CN112676901A - Automatic feeding machine for milling machine machining of steel plate materials - Google Patents
Automatic feeding machine for milling machine machining of steel plate materials Download PDFInfo
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- CN112676901A CN112676901A CN202011444590.9A CN202011444590A CN112676901A CN 112676901 A CN112676901 A CN 112676901A CN 202011444590 A CN202011444590 A CN 202011444590A CN 112676901 A CN112676901 A CN 112676901A
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- 239000000463 material Substances 0.000 title claims abstract description 75
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 61
- 239000010959 steel Substances 0.000 title claims abstract description 61
- 238000003801 milling Methods 0.000 title claims abstract description 59
- 238000003754 machining Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 239000000758 substrate Substances 0.000 claims description 19
- 238000007599 discharging Methods 0.000 abstract description 4
- 238000005553 drilling Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses an automatic feeding machine for milling machine processing of a steel plate material, and relates to the field of milling machine steel plate processing and feeding equipment. This material loading machine is including establishing the frock clamp on milling the platform, establishing at the triaxial manipulator in milling platform the place ahead to and establish at triaxial manipulator and mill the first work or material rest and the second work or material rest of platform centre zone, first work or material rest and second work or material rest distribute respectively in the place ahead left side position and the place ahead right side position of triaxial manipulator, and the end-to-end connection of triaxial manipulator has the duplex position work piece that can snatch two at least work pieces in step and snatchs the mechanism. According to the automatic feeding machine, the strip-shaped steel plates can be firmly grabbed, clamped and positioned through the specially-made double-station workpiece grabbing mechanism and the tool clamp, the two strip-shaped steel plates can be grabbed through the double-station workpiece grabbing mechanism, workpieces to be machined are fed to the tool clamp in turn, then the two machined finished strip-shaped steel plates are grabbed and fed into the material rack to be stacked, and the feeding and discharging speed of the strip-shaped steel plates and the machining efficiency of the strip-shaped steel plates are greatly improved.
Description
Technical Field
The invention relates to the field of milling machine steel plate processing and feeding equipment, in particular to an automatic feeding machine for milling machine processing of steel plate materials.
Background
When a milling machine is used for processing strip-shaped steel plates, the existing feeding mode generally adopts manual feeding or adopts some simple mechanical arms to grab and discharge materials. The efficiency is low by adopting manual feeding, and meanwhile, certain danger is realized; most of feeding manipulators in the prior art only have a single-station taking function, and are not provided with a tool clamp and a workpiece gripper which are matched with the strip-shaped steel plate, so that the strip-shaped steel plate to be processed cannot be firmly grabbed or fixed when the strip-shaped steel plate is grabbed, clamped and positioned, and particularly, when the strip-shaped steel plate is clamped and fixed, manual auxiliary positioning is required, so that the feeding speed of the strip-shaped steel plate is relatively low, and the processing efficiency of the milling machine on the strip-shaped steel plate is reduced.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the invention provides an automatic feeding machine for milling machining of a steel plate material.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
the utility model provides an automatic feeding machine for steel sheet material milling machine processing, is including establishing the frock clamp on milling the platform, establishing the triaxial manipulator in milling platform the place ahead, and establish the first work or material rest and the second work or material rest of triaxial manipulator and milling platform middle zone, first work or material rest with the second work or material rest distributes respectively the place ahead left side position and the place ahead right side position of triaxial manipulator, the end-to-end connection of triaxial manipulator has the duplex position work piece that can snatch two at least work pieces in step and snatchs the mechanism.
Preferably, in foretell automatic feeding machine for steel sheet material milling machine processing, frock clamp is including fixing the last bearing substrate of milling platform, the upper surface of bearing substrate is equipped with the layer board of two vertical symmetries in its middle part position the layer board is close to one side direction of triaxial manipulator, the upper surface of bearing substrate is equipped with the vertical gag lever post that two vertical symmetries set up the layer board is close to one side direction of first work or second work or material rest, the upper surface of bearing substrate is equipped with the horizontal gag lever post of vertical setting, keeping away from the subtend end of horizontal gag lever post, the upper surface of bearing substrate is equipped with horizontal compressing cylinder, keeping away from the subtend end of vertical gag lever post, the upper surface of bearing substrate is equipped with vertical compressing cylinder.
