position with the left and right limit corner positions of the steering wheel, and judging whether the steering wheel reaches the limit position; when the real-time corner position is equal to the limit corner position, judging that the steering wheel reaches the limit position; when the real-time corner position is smaller than the limit corner position, judging that the steering wheel does not reach the limit position;
(4) when the steering wheel does not reach the limit position, the wheel-direction wheel continues to rotate;
(5) when the steering wheel reaches the limit position, the hydraulic system is controlled to release pressure, and the steering wheel stops steering.
Example 2:
referring to fig. 1, in the embodiment of the present invention, an electro-hydraulic limit forklift hydraulic steering system includes a pump motor controller 11 for controlling a pump motor 5 to drive a hydraulic pump 3 to work, the hydraulic pump 3 introduces hydraulic oil in a hydraulic oil tank 1 into a steering gear 7 connected to a steering wheel to drive a hydraulic motor 8 to rotate, and the hydraulic motor 8 drives a steering wheel 10 to rotate through a transmission gear box 9; the output end of the hydraulic pump 3 is connected with a limit electromagnetic valve 12, and an oil return port of the limit electromagnetic valve 12 and an oil return port of the steering gear 7 are both connected with the hydraulic oil tank 1; a corner positioner 14 is arranged on a connecting shaft of the transmission gear box 9 and the steering wheel 10, and a steering wheel encoder 13 is arranged on a driving shaft of the steering wheel; the limit electromagnetic valve 12, the corner positioner 14 and the steering wheel encoder 13 are all connected with the pump motor controller 11 through control lines.
As a further scheme of the invention: the output end of the hydraulic pump 3 is connected with a flow divider valve 6, and a working oil port of the flow divider valve 6 is respectively connected with an overflow valve 4, a limiting electromagnetic valve 12 and an oil inlet of a steering gear 7 through a first four-way valve; the overflow valve 4, the limiting electromagnetic valve 12 and an oil return port of the steering gear 7 are connected with the hydraulic oil tank 1 through a second four-way valve for oil return.
Preferably, the flow dividing valve 6 is a monostable flow dividing valve or a priority flow dividing valve.
As a further scheme of the invention: the limiting electromagnetic valve 12 is a normally closed two-position two-way electromagnetic valve, when the limiting electromagnetic valve is electrified, the valve is opened, and the oil inlet is communicated with the oil return port; when the power is off, the valve is closed, and the oil inlet is disconnected with the oil return port.
As a further scheme of the invention: and the oil inlet end of the hydraulic pump 3 is connected with an oil absorption filter 2.
As a further scheme of the invention: and two working oil ports of the steering gear 7 are respectively connected with two working oil ports of the hydraulic motor 8.
The working process is as follows:
when the forklift is started, other hydraulic systems are not operated, the forklift steering wheel is rotated, a steering wheel encoder 13 detects a steering wheel rotation signal and feeds the steering wheel rotation signal back to the pump motor controller 11, the pump motor controller 11 controls the pump motor 5 to be started, the pump motor 5 drives the hydraulic pump 3 to suck oil from the hydraulic oil tank 1 through the oil suction filter 2, and the oil discharged from the hydraulic pump 3 is input to the oil inlet P of the steering gear 7 through a working oil port of the flow dividing valve 6. When the steering wheel rotates clockwise, hydraulic oil enters the first working oil port of the hydraulic motor 8 from the first working oil port a of the steering gear 7, the hydraulic motor 8 is driven to rotate clockwise, the steering wheel 10 is driven to rotate anticlockwise through the transmission gear box 9, so that the right turning of the vehicle is realized (the steering wheel of the forklift is a rear wheel), and the return oil of the hydraulic motor 8 returns through the second working oil port of the hydraulic motor, the second working oil port B of the steering gear 7 and the oil return port T. When the steering wheel rotates anticlockwise, hydraulic oil enters the second working oil port of the hydraulic motor 8 from the second working oil port B of the steering gear 7, the hydraulic motor 8 rotates anticlockwise, the steering wheel 10 is driven to rotate clockwise through the transmission gear box 9, the vehicle turns left, and oil returning of the hydraulic motor 8 is achieved through the first working oil port of the hydraulic motor 8, the first working oil port A of the steering gear 7 and the oil return port P.
