CN114407028B - Colliery ventilation vertical shaft inspection robot based on rope rail drive technique - Google Patents
Colliery ventilation vertical shaft inspection robot based on rope rail drive technique Download PDFInfo
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- CN114407028B CN114407028B CN202111614878.0A CN202111614878A CN114407028B CN 114407028 B CN114407028 B CN 114407028B CN 202111614878 A CN202111614878 A CN 202111614878A CN 114407028 B CN114407028 B CN 114407028B
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- 238000007689 inspection Methods 0.000 title claims abstract description 53
- 238000009423 ventilation Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title description 4
- 238000010248 power generation Methods 0.000 claims abstract description 32
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 30
- 239000010959 steel Substances 0.000 claims abstract description 30
- 238000009434 installation Methods 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 239000003245 coal Substances 0.000 claims abstract description 11
- 238000005516 engineering process Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
-
- 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
-
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a coal mine ventilation vertical shaft inspection robot based on a rope rail driving technology, which comprises a driving device, an inspection robot and a track, wherein the track is arranged in a shaft along the axial direction of the shaft, the inspection robot is arranged on the track in a sliding manner, the driving device is arranged outside the shaft, a steel rope is wound on the driving device, and the other end of the steel rope penetrates into the shaft and is fixedly connected with the top of the inspection robot; the inspection robot comprises an installation box, a power generation module, a data acquisition module and a data transmission module. According to the invention, the driving device, the steel rope and the inspection robot are arranged, so that the inspection robot can move up and down under the pulling of the steel rope, the inspection requirement on a shaft is met, the inspection is more comprehensive, the safety is improved, and the power generation module is arranged, so that the power generation can be performed when the inspection robot moves up and down, the whole inspection robot is powered, the energy is saved, the environment is protected, and the trouble of wiring is reduced.
Description
Technical Field
The invention relates to the technical field of inspection of a coal mine vertical shaft. In particular to a coal mine ventilation vertical shaft inspection robot based on a rope rail driving technology.
Background
Along with the increasing of the demand of society for coal, the exploitation capability is continuously improved, the exploitation depth is continuously increased, the mine ventilation vertical shaft safety is a key project of mine safety, the mine ventilation vertical shaft space is small, the wind speed is high, the dust concentration is high, the humidity is high, the gas composition is complex, the manual inspection is difficult, and various potential safety hazards exist. Ventilated vertical shafts are a high risk area due to the structural particularities and complexity, and the occurrence of ventilated vertical accidents is often sudden and unpredictable, and once the accident occurs, the consequences are often serious.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to provide the coal mine ventilation vertical inspection robot based on the rope rail driving technology, which can automatically inspect and cover comprehensively.
In order to solve the technical problems, the invention provides the following technical scheme: the coal mine ventilation vertical shaft inspection robot based on the rope rail driving technology comprises a driving device, an inspection robot and a track, wherein the track is arranged in a shaft along the axial direction of the shaft, the inspection robot is arranged on the track in a sliding manner, the driving device is arranged outside the shaft, a steel rope is wound on the driving device, and the other end of the steel rope penetrates into the shaft and is fixedly connected with the top of the inspection robot; the inspection robot comprises an installation box, a power generation module, a data acquisition module and a data transmission module, wherein the installation box is in sliding fit with the track, the power generation module and the data acquisition module are all installed in the installation box, a power input shaft of the power generation module is in driving connection with the side wall of the track, the bottom of the installation box is connected with the data acquisition module through a cradle head, the data acquisition module is in communication connection with the data transmission module, and the power generation module is electrically connected with the data acquisition module.
Above-mentioned colliery ventilation vertical inspection robot based on rope rail drive technique, the top of pit shaft is provided with the leading wheel, wear to have the fixed axle in the centre bore of leading wheel, the fixed axle passes through the support to be fixed the top of pit shaft, the steel cable is walked around the leading wheel.