Preferably, in the above automatic feeding machine for milling machining of a steel plate material, the milling table is connected with a height adjusting mechanism for driving the tooling fixture to move up and down in the vertical direction so as to adjust the height of a horizontal plane where the tooling fixture is located.
Preferably, in the above automatic feeding machine for milling machining of steel plate materials, the milling table is connected with a limit guide slide which is slidably connected with a vertical frame of the milling machine.
Preferably, in the automatic feeding machine for milling machining of a steel plate material, the two longitudinal limiting rods are detachably fixed on the upper surface of the supporting substrate, and a first fine-tuning positioning hole array for adjusting the relative distance between the two longitudinal limiting rods is arranged on a straight path of the supporting substrate where a connecting line of the two longitudinal limiting rods is located.
Preferably, in the above automatic feeding machine for milling machining of a steel plate material, the transverse limiting rod is detachably fixed to the upper surface of the support substrate, and a second fine-tuning positioning hole array for adjusting a relative distance between the transverse limiting rod and the corresponding side of the supporting plate is arranged on the support substrate on a straight line path where a connecting line between the transverse limiting rod and the corresponding side of the supporting plate is located.
Preferably, in the automatic feeding machine for milling machining of steel plate materials, the double-station workpiece grabbing mechanism comprises a rotary cylinder fixed at the tail end of the three-axis manipulator, a connecting plate connected to a rotating output shaft of the rotary cylinder, and a first clamping finger cylinder and a second clamping finger cylinder fixed at two ends of the connecting plate, wherein clamping fingers of the first clamping finger cylinder and clamping fingers of the second clamping finger cylinder are respectively connected with a first group of clamping fingers and a second group of clamping fingers.
Preferably, in the automatic feeding machine for milling of steel plate materials, the first group of clamping fingers and the second group of clamping fingers have the same structure, the first group of clamping fingers includes a first left clamping finger fixing beam and a second left clamping finger fixing beam which are respectively fixed on the two clamping fingers of the first clamping finger cylinder, and clamping jaws are fixed at the front end and the rear end of each of the first left clamping finger fixing beam and the second left clamping finger fixing beam.
Preferably, in the above automatic feeding machine for milling machining of a steel plate material, the clamping jaw is provided with different fixing positions on the first left clamping finger fixing beam and the second left clamping finger fixing beam.
Preferably, in the automatic feeding machine for milling machining of steel plate materials, the first material rack and the second material rack have the same structure, the first material rack comprises a material table, and a workpiece feeding area and a finished product discharging area which are formed by enclosing two groups of positioning rods are arranged on the upper surface of the material table.