When the steering wheel 10 moves to the limit steering angle position, the steering angle potentiometer 14 sends the detected real-time steering angle position information of the steering wheel 10 to the pump motor controller 11, and the pump motor controller 11 compares the steering angle real-time position information with the left and right limit steering angle position information to judge whether the steering wheel reaches the limit position. If the limit position is reached, the limit electromagnetic valve 12 is controlled to be powered on, the valve is opened, the oil inlet of the limit electromagnetic valve 12 is communicated with the oil return port, hydraulic oil returns to the hydraulic oil tank 1 through the limit electromagnetic valve 12, the pressure of a hydraulic system is relieved, the system cannot provide pressure oil for the steering gear 7, the hydraulic motor 8 stops working, the steering wheel 10 stops steering, and the steering limit is realized.
When the steering wheel 10 is at the turning angle limit position, the pump motor controller determines whether the steering wheel 10 is at the left turning angle limit position or the right turning angle limit position. If the position is the left-turning angle limit position, the steering wheel continues to be operated to rotate clockwise, the steering wheel encoder 13 detects that the steering wheel rotates clockwise and sends information to the pump motor controller 11, the pump motor controller 11 still controls the limit electromagnetic valve 12 to be powered on, and the right-turning input is invalid; if the steering wheel is operated to rotate anticlockwise instead, the steering wheel encoder 13 detects anticlockwise rotation information of the steering wheel and sends the anticlockwise rotation information to the pump motor controller 11, the pump motor controller 11 controls the limit electromagnetic valve 12 to lose power, an oil inlet of the limit electromagnetic valve 12 is disconnected with a working oil port, and the limit electromagnetic valve 12 is cut off in a two-way mode; the hydraulic oil reenters the steering gear 7 to provide pressure oil, and the hydraulic motor 8 drives the steering wheel 10 to rotate, so that the vehicle rotates reversely.
If the steering wheel 10 is at the right corner limit position, the steering wheel continues to be operated to rotate anticlockwise, the steering wheel encoder 13 detects anticlockwise rotation information of the steering wheel and sends the anticlockwise rotation information to the pump motor controller 11, the pump motor controller 11 still limits the electromagnetic valve 12 to be powered on, and left steering input is invalid; if the steering wheel is operated to rotate clockwise instead, the steering wheel encoder 13 detects the clockwise rotation information of the steering wheel and sends the clockwise rotation information to the pump motor controller 11, the pump motor controller 11 controls the limiting electromagnetic valve 12 to lose power, the oil inlet of the limiting electromagnetic valve 12 is disconnected with the working oil port, hydraulic oil enters the steering gear 7 again to provide pressure oil, and the hydraulic motor 8 drives the steering wheel 10 to rotate, so that the reverse rotation of the vehicle is realized.
Although the present description is described in terms of embodiments, not every embodiment includes only a single embodiment, and such description is for clarity only, and those skilled in the art should be able to integrate the description as a whole, and the embodiments can be appropriately combined to form other embodiments as will be understood by those skilled in the art.
Therefore, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application; all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (10)
1. A control method for hydraulic steering of a forklift is characterized by comprising the following steps:
(1) acquiring a steering wheel rotation signal;
(2) driving a steering wheel of the forklift to rotate, and detecting the real-time corner position of the steering wheel of the forklift;
(3) comparing the real-time corner position with the left and right limit corner positions of the steering wheel, and judging whether the steering wheel reaches the limit position;
(4) when the steering wheel does not reach the limit position, the wheel-direction wheel continues to rotate;
(5) when the steering wheel reaches the limit position, the hydraulic system is controlled to release pressure, and the steering wheel stops steering.
2. The control method according to claim 1, wherein the steering wheel rotation signal obtained in step (1) is detected by a steering wheel encoder mounted on a drive shaft of the steering wheel.
3. The control method according to claim 1, wherein the step (2) of detecting the real-time rotational angle position of the steerable wheels of the forklift is performed by a rotational angle positioner mounted on a connecting shaft between the steerable wheels and the transmission gear box.