The coal mine ventilation vertical shaft inspection robot based on the rope rail driving technology comprises two C-shaped groove rails which are parallel and oppositely arranged; the upper parts and the lower parts of the two sides of the mounting box are fixedly connected with directional positioning wheels, and the directional positioning wheels are propped against the inner bottom wall of the C-shaped groove rail; the power generation module comprises a power generator, a roller shaft and a friction power generation driving wheel, the power generator is fixedly arranged on the inner side wall of the mounting box, the axis of the power generator is perpendicular to the length direction of the track, the roller shaft is fixedly connected to the output shaft of the power generator, and the friction power generation driving wheel is fixedly arranged on the roller shaft; one side of installation case is provided with the supporting wheel, the lateral wall overlap joint of supporting wheel is in one on the inside wall of C shape groove rail, the opposite side fixedly connected with C shape support frame of installation case, C shape support frame is detained another on the C shape groove rail, install the pinch roller on the C shape support frame inside wall, the lateral wall of pinch roller compresses tightly another on the lateral wall of C shape groove rail, the roller shaft passes the lateral wall of C shape support frame, just the lateral wall of friction electricity generation drive wheel compresses tightly on the inside wall of C shape groove rail.
The data acquisition module comprises an image acquisition device, a camera and a thermal imager, wherein the camera and the thermal imager are respectively arranged on the image acquisition device and are in communication connection with the image acquisition device; the cradle head comprises a cradle head motor and a cradle head shaft, the cradle head motor is fixedly arranged on the side wall of the installation box along the height direction of the installation box, one end of the cradle head shaft is fixedly connected to the output shaft of the cradle head motor, and the other end of the cradle head shaft is fixedly connected with the top of the image collector.
The coal mine ventilation vertical inspection robot based on the rope rail driving technology comprises a main controller and a wireless communicator, wherein the wireless communicator is in communication connection with the main controller, an environment sensor is arranged at the top of the mounting box, the image collector and the environment sensor are both in communication connection with the main controller, an antenna is in communication connection with the wireless communicator, and the electric energy output end of the generator is electrically connected with the electric energy input end of the image collector; the top of the installation box is fixedly connected with a steel rope connecting ring, and one end part of the steel rope positioned in the shaft is fixedly connected with the steel rope connecting ring.
Above-mentioned colliery ventilation vertical inspection robot based on rope rail drive technique, drive arrangement includes base, driving motor, speed reducer and cylinder, the cylinder rotates and installs on the base, the power take off end of speed reducer with the cylinder transmission is connected, driving motor's power take off end with the power input end transmission of speed reducer is connected, the tip of steel cable is convoluteed on the cylinder.
The technical scheme of the invention has the following beneficial technical effects:
1. according to the invention, by arranging the driving device, the steel rope and the inspection robot, the up-and-down movement of the inspection robot can be realized under the pulling of the steel rope, so that the inspection requirement on a shaft is met, the inspection is more comprehensive, and the safety is improved.
2. According to the invention, the power generation module is arranged, so that power generation can be performed when the inspection robot moves up and down, the whole inspection robot is powered, and the power generation device is energy-saving and environment-friendly, and reduces the trouble of wiring.
3. According to the invention, through the arrangement of the cradle head, the shaft can be circumferentially detected, so that the detection coverage rate is improved.
Drawings
FIG. 1 is a schematic elevational view of the present invention;
FIG. 2 is a schematic perspective view of the inspection robot of the present invention;
The reference numerals in the drawings are as follows: 1-supporting wheels; 2-friction power generation driving wheels; a 3-generator; 4-a main controller; 5-a compression wheel; 6-a roller shaft; 7-a directional positioning wheel; 8-track; 9-an environmental sensor; 10-a tripod head shaft; 11-camera; 12-a thermal imager; 13-an image collector; 14-a wireless communicator; 15-an antenna; 16-a pan-tilt motor; 17-steel rope coupling rings; 18-driving a motor; 19-a speed reducer; 20-roller; 21-steel cord; 22-a fixed shaft; 23-guiding wheels; 24-inspection robot; 25-well bore.
