CN113895833A - Automatic goods machine of getting of open goods shelves - Google Patents
Automatic goods machine of getting of open goods shelves Download PDFInfo
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- CN113895833A CN113895833A CN202111368273.8A CN202111368273A CN113895833A CN 113895833 A CN113895833 A CN 113895833A CN 202111368273 A CN202111368273 A CN 202111368273A CN 113895833 A CN113895833 A CN 113895833A
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- 238000001514 detection method Methods 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000531116 Blitum bonus-henricus Species 0.000 description 1
- 235000008645 Chenopodium bonus henricus Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an open type goods shelf automatic goods taking machine which comprises a goods taking machine body and a goods shelf, wherein the goods shelf is matched with the goods taking machine body, the goods shelf is arranged on the ground and is divided into a plurality of layers, a plurality of direct-pushing goods channels are arranged on each layer of goods shelf, a horizontal guide rail is arranged on the goods shelf, and the goods taking machine body is sleeved on the horizontal guide rail and can move along the horizontal guide rail. The open type goods shelf automatic goods taking machine disclosed by the invention can realize fast, efficient and accurate goods taking from the open type goods shelf by matching the goods taking machine body with the goods shelf direct-pushing type goods channel, meets the goods taking and storing requirements, and is lower in equipment cost and maintenance cost and lower in labor cost compared with the existing automatic storage system.
Description
Technical Field
The invention belongs to the technical field of goods taking machines, and particularly relates to an automatic goods taking machine with an open type goods shelf.
Background
The open type goods shelf is widely applied to goods sale and storage management, and generally adopts a manual goods taking mode or an automatic storage management system. But the manual mode has low efficiency, cannot meet the requirement of rapid goods taking, and simultaneously has high labor cost because more manual work is needed; the automatic warehouse management system can meet the requirement of rapid goods taking, but is high in cost, and a user unit needs to bear higher expenses.
Disclosure of Invention
The invention aims to provide an automatic open type goods shelf goods taking machine which can quickly, efficiently and accurately take goods from an open type goods shelf and meet the goods taking and storing requirements.
The technical scheme adopted by the invention for solving the technical problems is as follows: open goods shelves get cargo aircraft automatically, get cargo aircraft body and goods shelves including the cooperation use, goods shelves are installed subaerially, and goods shelves divide into a plurality of layers, all are equipped with a plurality of straight pushing-type goods ways on every layer of goods shelves, are equipped with horizontal guide rail on the goods shelves, get cargo aircraft body cover and locate on horizontal guide rail and can follow horizontal guide rail and remove.
The goods taking machine body comprises an outer frame, a vertical screw rod arranged on the inner side of the outer frame, vertical guide shafts parallel to the vertical screw rod and fixed on two sides inside the outer frame, and a moving frame sleeved on the vertical guide shafts and capable of moving up and down along the vertical guide shafts; one end of the vertical screw rod is fixedly connected with the lower bottom plate of the outer frame, the other end of the vertical screw rod penetrates through the upper top plate of the outer frame and is connected with a vertical motor, and the vertical screw rod penetrates through one end of the movable frame and drives the movable frame to move up and down; the movable frame is provided with a plurality of goods bins side by side, adjacent goods bins are separated by goods bin side plates, goods baskets capable of being taken and placed are arranged in the goods bins, a plurality of holes are formed in two sides of each goods basket respectively, an infrared detection device I and an infrared detection device II are installed on the outer sides of the goods side plates, and infrared light beams emitted by the infrared detection device I and the infrared detection device II can penetrate through the holes in the goods baskets; a nut mounting seat and a movable motor mounting seat are mounted on a side plate of the cargo compartment, a propelling motor and a rotating motor are fixedly mounted on the motor mounting seat, an output shaft of the propelling motor is connected with a propelling screw rod, a screw rod nut is arranged at the end part of the propelling screw rod, and the propelling screw rod penetrates through the nut mounting seat and is fixedly connected with the screw rod nut; an output shaft of the rotating motor is connected with an outer bevel gear; the utility model discloses a color display screen of moving frame, camera and with the storehouse one-to-one are installed to moving frame's front side, every color display screen is located the below that corresponds the storehouse, moving frame's rear side is equipped with the swash plate, install a plurality of micro-gap switches on the swash plate, every micro-gap switch corresponds a storehouse, microcontroller circuit board is installed to one side of moving frame, perpendicular motor, the camera, color display screen, infrared detection device one, infrared detection device two, propulsion motor, the rotating electrical machines, micro-gap switch all is connected with microcontroller circuit board through the cable.
