CN113927605B - Salt core clamping device, control method and robot - Google Patents
Salt core clamping device, control method and robot Download PDFInfo
- Publication number
- CN113927605B CN113927605B CN202111513869.2A CN202111513869A CN113927605B CN 113927605 B CN113927605 B CN 113927605B CN 202111513869 A CN202111513869 A CN 202111513869A CN 113927605 B CN113927605 B CN 113927605B
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- salt core
- clamping
- salt
- mechanical arm
- clamping jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/10—Cores; Manufacture or installation of cores
- B22C9/105—Salt cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C9/00—Moulds or cores; Moulding processes
- B22C9/10—Cores; Manufacture or installation of cores
- B22C9/108—Installation of cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Molds, Cores, And Manufacturing Methods Thereof (AREA)
Abstract
The invention provides a salt core clamping and placing device which comprises a mechanical arm and at least two groups of claws arranged on the mechanical arm, wherein the adjacent claws in each group are different in height, and each group of claws is used for grabbing corresponding salt cores; a pushing device is further arranged in each gripper and used for pushing the salt cores grabbed by the grippers into the die; the mechanical arm is further provided with a visual recognition system, the visual recognition system is used for recognizing the information of the salt core and feeding back the information of the salt core to the controller, and the information of the salt core comprises the state of the salt core and the position of the positioning hole. The salt core placing device can automatically place the salt core, improves the working efficiency, prevents workers from being scalded, and prevents the camera from being damaged by the high temperature of the salt core.
Description
Technical Field
The invention relates to the technical field of casting equipment, in particular to a salt core clamping device, a control method and a robot.
Background
With the continuous evolution of engine technology in recent years, the piston yield of the design adopting the inner cooling channel is increasing day by day. The piston with internal cooling channel (salt core piston) is made up by using salt as base body and pressing the salt core, and placing the salt core into the mould cavity before pouring, and casting so as to form the internal cooling channel. In the salt core piston casting production line, the staff need manually place a salt core on the locating pin of mould die cavity, has two locating holes on the salt core, places locating hole alignment locating pin. During the production of the salt core, a salt core blank is pressed by using a salt core pressing film, a positioning hole is processed, and then high-temperature sintering is carried out to reach a certain temperature for installation. The manual placement not only has low efficiency, but also has the potential safety hazard that the worker is easily scalded.
In order to solve the problems, the Chinese patent with the publication number of CN214352516U discloses an automatic salt core clamping and placing device, which comprises a mechanical arm, a working frame and a plurality of cylinder clamping jaws, wherein a partition plate is fixedly connected in the working frame, a plurality of rotating holes are formed in the bottom of the working frame, each cylinder clamping jaw comprises a cylinder part and a clamping jaw part, the top end of each cylinder part is fixedly connected with a rotating shaft, a driving structure is arranged in the working frame, the rotating shaft is rotatably connected with the hole wall of each rotating hole through a bearing, a first through hole is formed in the central position of each rotating shaft and the center position of each cylinder part in a penetrating manner, a connecting rod is arranged in each first through hole in a penetrating manner, the top end of each connecting rod is fixedly connected with the bottom end of each partition plate, a pressure plate positioned in each clamping jaw part is detachably connected with the bottom end of each connecting rod, a second through hole corresponding to the position of a positioning rod supported by an external mold is formed in each pressure plate, and an optical fiber sensor is arranged in each second through hole, the optical fiber sensor is electrically connected with the driving structure through the PLC. The salt core placing device can automatically place the salt core, greatly improves the working efficiency, and avoids the potential safety hazard that workers are scalded. However, in the invention, the optical fiber sensor is mounted on the platen, and the optical fiber sensor is easily damaged by the salt core due to the high temperature of the salt core.
Therefore, the invention provides a new technical scheme, and aims to solve the technical problem that the optical fiber sensor is easy to damage.