Detailed Description
1-2, The inspection robot for the ventilation vertical shaft of the coal mine based on the rope rail driving technology comprises a driving device, an inspection robot 24 and a track 8, wherein the track 8 is installed in a shaft 25 along the axial direction of the shaft 25, the inspection robot 24 is slidably arranged on the track 8, the driving device is arranged outside the shaft 25, a steel rope 21 is wound on the driving device, and the other end of the steel rope 21 penetrates into the shaft 25 and is fixedly connected with the top of the inspection robot 24; the inspection robot 24 comprises an installation box, a power generation module, a data acquisition module and a data transmission module, wherein the installation box is in sliding fit with the track 8, the power generation module and the data acquisition module are both installed in the installation box, a power input shaft of the power generation module is in driving connection with the side wall of the track 8, the bottom of the installation box is connected with the data acquisition module through a cradle head, the data acquisition module is in communication connection with the data transmission module, and the power generation module is electrically connected with the data acquisition module; the data acquisition module comprises an image acquisition device 13, a camera 11 and a thermal imager 12, wherein the camera 11 and the thermal imager 12 are respectively arranged on the image acquisition device 13 and are in communication connection with the image acquisition device 13; the cradle head comprises a cradle head motor 16 and a cradle head shaft 10, the cradle head motor 16 is fixedly arranged on the side wall of the installation box along the height direction of the installation box, one end of the cradle head shaft 10 is fixedly connected to an output shaft of the cradle head motor 16, the other end of the cradle head shaft 10 is fixedly connected with the top of the image collector 13, and through the arrangement of the cradle head, the well bore 25 can be circumferentially detected, so that the coverage rate of detection is improved; the data transmission module comprises a main controller 4 and a wireless communicator 14, the wireless communicator 14 is in communication connection with the main controller 4, an environment sensor 9 is arranged at the top of the mounting box, the image collector 13 and the environment sensor 9 are both in communication connection with the main controller 4, an antenna 15 is in communication connection with the wireless communicator 14, and the electric energy output end of the generator 3 is electrically connected with the electric energy input end of the image collector 13; the top of the installation box is fixedly connected with a steel rope coupling ring 17, and one end part of the steel rope 21 positioned in the shaft 25 is fixedly connected with the steel rope coupling ring 17; the driving device comprises a base, a driving motor 18, a speed reducer 19 and a roller 20, wherein the roller 20 is rotatably arranged on the base, the power output end of the speed reducer 19 is in transmission connection with the roller 20, the power output end of the driving motor 18 is in transmission connection with the power input end of the speed reducer 19, and the end part of the steel rope 21 is wound on the roller 20.
As shown in fig. 1, a guide wheel 23 is disposed above the shaft 25, a fixed shaft 22 is inserted into a central hole of the guide wheel 23, the fixed shaft 22 is fixed above the shaft 25 by a bracket, and the steel rope 21 bypasses the guide wheel 23.
As shown in fig. 2, the track 8 comprises two C-shaped groove tracks which are parallel to each other and are arranged opposite to each other; the upper parts and the lower parts of the two sides of the mounting box are fixedly connected with directional positioning wheels 7, and the directional positioning wheels 7 are propped against the inner bottom wall of the C-shaped groove rail; the power generation module comprises a power generator 3, a roller shaft 6 and a friction power generation driving wheel 2, wherein the power generator 3 is fixedly arranged on the inner side wall of the mounting box, the axis of the power generator 3 is perpendicular to the length direction of the track 8, the roller shaft 6 is fixedly connected to the output shaft of the power generator 3, and the friction power generation driving wheel 2 is fixedly arranged on the roller shaft 6; one side of installation case is provided with supporting wheel 1, the lateral wall overlap joint of supporting wheel 1 is in one on the inside wall of C-shaped groove rail, the opposite side fixedly connected with C-shaped support frame of installation case, the C-shaped support frame is detained on another C-shaped groove rail, install pinch roller 5 on the C-shaped support frame inside wall, pinch roller 5's lateral wall compresses tightly another on the lateral wall of C-shaped groove rail, roller shaft 6 passes the lateral wall of C-shaped support frame, just friction electricity generation drive wheel 2's lateral wall compresses tightly on the inside wall of C-shaped groove rail, through setting up power generation module, can carry out the electricity generation when inspection robot 24 up-and-down motion to supply power to whole inspection robot 24, energy-concerving and environment-protective and reduced the trouble of wiring.