The invention has the advantages and positive effects that: according to the automatic feeding machine, the strip-shaped steel plates can be firmly grabbed, clamped and positioned through the specially-made double-station workpiece grabbing mechanism and the tool clamp, the two strip-shaped steel plates can be grabbed through the double-station workpiece grabbing mechanism, workpieces to be machined are fed to the tool clamp in turn, then the two machined finished strip-shaped steel plates are grabbed and fed into the material rack to be stacked, and the feeding and discharging speed of the strip-shaped steel plates and the machining efficiency of the strip-shaped steel plates are greatly improved.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a side view of one embodiment of the present invention;
fig. 3 is a perspective view of the tool holder according to an embodiment of the present invention;
FIG. 4 is a top view of the tooling fixture according to one embodiment of the present invention;
fig. 5 is a perspective view of the tooling fixture according to another view of the embodiment of the present invention;
fig. 6 is a perspective structural view of the double-station workpiece gripping mechanism according to an embodiment of the present invention;
FIG. 7 is a side view of the double-station workpiece gripping mechanism according to one embodiment of the present invention;
fig. 8 is a perspective view of the first material holder according to an embodiment of the present invention;
fig. 9 is a top view of the first stack according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
In order to further understand the contents, features and effects of the present invention, the following embodiments are described in detail as follows:
referring to fig. 1 and 2, as shown in the drawings, an automatic feeding machine for milling machine processing of a steel plate material according to an embodiment of the present invention includes a tool holder 1 disposed on a milling table 110, a three-axis robot 2 disposed in front of the milling table 110, and a first stack 4 and a second stack 5 disposed in an intermediate region between the three-axis robot 2 and the milling table 110. Wherein, first work or material rest 4 and second work or material rest 5 distribute respectively in the place ahead left side position and the place ahead right side position of triaxial manipulator 2, and the end-to-end connection of triaxial manipulator 2 has the duplex position work piece that can snatch two at least work pieces in step and snatchs mechanism 3. All be equipped with the blowing region that is used for placing the finished product strip steel sheet after waiting to process work piece 200 and processing on first work or material rest 4 and the second work or material rest 5, arrange about first work or material rest 4 and second work or material rest 5 in the place ahead of triaxial manipulator 2 right and left sides, can make things convenient for triaxial manipulator 2 and get and put the work piece on first work or material rest 4 or the second work or material rest 5. The double-station workpiece grabbing mechanism 3 can grab two workpieces 200 to be machined simultaneously, after the workpieces 200 to be machined on one station are placed on the tool clamp 1 to be clamped and fixed, the double-station workpiece grabbing mechanism 3 is driven by the three-axis manipulator 2 to leave from the upper part of the tool clamp 1, and then the milling machine 100 drives the milling and drilling machine to mill and drill the workpieces 200 to be machined clamped on the tool clamp 1. After the workpiece to be machined is machined, one grabbing station in an empty state on the double-station workpiece grabbing mechanism 3 moves to the position above the tool clamp 1, and the machined strip-shaped steel plate is grabbed. Then, the double-station workpiece grabbing mechanism 3 is rotated by an angle through the three-axis manipulator 2, the other grabbing station which grabs the workpiece 200 to be machined moves to the position above the tooling fixture 1, the second workpiece 200 to be machined is fixed on the milling table 110 through the tooling fixture 1, then the milling machine 100 is used for milling and drilling the workpiece 200 to be machined which is well clamped and fixed by the second machine, after the machining is completed, the vacant second grabbing station moves to the position above the tooling fixture 1, and then the second machined strip-shaped steel plate is grabbed. And finally, the two processed strip steel plates are synchronously sent back to the finished product placing area of the first material rack 4 or the second material rack 5 through the three-axis manipulator 2. Therefore, the synchronous grabbing and feeding work of the two workpieces 200 to be processed is completed, and the pause of too long time in the middle is avoided. The first material rack 4 and the second material rack 5 are mutually main and auxiliary, and in an initial state, the stacked substitute workpieces 200 are manually stacked in the first material rack 4 and the second material rack 5 to be used for placing the material placing areas of the workpieces 200 to be processed, and then the workpiece grabbing mechanism 3 grabs two workpieces 200 to be processed each time for processing. After the workpiece 200 to be processed on one of the material racks is taken out, the three-axis manipulator 2 drives the double-station workpiece grabbing mechanism 3 to the material rack on the other side to grab the workpiece 200 to be processed on the material rack on the other side. Then, the other corresponding side material frame is supplemented with raw materials manually, namely, a new workpiece 200 to be processed is moved in and placed on the corresponding material frame.