Disclosure of Invention
The embodiment of the disclosure provides a salt core clamping device, a control method and a robot, and solves the problem that the salt core is damaged by high temperature through the arrangement of a visual recognition system. The technical scheme is as follows:
a salt core clamping device comprises a mechanical arm and at least two groups of clamping jaws arranged on the mechanical arm,
wherein the height between each set of adjacent clamping jaws is different, and each set of clamping jaws is used for grabbing the corresponding salt core;
a pushing device is further arranged in each clamping jaw and used for pushing the salt core grabbed by the clamping jaw into a mold;
the mechanical arm is further provided with a visual recognition system, the visual recognition system is used for recognizing the information of the salt core and feeding the information of the salt core back to the controller, and the information of the salt core comprises the state of the salt core and the position of the mounting hole.
The invention further comprises the following steps: the pushing device comprises a telescopic cylinder and a pressure plate arranged in the middle of the clamping jaw,
the pressure plate is connected to the telescopic cylinder through a connecting rod;
the telescopic cylinder is arranged in the clamping jaw and used for driving the pressure plate to move in the clamping jaw.
The invention further comprises the following steps: the salt core clamping and placing device further comprises an electric cylinder arranged on the mechanical arm, and the electric cylinder is used for driving the clamping jaw to grab or release the salt core.
The invention further comprises the following steps: the visual recognition system comprises at least one camera and an image processor, wherein each camera is arranged at the bottom end of the working frame and used for acquiring the information of the salt core, and the information of the salt core is sent to the PLC after being processed by the image processor.
The invention further comprises the following steps: the vision recognition system is also used for recognizing the position of the die and the position of the positioning pin, and the position of the die and the position of the positioning pin are processed by the image processor and then sent to the PLC.
A control method of a salt core clamping device comprises
The salt core is clamped above the positioning pin by the mechanical arm, the salt core is photographed by the camera, the position of the mounting hole on the salt core is recognized by the image processor, and a datum point is preset;
judging whether the mounting hole on the salt core corresponds to the positioning pin according to the position of the mounting hole on the salt core and a preset datum point;
if the adjustment is needed, the image processor adjusts direction and code value data to the PLC interactive mechanical arm and the driving structure, the mechanical arm moves, the driving structure drives the clamping jaw to rotate, the mounting hole corresponds to the positioning rod, and the clamping jaw is loosened, so that the salt core can be accurately placed;
the mechanical arm drives the working frame to press downwards, so that the pressure plate is driven to press on the salt core, and the final pressing work is completed.
The invention further comprises the following steps: the visual recognition system can judge whether the salt core is damaged according to the picture shot by the camera, and if the salt core is damaged, the salt core is replaced in time.
The invention further comprises the following steps: the LED lamp is further arranged on the working frame, and a control circuit of the LED lamp is electrically connected with the output end of the PLC and used for replacing the salt core to provide illumination.
The invention further comprises the following steps: the working frame is provided with a buzzer, and a control circuit of the buzzer is electrically connected with the output end of the PLC and used for replacing the salt core and giving an alarm.
A robot comprises the salt core clamping and placing device.
Through adopting above-mentioned technical scheme, when the salt core was got by the cylinder clamping jaw clamp to the top of the locating lever that outside mould supported, the camera was shot to the salt core, and image processor discerns the position of the mounting hole on the salt core to according to the position of the mounting hole on the salt core and the benchmark of presetting, judge whether the mounting hole on the salt core corresponds the locating lever that outside mould supported. If the mounting hole on the salt core deviates from the positioning rod supported by the external mold (namely when the adjustment is needed), the image processor adjusts the direction and the code value data to the PLC interactive mechanical arm and the driving structure, the mechanical arm moves, and the driving structure drives the clamping jaw of the air cylinder to rotate, so that the mounting hole on the salt core corresponds to the positioning rod supported by the external mold. And then, the salt core can be accurately placed by loosening the clamping jaw of the air cylinder, and finally, the mechanical arm drives the working frame to press down, so that the pressure plate is driven to press on the salt core, and the final pressing work is completed. The salt core placing device can automatically place the salt core, greatly improves the working efficiency, avoids the potential safety hazard that workers are scalded, and does not damage the camera due to the high temperature of the salt core.