4. The control method according to claim 1, wherein the real-time corner position is compared with left and right limit corner positions of the steerable wheels in step (3), and when the real-time corner position is equal to the limit corner positions, it is judged that the steerable wheels reach the limit positions; and when the real-time corner position is smaller than the limit corner position, judging that the steering wheel does not reach the limit position.
5. A hydraulic steering system for implementing the control method according to any one of claims 1 to 4, comprising a pump motor controller for controlling a pump motor to drive a hydraulic pump, wherein the hydraulic pump guides hydraulic oil in a hydraulic oil tank into a steering gear connected with a steering wheel to drive a hydraulic motor to rotate, and the hydraulic motor drives a steering wheel to rotate through a transmission gear box; the method is characterized in that: the output end of the hydraulic pump is connected with a limiting electromagnetic valve, and an oil return port of the limiting electromagnetic valve and an oil return port of the steering gear are both connected with the hydraulic oil tank; a corner positioner is arranged on a connecting shaft of the transmission gear box and the steering wheel, and a steering wheel encoder is arranged on a driving shaft of the steering wheel; and the limiting electromagnetic valve, the corner positioner and the steering wheel encoder are all connected with a pump motor controller through control lines.
6. The hydraulic steering system according to claim 5, wherein the output end of the hydraulic pump is connected with a flow divider, and a working oil port of the flow divider is respectively connected with the overflow valve, the limit solenoid valve and an oil inlet of the steering gear through a first four-way valve; and the overflow valve, the limiting electromagnetic valve and an oil return port of the steering gear are connected with the hydraulic oil tank through a second four-way valve to return oil.
7. The hydraulic steering system of claim 6, wherein the diverter valve is a monostable diverter valve or a priority diverter valve.
8. The hydraulic steering system according to claim 5, wherein the limit solenoid valve is a normally closed two-position two-way solenoid valve, and when the limit solenoid valve is energized, the valve is opened, and the oil inlet is communicated with the oil return port; when the power is off, the valve is closed, and the oil inlet is disconnected with the oil return port.
9. The hydraulic steering system of claim 5, wherein an oil suction filter is connected to an oil inlet end of the hydraulic pump.
10. The hydraulic steering system according to claim 5, wherein the two working oil ports of the steering gear are respectively connected with the two working oil ports of the hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989438.2A CN111943091B (en) | 2020-09-18 | 2020-09-18 | Control method for hydraulic steering of forklift and hydraulic steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989438.2A CN111943091B (en) | 2020-09-18 | 2020-09-18 | Control method for hydraulic steering of forklift and hydraulic steering system |
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| Publication Number | Publication Date |
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| CN111943091A true CN111943091A (en) | 2020-11-17 |
| CN111943091B CN111943091B (en) | 2023-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010989438.2A Active CN111943091B (en) | 2020-09-18 | 2020-09-18 | Control method for hydraulic steering of forklift and hydraulic steering system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633800A (en) * | 2020-12-16 | 2022-06-17 | 西安合众思壮导航技术有限公司 | Method, device and equipment for detecting angle of steering wheel |
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| CN110294014A (en) * | 2019-07-25 | 2019-10-01 | 农业农村部南京农业机械化研究所 | A kind of hydraulic steering system and its working method of self-correction |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005138709A (en) * | 2003-11-06 | 2005-06-02 | Honda Motor Co Ltd | Vehicular steering device |
| CN101475022A (en) * | 2009-02-13 | 2009-07-08 | 镇江大地液压有限责任公司 | All-hydraulic steering control valve |
| CN101833334A (en) * | 2010-02-09 | 2010-09-15 | 北京农业信息技术研究中心 | Tractor automatic navigation control system and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633800A (en) * | 2020-12-16 | 2022-06-17 | 西安合众思壮导航技术有限公司 | Method, device and equipment for detecting angle of steering wheel |
| CN114633800B (en) * | 2020-12-16 | 2023-08-29 | 西安合众思壮导航技术有限公司 | Method, device and equipment for detecting steering wheel angle |
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| CN111943091B (en) | 2023-12-22 |
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