Specifically, in the preferred embodiment of the present invention, as shown in fig. 3, 4 and 5, the tooling fixture 1 includes a supporting base plate 11 fixed to a milling table 110. Wherein, the upper surface of the bearing substrate 11 is provided with two vertically symmetrical supporting plates 12 at the middle position thereof, and the upper end surfaces of the two supporting plates 12 are on the same horizontal plane. In the direction of one side that layer board 12 is close to triaxial manipulator 2, the upper surface of bearing base plate 11 is equipped with two vertical symmetry's vertical gag lever post 13, and the upper end of vertical gag lever post 13 is higher than the upper end of layer board 12 for block and replace this side edge of machined part 200, prevent that it from deviating from this department. In the direction of one side of the supporting plate 12 close to the first stack 4 or the second stack 5, the upper surface of the supporting substrate 11 is provided with a vertically arranged transverse limiting rod 14, and the upper end of the transverse limiting rod 14 is higher than the upper surface of the supporting plate 12, so as to prevent the edge of the substitute workpiece 200 in the width direction of the side from coming out from the transverse direction. As shown in fig. 3, a lateral pressing cylinder 15 is provided on the upper surface of the support substrate 11 at the opposite end away from the lateral stopper rod 14, and a longitudinal pressing cylinder 16 is provided on the upper surface of the support substrate 11 at the opposite end away from the longitudinal stopper rod 13. The transverse pressing cylinder 15 extends out, the telescopic rod of the transverse pressing cylinder pushes the substitute workpiece 200 to move horizontally towards one side of the longitudinal limiting rod 13 on the two supporting plates 12, and when the edge of the substitute workpiece 200 in the width direction of the side is abutted against the transverse limiting rod 14, the transverse pressing cylinder 15 stops moving. When the longitudinal pressing cylinder 16 extends out, the telescopic rod of the longitudinal pressing cylinder 16 pushes the substitute workpiece 200 to translate towards the length direction of one side of the longitudinal limiting rod 13, when the outer side edge of the substitute workpiece 200 abuts against the longitudinal limiting rod 13, the longitudinal pressing cylinder 16 stops moving, and the whole substitute workpiece 200 is fixed on the tool clamp 1 through limiting clamping.
Specifically, in the preferred embodiment of the present invention, as shown in fig. 3, the milling table 110 is connected to a height adjusting mechanism 120 for driving the tooling fixture 1 to move up and down in the vertical direction so as to adjust the height of the horizontal plane where the tooling fixture 1 is located. In order to avoid the offset and instability of the milling table 110 when the driving tool holder 1 moves up and down in the vertical direction, the milling table 110 is connected to a limit guide carriage 130 which is slidably connected to the vertical frame of the milling machine 100. Specifically, in the preferred embodiment of the present invention, the height adjusting mechanism 120 is preferably a hydraulic cylinder, and has a certain buffering characteristic when providing a vertical support for the milling table 110 and the tool holder 1, so as to avoid damage caused by rigid contact.
Specifically, in the preferred embodiment of the present invention, as shown in fig. 3, two longitudinal position-limiting rods 13 are detachably fixed on the upper surface of the supporting substrate 11, and the supporting substrate 11 is provided with a first fine-tuning positioning hole array 111 for adjusting the relative distance between the two longitudinal position-limiting rods 13 on the straight path where the connecting line of the two longitudinal position-limiting rods 13 is located. The two longitudinal limiting rods 13 are fixed on the fine adjustment holes in the first fine adjustment positioning hole array 111 with different relative distances, so that the relative distances of the two longitudinal limiting rods 13 can be adjusted, and the method is suitable for strip-shaped steel plates with different lengths to be machined 200. Similarly, the horizontal limiting rod 14 is detachably fixed on the upper surface of the supporting substrate 11, and a second fine-tuning positioning hole array 112 for adjusting the relative distance between the horizontal limiting rod 14 and the corresponding side supporting plate 12 is arranged on the supporting substrate 11 on the straight path where the connecting line between the horizontal limiting rod 14 and the corresponding side supporting plate 12 is located. By fixing the transverse limiting rod 14 on the fine adjustment holes at different positions in the second fine adjustment positioning hole array 112, the relative distance between the transverse limiting rod 14 and the transverse pressing cylinder 15 can be flexibly adjusted to adapt to strip-shaped steel plates to be processed 200 with different widths.