Compared with the prior art, the invention has the beneficial effects that:
the salt core placing device can automatically place the salt core, greatly improves the working efficiency, avoids the potential safety hazard that workers are scalded, and does not damage the camera due to the high temperature of the salt core.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
Fig. 1 is a schematic structural diagram of a salt core clamping and placing device based on a vision system.
Reference numerals: 1. a working frame; 2. pressing a plate; 3. a camera; 4. an image processor; 5. a buzzer; 6. an LED lamp; 7. a first jaw set; 8. and a second clamping jaw set 9. a pushing device.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of devices consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Example 1
As shown in fig. 1, a salt core clamping and placing device comprises a mechanical arm, at least two groups of clamping jaws arranged on the mechanical arm,
wherein the height between each set of adjacent clamping jaws is different, and each set of clamping jaws is used for grabbing the corresponding salt core;
a pushing device is further arranged in each clamping jaw and used for pushing the salt core grabbed by the clamping jaw into a mold;
the mechanical arm is further provided with a visual recognition system, the visual recognition system is used for recognizing the information of the salt core and feeding the information of the salt core back to the controller, and the information of the salt core comprises the state of the salt core and the position of the mounting hole.
The pushing device 9 comprises a telescopic cylinder and a pressure plate arranged in the middle of the clamping jaw,
the pressure plate is connected to the telescopic cylinder through a connecting rod;
telescopic cylinder sets up in the clamping jaw, telescopic cylinder is used for the drive the pressure disk is in remove in the clamping jaw.
The salt core clamping and placing device further comprises an electric cylinder arranged on the mechanical arm, and the electric cylinder is used for driving the clamping jaw to grab or release the salt core.
The vision recognition system comprises at least one camera 3 and an image processor 4, each camera 3 is arranged at the bottom end of the working frame 1, the camera 3 is used for acquiring the information of the salt core, and the information of the salt core is sent to the PLC after being processed by the image processor 4.
The vision recognition system is also used for recognizing the position of the die and the position of the positioning pin, and the position of the die and the position of the positioning pin are sent to the PLC after being processed by the image processor 4.
A control method of a salt core clamping device comprises
The salt core is clamped above the positioning pin by the mechanical arm, the camera 3 shoots the salt core, the image processor 4 identifies the position of the mounting hole on the salt core, and a reference point is preset;
judging whether the mounting hole on the salt core corresponds to the positioning pin according to the position of the mounting hole on the salt core and a preset datum point;
if the adjustment is needed, the image processor 4 adjusts direction and code value data to the PLC interactive mechanical arm and the driving structure, the mechanical arm moves, the driving structure drives the clamping jaw to rotate, the mounting hole corresponds to the positioning rod, and the clamping jaw is loosened, so that the salt core can be accurately placed;
the clamping jaw is arranged on the working frame, and the working frame 1 is driven to press down through the mechanical arm, so that the pressure plate 2 is driven to press on the salt core, and the final pressing work is completed.
The visual recognition system can judge whether the salt core is damaged according to the picture shot by the camera 3, and if the salt core is damaged, the salt core is replaced in time.
Still be provided with LED lamp 6 on the work frame 1, the control circuit of LED lamp 6 is connected with PLC's output electricity for it provides the illumination to change the salt core.
The salt core replacing and alarming device is characterized in that a buzzer 5 is arranged on the working frame 1, and a control circuit of the buzzer 5 is electrically connected with an output end of the PLC and used for replacing a salt core and giving an alarm.
A robot comprises the salt core clamping and placing device.
Example 2
When including two sets of clamping jaws, be first clamping jaw group 7 and second clamping jaw group 8 respectively, the clamping jaw part's in the clamping jaw in first clamping jaw group 7 length is greater than the clamping jaw part's in the clamping jaw in second clamping jaw group 8 length, touches the locating lever that outside mould supported when can avoiding second clamping jaw group 8 to remove.