Working principle: the driving motor 18 drives the speed reducer 19 to move, the speed reducer 19 drives the roller 20 to rotate, the winding and unwinding of the steel rope 21 are realized, the up-and-down movement of the inspection robot 24 is controlled, and the inspection requirement of the pit shaft 25 is met;
When the inspection robot 24 moves up and down, the friction power generation driving wheel 2 is tightly attached to the track 8 so as to rotate, and the friction power generation driving wheel 2 drives the generator 3 to rotate through the roller shaft 6 after rotating so as to generate power, in actual use, a corresponding voltage stabilizer and a battery are arranged in the image collector 13 and are connected with the output end of the generator 3, so that electric energy is stored, and the whole inspection robot 24 is powered by utilizing the electric energy in the battery; the wireless communicator 14 is in communication connection with a console on the ground so as to transmit and receive the collected data, and meanwhile, the console can be used for sending out instructions to control the inspection robot 24 to act; the cradle head motor 16 can drive the image collector 13 to rotate through the cradle head shaft 10, so that the camera 11 and the thermal imager 12 are driven to rotate to different angles, the well wall is inspected, the image collector 13 transmits collected data to the main controller 4 and to the control console through the wireless communicator 14, and the environment sensor 9 can inspect parameters such as wind speed, methane gas and the like of the environment in the well and transmit the parameters to the main controller 4.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While the obvious variations or modifications which are extended therefrom remain within the scope of the claims of this patent application.
Claims (3)
1. The coal mine ventilation vertical inspection robot based on the rope rail driving technology is characterized by comprising a driving device, an inspection robot (24) and a track (8), wherein the track (8) is arranged in a shaft (25) along the axial direction of the shaft (25), the inspection robot (24) is arranged on the track (8) in a sliding manner, the driving device is arranged outside the shaft (25), a steel rope (21) is wound on the driving device, and the other end of the steel rope (21) penetrates into the shaft (25) and is fixedly connected with the top of the inspection robot (24); the inspection robot (24) comprises an installation box, a power generation module, a data acquisition module and a data transmission module, wherein the installation box is in sliding fit with the track (8), the power generation module and the data acquisition module are both installed in the installation box, a power input shaft of the power generation module is in driving connection with the side wall of the track (8), the bottom of the installation box is connected with the data acquisition module through a holder, the data acquisition module is in communication connection with the data transmission module, and the power generation module is electrically connected with the data acquisition module; a guide wheel (23) is arranged above the shaft (25), a fixed shaft (22) penetrates through a central hole of the guide wheel (23), the fixed shaft (22) is fixed above the shaft (25) through a bracket, and the steel rope (21) bypasses the guide wheel (23); the track (8) comprises two C-shaped groove tracks which are parallel to each other and are oppositely arranged; the upper parts and the lower parts of the two sides of the mounting box are fixedly connected with directional positioning wheels (7), and the directional positioning wheels (7) are propped against the inner bottom wall of the C-shaped groove rail; the power generation module comprises a power generator (3), a roller shaft (6) and a friction power generation driving wheel (2), wherein the power generator (3) is fixedly arranged on the inner side wall of the mounting box, the axis of the power generator (3) is perpendicular to the length direction of the track (8), the roller shaft (6) is fixedly connected to the output shaft of the power generator (3), and the friction power generation driving wheel (2) is fixedly arranged on the roller shaft (6); one side of the installation box is provided with a supporting wheel (1), the side wall of the supporting wheel (1) is lapped on the inner side wall of one C-shaped groove rail, the other side of the installation box is fixedly connected with a C-shaped supporting frame, the C-shaped supporting frame is buckled on the other C-shaped groove rail, the inner side wall of the C-shaped supporting frame is provided with a compression wheel (5), and the side wall of the compression wheel (5) is compressed on the outer side wall of the other C-shaped groove rail; the roller shaft (6) penetrates through the side wall of the C-shaped supporting frame, and the side wall of the friction power generation driving wheel (2) is pressed on the inner side wall of the C-shaped groove rail; the driving device comprises a base, a driving motor (18), a speed reducer (19) and a roller (20), wherein the roller (20) is rotatably installed on the base, the power output end of the speed reducer (19) is in transmission connection with the roller (20), the power output end of the driving motor (18) is in transmission connection with the power input end of the speed reducer (19), and the end part of the steel rope (21) is wound on the roller (20).