Further, direct pushing-type goods are said and are included the goods and say the lead screw, the goods is said the guiding axle, the push plate, interior bevel gear, goods are said guiding axle fixed mounting in the both ends of direct pushing-type goods way, the pot head of push plate is located on the goods is said the guiding axle and can be followed the goods and is said the guiding axle removal, goods are said the lead screw and are said guiding axle parallel arrangement, goods are said the lead screw one end and are fixed in the one end of direct pushing-type goods way, the other end of goods is said the lead screw and is passed push plate and interior bevel gear connection, one side of push plate is fixed in on the goods is said lead screw through the lead screw nut installation, interior bevel gear sets up in the outside of direct pushing-type goods way, interior bevel gear can be connected with outer bevel gear meshing.
Furthermore, the top of the movable frame is provided with a guide groove, and the bottom of the motor mounting seat is connected with the guide groove in a matched mode and can move along the guide groove.
Further, a plurality of walking wheels are installed at the bottom of the outer frame, the walking wheels are connected with walking wheel driving motors, and the walking wheel driving motors are connected with the microcontroller circuit board.
In one embodiment, the horizontal guide rails are provided in two sets, and the two sets of horizontal guide rails are respectively arranged at the top and the bottom of the shelf in parallel.
In another embodiment, the horizontal guide rails are provided in two groups, and the two groups of horizontal guide rails are arranged at the bottom of the shelf in parallel.
Further, the microcontroller circuit board is provided with an input and output device, and receives instructions and a pick list from the input and output device. The microcontroller circuit board can also be connected with an upper computer through wireless communication, and receives instructions and a goods taking list from the upper computer, and the upper computer is a computer or a mobile terminal.
The invention has the following beneficial effects: the open type goods shelf automatic goods taking machine disclosed by the invention can realize fast, efficient and accurate goods taking from the open type goods shelf by matching the goods taking machine body with the goods shelf direct-pushing type goods channel, meets the goods taking and storing requirements, and is lower in equipment cost and maintenance cost and lower in labor cost compared with the existing automatic storage system.
Drawings
Fig. 1 is a schematic front view of the open shelf automatic picking machine of the present invention.
Fig. 2 is a back structural schematic view of the automatic open shelf picker of the present invention.
Fig. 3 shows an installation manner of the automatic cargo picker in embodiment 1 of the present invention.
Fig. 4 shows an installation manner of the automatic cargo picker in embodiment 2 of the present invention.
Fig. 5 is a schematic structural diagram of the direct-push cargo way of the invention.
Fig. 6 is a schematic diagram of a control principle of the automatic open shelf picker of the invention.
Fig. 7 is a schematic view of another control principle of the open shelf automatic picking machine of the invention.
In the figure, 1, a vertical motor, 2, a vertical screw rod, 3, a vertical guide shaft, 4, an outer frame, 5, a camera, 6, a moving frame, 7, a goods basket, 8, a color display screen, 9, a nut mounting seat, 10, a screw nut, 11, a pushing screw rod, 12, a second infrared detection device, 13, a first infrared detection device, 14, a microcontroller circuit board, 15, a walking wheel driving motor, 16, a walking wheel, 17, a pushing motor, 18, a rotating motor, 19, an outer bevel gear, 20, a motor mounting seat, 21, a micro switch, 22, a goods shelf, 23, a horizontal guide rail, 24, a straight goods channel, 25, a goods pushing plate, 26, a goods taking machine body, 27, the ground, 28, a pushing gear, 29, a guide groove, 30, a goods channel screw rod, 31, a goods channel guide shaft, 32, a goods bin, 33 and a goods bin side plate.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the scope of the present invention is not limited to these examples. All changes, modifications and equivalents that do not depart from the spirit of the invention are intended to be included within the scope thereof.
Example 1
As shown in fig. 1, 2, 3 and 5, the open-type shelf automatic goods taking machine comprises a goods taking machine body 26 and a shelf 22 which are used in a matched mode, wherein the shelf 22 is installed on the ground 27, the shelf 22 is divided into a plurality of layers, a plurality of direct-pushing type goods channels 24 are arranged on each layer of shelf 22, horizontal guide rails 23 are arranged on the shelf 22, two groups of horizontal guide rails 23 are arranged on the horizontal guide rails 23, and the two groups of horizontal guide rails 23 are respectively arranged at the top and the bottom of the shelf 22 in parallel. The goods taking machine body 26 is sleeved on the horizontal guide rail 23 and can move along the horizontal guide rail 23.