Specifically, in the preferred embodiment of the present invention, as shown in fig. 6 and 7, the double-station workpiece gripping mechanism 3 includes a rotary cylinder 31 fixed to the end of the three-axis robot 2, a connecting plate 32 connected to the rotation output shaft of the rotary cylinder 31, and a first finger clamping cylinder 33 and a second finger clamping cylinder 34 fixed to both ends of the connecting plate 32. Wherein, the clamping fingers of the first clamping finger cylinder 33 and the second clamping finger cylinder 34 are respectively connected with a first group of clamping fingers 35 and a second group of clamping fingers 36.
The first group of clamping fingers 35 and the second group of clamping fingers 36 have the same structure, the first group of clamping fingers 35 comprise a first left clamping finger fixing beam 351 and a second left clamping finger fixing beam 352 which are respectively fixed on the two clamping fingers of the first clamping finger cylinder 33, and clamping jaws 353 are fixed at the front end and the rear end of the first left clamping finger fixing beam 351 and the front end and the rear end of the second left clamping finger fixing beam 352 respectively. Specifically, in the preferred embodiment of the present invention, the first gripper cylinder 33 and the second gripper cylinder 34 both employ parallel gripper cylinders. In order to flexibly adapt to the strip-shaped steel plates with different lengths to be processed, different fixing positions are arranged on the first left clamping finger fixing beam 351 and the second left clamping finger fixing beam 352 of the clamping jaw 353, and the clamping jaw 353 can adapt to the strip-shaped steel plates with different lengths to be processed 200 by adjusting the relative distance between the two clamping jaws 353 on the same side.
Further, in some embodiments, as shown in fig. 8 and 9, the first stack 4 and the second stack 5 are identical in structure. The first material rack 4 includes a material table 41, and a workpiece loading area 43 and a finished product unloading area 44, which are enclosed by two positioning rods 42, are disposed on an upper surface of the material table 41. The workpiece loading area 43 is used for stacking the strip steel plates to be processed 200 in advance, and the finished product unloading area 44 is used for stacking the finished strip steel plates after being processed.
In conclusion, the automatic feeding machine can firmly grab, clamp and position the strip steel plates through the specially-made double-station workpiece grabbing mechanism and the tool clamp, can grab two strip steel plates to-be-machined parts to the tool clamp in turn through the double-station workpiece grabbing mechanism, then grab two machined finished strip steel plates and send the two finished strip steel plates into the material rack to be stacked, and greatly improves the feeding and discharging speed of the strip steel plates and the machining efficiency of the strip steel plates.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides an automatic feeding machine for steel sheet material milling machine processing which characterized in that, including establishing frock clamp (1) on milling platform (110), establishing at triaxial manipulator (2) in milling platform (110) the place ahead, and establish triaxial manipulator (2) and mill first work or material rest (4) and second work or material rest (5) of platform (110) middle zone, first work or material rest (4) with second work or material rest (5) distribute respectively the place ahead left side position and the place ahead right side position of triaxial manipulator (2), the end-to-end connection of triaxial manipulator (2) has the duplex position work piece that can snatch two at least work pieces in step and snatchs mechanism (3).
2. The automatic feeder for milling machining of steel plate materials according to claim 1, characterized in that the tooling fixture (1) comprises a bearing base plate (11) fixed on the milling table (110), the upper surface of the bearing base plate (11) is provided with two vertically symmetrical support plates (12) at the middle position thereof, the upper surface of the bearing base plate (11) is provided with two vertically symmetrical longitudinal limit rods (13) in the direction of one side of the support plate (12) close to the three-axis manipulator (2), the upper surface of the bearing base plate (11) is provided with a vertically arranged transverse limit rod (14) in the direction of one side of the support plate (12) close to the first rack (4) or the second rack (5), the upper surface of the bearing base plate (11) is provided with a transverse compressing cylinder (15) at the opposite end far away from the transverse limit rod (14), and a longitudinal pressing cylinder (16) is arranged on the upper surface of the bearing substrate (11) at the opposite end far away from the longitudinal limiting rod (13).