2. The rope-rail-drive-technology-based coal mine ventilation vertical inspection robot according to claim 1, wherein the data acquisition module comprises an image acquisition device (13), a camera (11) and a thermal imager (12), and the camera (11) and the thermal imager (12) are respectively installed on the image acquisition device (13) and are in communication connection with the image acquisition device (13); the cradle head comprises a cradle head motor (16) and a cradle head shaft (10), the cradle head motor (16) is fixedly arranged on the side wall of the installation box along the height direction of the installation box, one end of the cradle head shaft (10) is fixedly connected with the output shaft of the cradle head motor (16), and the other end of the cradle head shaft (10) is fixedly connected with the top of the image collector (13).
3. The mine ventilation vertical inspection robot based on the rope rail driving technology according to claim 2, wherein the data transmission module comprises a main controller (4) and a wireless communicator (14), the wireless communicator (14) is in communication connection with the main controller (4), an environment sensor (9) is arranged at the top of the mounting box, the image collector (13) and the environment sensor (9) are both in communication connection with the main controller (4), an antenna (15) is in communication connection with the wireless communicator (14), and the electric energy output end of the generator (3) is electrically connected with the electric energy input end of the image collector (13); the top of the installation box is fixedly connected with a steel rope connecting ring (17), and one end part of the steel rope (21) positioned in the shaft (25) is fixedly connected with the steel rope connecting ring (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111614878.0A CN114407028B (en) | 2021-12-27 | 2021-12-27 | Colliery ventilation vertical shaft inspection robot based on rope rail drive technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111614878.0A CN114407028B (en) | 2021-12-27 | 2021-12-27 | Colliery ventilation vertical shaft inspection robot based on rope rail drive technique |
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| Publication Number | Publication Date |
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| CN114407028A CN114407028A (en) | 2022-04-29 |
| CN114407028B true CN114407028B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111614878.0A Active CN114407028B (en) | 2021-12-27 | 2021-12-27 | Colliery ventilation vertical shaft inspection robot based on rope rail drive technique |
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| CN117301020A (en) * | 2023-11-29 | 2023-12-29 | 中煤科工集团沈阳研究院有限公司 | Gas-electricity combined coal mine robot and use method thereof |
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| CN112924463A (en) * | 2021-01-26 | 2021-06-08 | 中国矿业大学 | Coal mine shaft inspection device and laser scanning defect detection method |
| CN214924452U (en) * | 2021-02-23 | 2021-11-30 | 西安博深安全科技股份有限公司 | Combined track inspection robot system adopting external traction and internal storage battery power supply |
| CN215240828U (en) * | 2021-04-27 | 2021-12-21 | 湖南千盟工业智能系统股份有限公司 | Intelligent inspection robot |
-
2021
- 2021-12-27 CN CN202111614878.0A patent/CN114407028B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201520313U (en) * | 2009-11-23 | 2010-07-07 | 石家庄煤矿机械有限责任公司 | Mining rope traction crane electric control device |
| CN109534215A (en) * | 2018-12-12 | 2019-03-29 | 燕山大学 | A kind of suspension type hoistway Work robot |
| CN112239115A (en) * | 2019-07-16 | 2021-01-19 | 通力股份公司 | Method and device for installing elevator guide rails into elevator shaft |
| CN110370303A (en) * | 2019-08-27 | 2019-10-25 | 中信重工开诚智能装备有限公司 | A kind of steel wire rope pull crusing robot system using self-generating device |
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| CN114407028A (en) | 2022-04-29 |
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