The goods taking machine body 26 comprises an outer frame 4, a vertical screw rod 2 arranged on the inner side of the outer frame 4, vertical guide shafts 3 which are parallel to the vertical screw rod 2 and fixed on two sides inside the outer frame 4, and a moving frame 6 which is sleeved on the vertical guide shafts 3 and can move up and down along the vertical guide shafts 3; one end of the vertical screw rod 2 is fixedly connected with the lower bottom plate of the outer frame 4, the other end of the vertical screw rod penetrates through the upper top plate of the outer frame 4 to be connected with the vertical motor 1, and the vertical screw rod 2 penetrates through one end of the movable frame 6 and drives the movable frame 6 to move up and down; a plurality of goods bins 32 are arranged on the movable frame 6 side by side, adjacent goods bins 32 are separated by goods bin side plates 33, goods baskets 7 capable of being taken and placed are arranged in the goods bins 32, a plurality of holes are respectively formed in two sides of each goods basket 7, an infrared detection device I13 and an infrared detection device II 12 are installed on the outer sides of the goods side plates 33, and infrared light beams emitted by the infrared detection device I13 and the infrared detection device II 12 can penetrate through the holes in the goods baskets 7; the cargo compartment side plate 33 is provided with a nut mounting seat 9 and a movable motor mounting seat 20, the top of the movable frame 6 is provided with a guide groove 29, and the bottom of the motor mounting seat 20 is matched and connected with the guide groove 29 and can move along the guide groove 29. A propelling motor 17 and a rotating motor 18 are fixedly mounted on the motor mounting seat 20, an output shaft of the propelling motor 17 is connected with a propelling screw rod 11, a screw rod nut 10 is arranged at the end part of the propelling screw rod 11, and the propelling screw rod 11 penetrates through the nut mounting seat 9 and is fixedly connected with the screw rod nut 10; an output shaft of the rotating motor 18 is connected with an outer bevel gear 19; the camera 5 and the color display screen 8 that corresponds one-to-one with storehouse 32 are installed to the front side of moving frame 6, every color display screen 8 is located the below that corresponds storehouse 32, the rear side of moving frame 6 is equipped with the swash plate, install a plurality of micro-gap switch 21 on the swash plate, every micro-gap switch 21 corresponds a storehouse 32, microcontroller circuit board 14 is installed to one side of moving frame 6, a plurality of walking wheels 16 are installed to frame 4 bottom, walking wheels 16 are connected with walking wheel driving motor 15, vertical motor 1, camera 5, color display screen 8, infrared detection device 13, infrared detection device two 12, propulsion motor 17, rotating electrical machines 18, micro-gap switch 21, walking wheel driving motor 15 all is connected with microcontroller circuit board 14 through the cable.
As shown in fig. 5, the direct-push type cargo way 24 includes a cargo way screw 30, a cargo way guide shaft 31, a cargo pushing plate 25, and an inner bevel gear 28, wherein the cargo way guide shaft 31 is fixedly installed at both ends of the direct-push type cargo way 24, one end of the cargo pushing plate 25 is sleeved on the cargo way guide shaft 31 and can move along the cargo way guide shaft 31, the cargo way screw 30 is arranged in parallel with the cargo way guide shaft 31, one end of the cargo way screw 30 is fixed at one end of the direct-push type cargo way 24, the other end of the cargo way screw 30 passes through the cargo pushing plate 25 and is connected with the inner bevel gear 28, one side of the cargo pushing plate 25 is installed and fixed on the cargo way screw 30 through a screw nut 10, the inner bevel gear 28 is installed at the outer side of the direct-push type cargo way 24, and the inner bevel gear 28 is engaged with the outer bevel gear 19.
The microcontroller circuit 14 board has its own input and output devices from which commands and checklists are received, as shown in fig. 7. The microcontroller circuit board 14 may also be connected to an upper computer through a wireless communication module, and receive instructions and a pick-up list from the upper computer, which is a computer or a mobile terminal, as shown in fig. 6.
Example 2
An open type automatic goods taking machine for goods shelves is shown in figures 1, 2, 4 and 5, two groups of horizontal guide rails 23 are arranged, the two groups of horizontal guide rails 23 are arranged at the bottom of a goods shelf 22 in parallel, and other structures are the same as those in embodiment 1.