Because the locating lever of every mould support of outside inevitablely has certain error, if press from both sides simultaneously and get four salt cores and place together, the error stack causes the salt core to be difficult to aim at, and the error between the locating lever of two mould supports is in acceptable within range, consequently, divide into two sets of salt cores of pressing from both sides in proper order with the cylinder clamping jaw and place.
When the salt core is clamped to the upper part of the positioning rod supported by the external mold by the first clamping jaw group 7, the camera 3 shoots the salt core, the image processor 4 identifies the position of the mounting hole on the salt core, and judges whether the mounting hole on the salt core corresponds to the positioning rod supported by the external mold according to the position of the mounting hole on the salt core and a preset reference point. If the mounting hole on the salt core deviates from the positioning rod supported by the external mold (namely when the adjustment is needed), the image processor 4 adjusts the direction and the code value data to the PLC interactive mechanical arm and the driving structure, the mechanical arm moves, and the driving structure drives the clamping jaw of the air cylinder to rotate, so that the mounting hole on the salt core corresponds to the positioning rod supported by the external mold. And then the clamping jaw of the cylinder is loosened, and the salt core can be accurately placed.
And then the working frame 1 is moved by the mechanical arm, so that the second clamping jaw group 8 clamps two salt cores and places the salt cores on the positioning rods supported by the other two external molds. The length of the clamping jaw part in the cylinder clamping jaw in the first clamping jaw group 7 is larger than that of the clamping jaw part in the cylinder clamping jaw in the second clamping jaw group 8, so that the second clamping jaw group 8 can be prevented from touching an external mold supporting positioning rod when moving. In a similar way, the second clamping jaw set 8 automatically places the two salt cores on the corresponding positioning rods supported by the mold.
And finally, driving the working frame 1 to press down through the mechanical arm so as to drive the pressure plate 2 to press on the salt core, thereby finishing the final pressing work.
After the completion of salt core pressfitting installation, visual identification system still can judge whether the salt core takes place to damage according to the photo that camera 3 was shot, if the salt core takes place to damage, PLC central processing unit control bee calling organ 5 and LED lamp 6 are opened, and bee calling organ 5 sends the sound, LED lamp 6 twinkles and reminds the staff to change the processing.
The automatic salt core placing device can automatically place salt cores, greatly improves the working efficiency, avoids potential safety hazards of scalding workers, and prevents the camera 3 from being damaged by the high temperature of the salt cores.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. The utility model provides a device is put to salt core clamp which characterized in that: comprises a mechanical arm and at least two groups of clamping jaws arranged on the mechanical arm,
wherein the height between each set of adjacent clamping jaws is different, and each set of clamping jaws is used for grabbing the corresponding salt core;
each group of clamping jaws clamp the salt core in sequence for placement, so that error superposition is prevented;
a pushing device (9) is further arranged in each clamping jaw, and the pushing device (9) is used for pushing the salt core grabbed by the clamping jaws into a mold;
the mechanical arm is further provided with a visual recognition system, the visual recognition system is used for recognizing the information of the salt core and feeding the information of the salt core back to the controller, and the information of the salt core comprises the state of the salt core and the position of the mounting hole;
the pushing device (9) comprises a telescopic cylinder and a pressure plate arranged in the middle of the clamping jaw,
the pressure plate is connected to the telescopic cylinder through a connecting rod;
the telescopic cylinder is arranged in the clamping jaw and used for driving the pressure plate to move in the clamping jaw.
2. The salt core clamping device of claim 1, wherein: the salt core clamping and placing device further comprises an electric cylinder arranged on the mechanical arm, and the electric cylinder is used for driving the clamping jaw to grab or release the salt core.
3. The salt core clamping device of claim 1, wherein: the vision recognition system comprises at least one camera (3) and an image processor (4), the clamping jaws are arranged on the working frame, each camera (3) is arranged at the bottom end of the working frame (1), the camera (3) is used for acquiring the information of the salt core, and the information of the salt core is sent to the PLC after being processed by the image processor (4).
