CN114442554A - Control system and method for turntable machining system - Google Patents
Control system and method for turntable machining system Download PDFInfo
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- CN114442554A CN114442554A CN202210133899.9A CN202210133899A CN114442554A CN 114442554 A CN114442554 A CN 114442554A CN 202210133899 A CN202210133899 A CN 202210133899A CN 114442554 A CN114442554 A CN 114442554A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000003754 machining Methods 0.000 title claims description 14
- 238000012545 processing Methods 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 27
- 238000004140 cleaning Methods 0.000 claims description 21
- 238000005553 drilling Methods 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 18
- 238000005498 polishing Methods 0.000 claims description 18
- 239000002994 raw material Substances 0.000 claims description 14
- 238000007599 discharging Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012217 deletion Methods 0.000 description 2
- 230000037430 deletion Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 238000003745 diagnosis Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
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- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Abstract
The application provides a control system and method for a turntable processing system. The control system for a rotary table processing system includes: a station control device; the rotary table control device is used for controlling the indexing rotary table to receive and reset the station completion flag bit generated by the station control device before positioning is executed, and controlling the indexing rotary table to execute indexing positioning; the station control device is used for resetting the turntable positioning completion mark after receiving the turntable positioning completion mark bit generated by the turntable control device before executing the process, controlling the corresponding station components to work, and setting the corresponding station completion mark bit after each station component works. By adopting the control system for the turntable processing system, the modules are mutually independent and work coordinately, and the purpose of stepping the process flow of each module is achieved.
Description
Technical Field
The application relates to the technical field of machining control, in particular to a control system and method for a turntable machining system.
Background
With the increasingly powerful performance of the PLC, distributed control systems are widely used. The large-scale production line adopts the modularization and the multi-station design, higher requirements are provided for a control system, the object-oriented programming idea is not a substitute term of a high-level language of a computer any more, the speed of software iterative compilation of various large PLC brand manufacturers and the supporting force for a structured text language are changed on the aspect of a control algorithm according to the requirements. In the PLC development language (IEC61131-3), other languages besides structured text appear less flexible in describing the algorithm. Aiming at the process control of the multi-station equipment, a good algorithm can enable the process description to be clearer, construct a flexible framework, and facilitate diagnosis, debugging and later maintenance work.
The prior art is realized by adopting state words, shift registers or sequential function diagrams and other modes, and the modes have the problems that the flow description is not flexible enough, debugging codes are not visual enough, and particularly, a program designer is not on the spot, and a system is abnormal and cannot position a program quickly.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present application provides a control system for a turntable machining system.
This application first aspect provides a control system for carousel system of processing, carousel system of processing includes two at least station subassemblies and is used for the rotatory graduation carousel of control station, control system for carousel system of processing includes:
the number of the station control devices is the same as that of the stations, and one station control device is used for controlling one station assembly;
a turntable control device for controlling the index turntable; wherein the content of the first and second substances,
the rotary table control device is used for controlling the indexing rotary table to receive the station completion zone bits generated by each station control device before positioning is executed, resetting the station completion zone bits, controlling the indexing rotary table to execute indexing positioning, and setting a rotary table positioning completion mark by the rotary table control device after the indexing positioning is finished;
each station control device is used for resetting the turntable positioning completion mark after receiving the turntable positioning completion mark bit generated by the turntable control device before executing the process, and controlling the corresponding station assembly to work, and setting the corresponding station completion mark bit after each station assembly works.
Optionally, the station control apparatus includes:
the station detection resetting module is used for detecting and resetting the positioning completion zone bit of the turntable;
the equipment control module is used for sending a control command to the station assembly after the station detection resetting module detects the positioning completion flag bit of the turntable so as to enable the station assembly to work;
and the station setting module is used for setting a station completion flag bit after the station execution completes the current process, so that the turntable control device is informed that the station is in a standby state through the station completion flag bit.