The working method of the open type goods shelf automatic goods taking machine comprises the following steps:
1. goods position location
After goods are placed on the goods shelf, the direct-push type goods channel is fixed on the goods shelf according to the size of the goods, one goods channel is arranged for each type of goods, and the inner bevel gear faces to the outer side;
after receiving a goods positioning instruction, the microcontroller circuit board controls the traveling wheel driving motor to drive the goods taking machine body to move along the horizontal guide rail, controls the vertical motor to drive the moving frame to move along the vertical guide shaft, and simultaneously starts the camera to scan the goods shelf line by line;
the microcontroller circuit board performs image recognition on the video stream shot by the camera, and determines and stores the goods category and the position of each goods channel by combining the size of the goods shelf;
the steps are only needed to be executed when goods on the goods channel are changed or the position of the goods channel is adjusted, and the steps are not needed to be executed when the goods on the goods channel are not changed or adjusted.
2. Goods taking device
(1) Placing the goods basket in the warehouse, and initially defaulting that the goods basket is empty;
(2) after receiving the goods taking instruction and the goods taking list, the microcontroller circuit board starts a first-order empty warehouse color display screen and displays the task name in the color A;
(3) the microcontroller circuit board controls the traveling wheel driving motor to drive the goods taking machine body to move along the horizontal guide rail according to the stored goods position positioning information, controls the vertical motor to drive the moving frame to move along the vertical guide shaft, drives the goods warehouse to move to the goods channel where the goods are located, and enables the outer bevel gear to align the inner bevel gear on the pushing-type goods channel;
(4) the propulsion motor rotates positively to drive the motor mounting seat to move forward, so that the outer bevel gear is meshed with the inner bevel gear of the goods channel;
(5) the rotating motor works, the outer bevel gear drives the inner bevel gear, the inner bevel gear drives the screw rod to rotate, the screw rod drives the goods pushing plate to move, and goods are pushed to fall into the goods basket;
(6) the microcontroller circuit board detects whether goods enter the goods basket or not through the first infrared detection device and counts the goods basket;
(7) after the goods are taken, the rotating motor stops working, the motor is pushed to rotate reversely, and the outer bevel gear is separated from the inner bevel gear;
(8) the microcontroller circuit board controls the traveling wheel driving motor to drive the goods taking machine body to move along the horizontal guide rail, controls the vertical motor to drive the moving frame to move along the vertical guide shaft, drives the goods warehouse to move to a next goods channel where goods are located, and enables the outer bevel gear to align with the inner bevel gear on the pushing-type goods channel;
(9) repeating the above steps (4) - (8);
(10) when all goods taking tasks are completed, the color display screen of the warehouse displays the tasks in the color B;
(11) the microcontroller circuit board detects whether the goods basket is full through the infrared detection device II, and if the goods bin is full but the goods taking task is not completed, the microcontroller circuit board starts a color display screen of the next empty goods bin and displays the task name by the color A; and simultaneously, changing the color display screen of the full warehouse into C color to display the task name; by analogy, after the goods taking task is completed, all the warehouse color display screens of the goods taking task are completed by displaying the task in the color B;
(12) the microcontroller circuit board receives the next goods taking task;
(13) when the goods basket is taken away and put back again, the micro switch is triggered, and the microcontroller circuit board considers that the goods basket is empty.
The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (7)
1. The open type goods shelf automatic goods taking machine is characterized by comprising a goods taking machine body and a goods shelf which are matched with each other, wherein the goods shelf is arranged on the ground and is divided into a plurality of layers, a plurality of direct-push type goods channels are arranged on each layer of the goods shelf, a horizontal guide rail is arranged on the goods shelf, and the goods taking machine body is sleeved on the horizontal guide rail and can move along the horizontal guide rail;
the goods taking machine body comprises an outer frame, a vertical screw rod arranged on the inner side of the outer frame, vertical guide shafts parallel to the vertical screw rod and fixed on two sides inside the outer frame, and a moving frame sleeved on the vertical guide shafts and capable of moving up and down along the vertical guide shafts; one end of the vertical screw rod is fixedly connected with the lower bottom plate of the outer frame, the other end of the vertical screw rod penetrates through the upper top plate of the outer frame and is connected with a vertical motor, and the vertical screw rod penetrates through one end of the movable frame and drives the movable frame to move up and down; the movable frame is provided with a plurality of goods bins side by side, adjacent goods bins are separated by goods bin side plates, goods baskets capable of being taken and placed are arranged in the goods bins, a plurality of holes are formed in two sides of each goods basket respectively, an infrared detection device I and an infrared detection device II are installed on the outer sides of the goods side plates, and infrared light beams emitted by the infrared detection device I and the infrared detection device II can penetrate through the holes in the goods baskets; a nut mounting seat and a movable motor mounting seat are mounted on a side plate of the cargo compartment, a propelling motor and a rotating motor are fixedly mounted on the motor mounting seat, an output shaft of the propelling motor is connected with a propelling screw rod, a screw rod nut is arranged at the end part of the propelling screw rod, and the propelling screw rod penetrates through the nut mounting seat and is fixedly connected with the screw rod nut; an output shaft of the rotating motor is connected with an outer bevel gear; the utility model discloses a color display screen of moving frame, camera and with the storehouse one-to-one are installed to moving frame's front side, every color display screen is located the below that corresponds the storehouse, moving frame's rear side is equipped with the swash plate, install a plurality of micro-gap switches on the swash plate, every micro-gap switch corresponds a storehouse, microcontroller circuit board is installed to one side of moving frame, perpendicular motor, the camera, color display screen, infrared detection device one, infrared detection device two, propulsion motor, the rotating electrical machines, micro-gap switch all is connected with microcontroller circuit board through the cable.