3. The automatic feeding machine for milling machine machining of steel plate materials according to claim 1 or 2, characterized in that the milling table (110) is connected with a height adjusting mechanism (120) which drives the tooling fixture (1) to move up and down in the vertical direction so as to adjust the height of the horizontal plane where the tooling fixture (1) is located.
4. Automatic feeder for milling machining of steel sheet materials, according to claim 3, characterized in that to the milling table (110) there is connected a limit guide slide (130) slidingly connected with the vertical frame of the milling machine (100).
5. The automatic feeder for milling machine processing of steel plate materials according to claim 2, characterized in that two longitudinal limiting rods (13) are detachably fixed on the upper surface of the supporting base plate (11), and the supporting base plate (11) is provided with a first fine-tuning positioning hole array (111) for adjusting the relative distance between the two longitudinal limiting rods (13) on a straight path where a connecting line of the two longitudinal limiting rods (13) is located.
6. The automatic feeder for milling machine processing of steel sheet materials according to claim 1, characterized in that the transverse limiting rod (14) is detachably fixed on the upper surface of the supporting base plate (11), and the supporting base plate (11) is provided with a second fine-tuning positioning hole array (112) for adjusting the relative distance between the transverse limiting rod (14) and the corresponding side of the supporting plate (12) on the straight path of the connecting line between the transverse limiting rod (14) and the corresponding side of the supporting plate (12).
7. The automatic feeding machine for milling machining of steel plate materials is characterized in that the double-station workpiece grabbing mechanism (3) comprises a rotary cylinder (31) fixed at the tail end of the three-axis manipulator (2), a connecting plate (32) connected to a rotary output shaft of the rotary cylinder (31), a first clamping finger cylinder (33) and a second clamping finger cylinder (34) fixed at two ends of the connecting plate (32), and clamping fingers of the first clamping finger cylinder (33) and the second clamping finger cylinder (34) are respectively connected with a first group of clamping fingers (35) and a second group of clamping fingers (36).
8. The automatic feeder for milling machining of steel sheet materials according to claim 7, characterized in that the first set of clamping fingers (35) and the second set of clamping fingers (36) are identical in structure, the first set of clamping fingers (35) comprise a first left clamping finger fixing beam (351) and a second left clamping finger fixing beam (352) which are respectively fixed on two clamping fingers of the first clamping finger cylinder (33), and clamping jaws (353) are fixed at the front end and the rear end of the first left clamping finger fixing beam (351) and the front end and the rear end of the second left clamping finger fixing beam (352).
9. Automatic feeder for milling machining of steel sheet materials, according to claim 8, characterized in that the clamping jaws (353) are provided with different fixing positions on the first left clamping finger fixing beam (351) and the second left clamping finger fixing beam (352).
10. The automatic feeder for milling machining of steel sheet materials according to claim 1, characterized in that the first stack (4) and the second stack (5) are identical in structure, the first stack (4) comprises a material table (41), and the upper surface of the material table (41) is provided with a workpiece loading area (43) and a finished product unloading area (44) which are enclosed by two sets of positioning rods (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011444590.9A CN112676901A (en) | 2020-12-08 | 2020-12-08 | Automatic feeding machine for milling machine machining of steel plate materials |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011444590.9A CN112676901A (en) | 2020-12-08 | 2020-12-08 | Automatic feeding machine for milling machine machining of steel plate materials |
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| CN112676901A true CN112676901A (en) | 2021-04-20 |
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Application publication date: 20210420 |