Optionally, the dial control device comprises:
the rotary table detection reset module is used for respectively detecting the station completion zone bits and resetting the station completion zone bits;
the rotary disc control module is used for controlling the operation of the indexing rotary disc after the rotary disc detection reset module acquires the station completion zone bits;
and the turntable setting module is used for setting each positioning completion zone bit after the turntable completes positioning, and informing each station to execute respective flow through the positioning completion zone bit.
Optionally, the station assembly comprises a drilling station comprising a drill bit means;
the appliance control module includes:
the drill bit control module is used for controlling the drill bit to rotate and extend out;
and the drilling displacement control module is used for controlling the drill bit to extend into the specified depth of the drilled hole.
Optionally, the station assembly further comprises:
the device comprises a raw material leading-in station, a cleaning and polishing station and a part discharging station.
The application also provides a control method for the turntable machining system, which comprises the following steps:
after each station control device detects the positioning completion mark from the turntable control device, the station control device controls the corresponding station component to work, and after the station component works, the corresponding station completion mark bit is set;
when the turntable control device detects that each station finishes the zone bit, the indexing turntable is controlled to work, and each positioning finishing zone bit is respectively set after the turntable finishes positioning; wherein, a location completion flag bit is correspondingly used for a station control device to detect.
Optionally, the control method for a turntable processing system further includes:
after the indexing turntable works, each station control device respectively detects a positioning completion zone bit set by the indexing turntable which needs to be checked;
and when each station control device detects that the indexing turntable which needs to be detected is positioned to complete the zone bit, the corresponding station components are respectively controlled to work.
The application also provides a turntable control device, which is as above.
The application also provides a station control device, the station control device is as above.
The application also provides a carousel system of processing, carousel system of processing includes as above the control system for carousel system of processing.
This application has following advantage:
1. by adopting the control system for the turntable processing system, all modules (all station assemblies and the indexing turntable) are mutually independent and work coordinately, and the purpose of stepping the process flow of each module is achieved.
2. The whole method is clear and simple in description and has no interference with each other.
3. The addition and deletion process flow is more convenient, only new modules are added, and the number of internal addresses is not increased;
4. the debugging is simple and convenient, and the position of the abnormal position can be quickly positioned when a certain module goes wrong;
5. the problems are very convenient to remotely troubleshoot, and only field personnel are required to provide variable values;
6. the project debugging period is obviously shortened.
Drawings
Fig. 1 is a flowchart of a preferred embodiment of the control system for a rotary disk processing system of the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.
The control system for a rotary disc processing system as shown in fig. 1 comprises at least two station assemblies and an indexing rotary disc for controlling the rotation of the stations.
The control system for the turntable machining system comprises station control devices 1 and turntable control devices 2, wherein the number of the station control devices is the same as that of the stations, and one station control device is used for controlling one station assembly; the rotary table control device is used for controlling the indexing rotary table; wherein the content of the first and second substances,
the rotary table control device is used for controlling the indexing rotary table to receive the station completion zone bits generated by each station control device before positioning is executed, resetting the station completion zone bits, controlling the indexing rotary table to execute indexing positioning, and setting a rotary table positioning completion mark by the rotary table control device after the indexing positioning is finished;
each station control device is used for resetting the turntable positioning completion mark after receiving the turntable positioning completion mark bit generated by the turntable control device before executing the process, and controlling the corresponding station assembly to work, and setting the corresponding station completion mark bit after each station assembly works.
This application has following advantage:
1. by adopting the control system for the turntable processing system, all modules (all station assemblies and the indexing turntable) are mutually independent and work coordinately, and the purpose of stepping the process flow of each module is achieved.
2. The whole method is clear and simple in description and has no interference with each other.
3. The addition and deletion process flow is more convenient, only new modules are added, and the number of internal addresses is not increased;
4. the debugging is simple and convenient, and the position of the abnormal position can be quickly positioned when a certain module goes wrong;
5. the problems are very convenient to remotely troubleshoot, and only field personnel are required to provide variable values;
6. the project debugging period is obviously shortened.