2. The open-type goods shelf automatic fetching machine according to claim 1, wherein the direct-pushing type goods shelf comprises a goods shelf lead screw, a goods shelf guide shaft, a goods shelf board and an inner bevel gear, the goods shelf guide shaft is fixedly installed at two ends of the direct-pushing type goods shelf, one end of the goods shelf board is sleeved on the goods shelf guide shaft and can move along the goods shelf guide shaft, the goods shelf lead screw is arranged in parallel with the goods shelf guide shaft, one end of the goods shelf lead screw is fixed at one end of the direct-pushing type goods shelf, the other end of the goods shelf lead screw penetrates through the goods shelf board and is connected with the inner bevel gear, one side of the goods shelf board is fixedly installed on the goods shelf lead screw through a lead screw nut, the inner bevel gear is arranged at the outer side of the direct-pushing type goods shelf, and the inner bevel gear can be meshed with the outer bevel gear.
3. The open rack automatic picker according to claim 1, wherein the top of the moving frame is provided with a guide groove, and the bottom of the motor mounting seat is in fit connection with the guide groove and can move along the guide groove.
4. The open type goods shelf automatic goods taking machine as claimed in claim 1, wherein a plurality of travelling wheels are installed at the bottom of the outer frame, the travelling wheels are connected with travelling wheel driving motors, and the travelling wheel driving motors are connected with the microcontroller circuit board.
5. The open rack automatic picker according to claim 1, wherein the horizontal guide rails are provided in two sets, and the two sets of horizontal guide rails are respectively provided in parallel at the top and bottom of the rack.
6. The open rack automatic picker according to claim 1, wherein the horizontal guide rails are provided in two sets, and both sets of horizontal guide rails are arranged in parallel at the bottom of the rack.
7. The open type goods shelf automatic goods taking machine as claimed in claim 1, wherein the microcontroller circuit board is connected with an upper computer through a wireless communication module, and the upper computer is a computer or a mobile terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111368273.8A CN113895833B (en) | 2021-11-18 | 2021-11-18 | Automatic goods taking machine for open goods shelf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111368273.8A CN113895833B (en) | 2021-11-18 | 2021-11-18 | Automatic goods taking machine for open goods shelf |
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| Publication Number | Publication Date |
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| CN113895833A true CN113895833A (en) | 2022-01-07 |
| CN113895833B CN113895833B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111368273.8A Active CN113895833B (en) | 2021-11-18 | 2021-11-18 | Automatic goods taking machine for open goods shelf |
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| CN113327370A (en) * | 2021-07-07 | 2021-08-31 | 济南其石电子科技有限公司 | Check cabinet type self-service vending machine |
| CN216234235U (en) * | 2021-11-18 | 2022-04-08 | 济南其石电子科技有限公司 | Automatic goods machine of getting of open goods shelves |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6113336A (en) * | 1999-10-05 | 2000-09-05 | Chang; Tien-Sheng | Warehousing system having a conveying device for transferring articles between two levels of a multistory building |
| US20090026905A1 (en) * | 2005-01-12 | 2009-01-29 | Malin Cosmas G | Automatic storage device and climate controlled cabinet for laboratory objects |
| JP2010013237A (en) * | 2008-07-04 | 2010-01-21 | Tsubakimoto Chain Co | Automatic high-rise warehouse |
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| Publication number | Publication date |
|---|---|
| CN113895833B (en) | 2024-05-24 |
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