4. The salt core clamping device of claim 3, wherein: the vision recognition system is also used for recognizing the position of the die and the position of the positioning pin, and the position of the die and the position of the positioning pin are processed by the image processor (4) and then sent to the PLC.
5. The salt core clamping device of claim 3, wherein: still be provided with LED lamp (6) on work frame (1), the control circuit of LED lamp (6) is connected with PLC's output electricity for it provides the illumination to change the salt core.
6. The salt core clamping device of claim 3, wherein: the salt core replacing and alarming device is characterized in that a buzzer (5) is arranged on the working frame (1), and a control circuit of the buzzer (5) is electrically connected with the output end of the PLC and used for replacing a salt core and giving an alarm.
7. A method of controlling a salt core clamping and releasing device according to any one of claims 1 to 6, characterized in that: comprises that
The salt core is clamped above the positioning pin by the mechanical arm, the camera (3) shoots the salt core, the image processor (4) identifies the position of the mounting hole on the salt core, and a reference point is preset;
judging whether the mounting hole on the salt core corresponds to the positioning pin according to the position of the mounting hole on the salt core and a preset datum point;
if the adjustment is needed, the image processor (4) adjusts direction and code value data to the PLC interactive mechanical arm and the driving structure, the mechanical arm moves, the driving structure drives the clamping jaw to rotate, the mounting hole corresponds to the positioning pin, and the clamping jaw is loosened, so that the salt core can be accurately placed;
the clamping jaw is arranged on the working frame, and the working frame (1) is driven to press down through the mechanical arm, so that the pressure plate (2) is driven to press on the salt core, and the final pressing work is completed.
8. The method of claim 7, wherein the salt core clamping device comprises: the visual recognition system can judge whether the salt core is damaged or not according to the picture shot by the camera (3), and if the salt core is damaged, the salt core is replaced in time.
9. A robot, characterized by: comprising the salt core holding device of any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513869.2A CN113927605B (en) | 2021-12-13 | 2021-12-13 | Salt core clamping device, control method and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513869.2A CN113927605B (en) | 2021-12-13 | 2021-12-13 | Salt core clamping device, control method and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113927605A CN113927605A (en) | 2022-01-14 |
| CN113927605B true CN113927605B (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111513869.2A Active CN113927605B (en) | 2021-12-13 | 2021-12-13 | Salt core clamping device, control method and robot |
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| Country | Link |
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| CN (1) | CN113927605B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017092313A (en) * | 2015-11-12 | 2017-05-25 | 株式会社東芝 | Semiconductor manufacturing equipment |
| KR101865108B1 (en) * | 2016-10-05 | 2018-06-08 | 동양피스톤 주식회사 | Salt-core press fit loader |
| CN207197737U (en) * | 2017-09-18 | 2018-04-06 | 杭州先锋电子技术股份有限公司 | A kind of clamping device for valve tightness detection |
| CN207726322U (en) * | 2018-01-12 | 2018-08-14 | 连云港杰瑞自动化有限公司 | A kind of salt core flexibility of view-based access control model identification picks and places positioning system |
| CN109465439B (en) * | 2018-11-14 | 2020-08-11 | 金华市宝琳工贸有限公司 | Automatic piston casting center |
| CN209599215U (en) * | 2019-01-21 | 2019-11-08 | 东莞市富博特利自动化设备有限公司 | A kind of conveying robot that can be adjusted |
| CN210210435U (en) * | 2019-07-11 | 2020-03-31 | 张瑞 | A positioner for aircraft part frock |
| CN110340300B (en) * | 2019-07-18 | 2020-10-02 | 金华市宝琳工贸有限公司 | Salt core feeding device |
| CN212291893U (en) * | 2020-05-28 | 2021-01-05 | 广州工程技术职业学院 | Dual-purpose clamp |
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2021
- 2021-12-13 CN CN202111513869.2A patent/CN113927605B/en active Active
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| CN113927605A (en) | 2022-01-14 |
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