With the apparatus of the present application, even very complex control logic can be described by a variable of int type. For example, when a logical framework is written in the early stage, pre-allocation can be performed according to the actual process flow, and a specific value range is reserved for the subsequent detailed implementation. Meanwhile, if a process step is required to be shielded, the corresponding value range is directly skipped. If the value range is layered, the whole logic architecture can be conveniently planned.
In the debugging process, the flag bit is a very critical and important variable, and if the flag bit is not very critical, the program is interrupted, and if the flag bit is not very critical, the machine components are damaged, and even the personal safety is endangered. For example, in sequence control, a code is executed mostly in a flow skipping manner, and if a flag bit variable is set before the flag bit variable is set, and the previous variable is not reset, two flow steps can be executed simultaneously, which is obviously incorrect. This problem is avoided if the assignment is implemented, and it is not possible to assign one variable to two different values at the same time. The flow steps are equivalent to an interlocking mechanism.
The program step where the current flow is located can be known by obtaining the value of the variable, which brings great convenience to debugging and after-sale and intuitively locates the problem. Because all system exception handling is pre-designed during programming, the situation of neglect is inevitable, and if the system running in the client field has no related exception before sudden occurrence, the equipment is interrupted. At the moment, the problem can be remotely and quickly positioned and processed only by telling the corresponding variable value of the system designer through a telephone by field workers.
In this embodiment, the station control device comprises a station detection reset module, an appliance control module and a station setting module, wherein,
the station detection reset module is used for detecting and resetting the positioning completion zone bit of the turntable;
the appliance control module is used for sending a control command to the station assembly after the station detection resetting module detects the turntable positioning completion flag bit so as to enable the station assembly to work;
the station setting module is used for setting a station completion flag bit after the station execution completes the current process, so that the turntable control device is informed that the station is in a standby state through the station completion flag bit.
In this embodiment, the turntable control device comprises a turntable detecting and resetting module, a turntable control module and a turntable setting module, wherein,
the turntable detection reset module is used for respectively detecting the station completion flag bit and resetting the station completion flag bit;
the rotary disc control module is used for controlling the indexing rotary disc to operate after the rotary disc detection reset module acquires the station completion zone bits;
the turntable setting module is used for setting each positioning completion zone bit after the turntable completes positioning, and informing each station to execute respective flow through the positioning completion zone bit.
In this embodiment, the station assembly comprises a drilling station comprising a drill bit means;
in this embodiment, the apparatus control module in the station control device for controlling the drilling processing station includes a drill bit control module and a drilling displacement control module, and the drill bit control module is configured to control the drill bit to rotate and extend out after the station detection module detects the positioning completion flag bit of the turntable; and the drilling displacement control module is used for controlling the drill bit to extend into the specified depth of the drilled hole.
In this embodiment, the station assembly of the present application further includes: the device comprises a raw material leading-in station, a drilling processing station, a cleaning and polishing station and a part discharging station.
In this embodiment, the material introduction station comprises a material introduction machine.
In this embodiment, the apparatus control module in the station control device for controlling the raw material introduction station includes a raw material feeding module, and the raw material feeding module is configured to control the operation of the raw material introduction machine after the station detection module detects the index bit for completing the positioning of the turntable, so as to operate the introduction device of the raw material introduction machine, so as to clamp and/or feed the raw material.
In this embodiment, the cleaning and polishing station includes a cleaning and polishing machine.
In this embodiment, an appliance control module in the station control device for controlling the cleaning and polishing station includes a cleaning and polishing control module, the cleaning and polishing control module is configured to control the cleaning and polishing machine to operate after the station detection module detects the turntable positioning completion flag, the cleaning and polishing machine is configured to receive a cleaning and polishing station permission signal, then position the tool to perform a polishing process, leave the polishing mechanism, extend the ion cleaning head, start surface cleaning, retract the cleaning head after cleaning, return the positioning tool to the original point, and then set a cleaning and polishing completion flag (i.e., the station completion flag) through the station resetting module.
In this embodiment, the part ejection station comprises a part gripper.
In this embodiment, an utensil control module among the station control device for controlling part ejection of compact station includes that the part snatchs control module, the part snatchs control module and is used for controlling the part after station detection module detects carousel location completion flag bit and snatchs quick-witted work, after the part snatchs the quick-witted part ejection of compact admission signal of receipt, the arm X axle location of snatching of part snatchs the machine is got the material point of getting, the Z axle descends, the clamping jaw is got, the Z axle rises, the X axle location is to placing the point, the Z axle descends, the clamping jaw loosens, the Z axle returns the standby point, then reset module setting part ejection of compact through the station and accomplish the sign (namely station completion flag bit).
The application also provides a control method for the turntable machining system, which comprises the following steps:
step 1: after each station control device detects the positioning completion mark from the turntable control device, the station control device controls the corresponding station component to work, and after the station component works, the corresponding station completion mark bit is set;
step 2: when the turntable control device detects that each station finishes the zone bit, the indexing turntable is controlled to work, and each positioning finishing zone bit is respectively set after the turntable finishes positioning; wherein, a location completion flag bit is correspondingly used for a station control device to detect.
In this embodiment, the control method for a turntable machining system further includes:
after the indexing turntable works, each station control device respectively detects a positioning completion zone bit set by the indexing turntable which needs to be checked;
and when each station control device detects that the indexing turntable which needs to be detected is positioned to complete the zone bit, the corresponding station components are respectively controlled to work.
In this embodiment, the station assembly comprises a raw material introducing station, a drilling processing station, a cleaning and polishing station and a part discharging station.
The present application is described in further detail below by way of examples, it being understood that this example is not to be construed as a further limitation of the present application.
A4-station part processing device is supposed to be arranged, a 4-index rotary table (driven by a cam indexer or a servo motor) is arranged in the middle, raw material introduction, drilling processing, cleaning and polishing and part discharging are respectively carried out on four stations, and the four stations are arranged around the rotary table in an equally-divided and step-by-step manner.
The main flow pseudo code is described as follows:
m00: completing initialization of each station;
m01: positioning by an indexing turntable;
m02: confirming the positioning completion of the indexing turntable;
m03: starting a raw material introducing station;
starting a drilling machining station;
starting a cleaning and polishing station;
starting a part discharging station;
m04: the raw material is led into a station to complete confirmation;
confirming completion of a drilling machining station;
the cleaning and polishing station is finished and confirmed;
confirming the part discharging station;
m05: the main flow returns to S01;
the machine can be structurally divided into 5 independent modules, namely an indexing turntable, a raw material introducing station, a drilling processing station, a cleaning and polishing station and a part discharging station, wherein all the modules work in a coordinated manner. Similarly, in the process control, 5 variables are allocated to the above 5 modules respectively, each variable is independent to each other, and each variable is assigned to achieve the purpose of stepping the process flow of each module, and 65535 states are sufficient to describe the process details in daily production (if the process is complicated, DINT type variables can be allocated, which is not generally suggested, the complicated process flow is generally continuously divided into relatively simple modules to realize). The process flow details can be described by the state of a variable, and are circularly executed, and the whole system can work orderly only by the cooperation of the interface flag bits and the time sequence among all the modules.
Here, the details of the implementation of the two modules (indexing table, drilling) are explained, and the pseudo-code is as follows:
indexing the rotary table:
s00: initializing the indexing turntable;
s01: checking a drilling processing station completion flag bit;
s02: triggering an indexing turntable operation command;
s03: detecting the operation of the indexing turntable;
s04: the indexing turntable positioning completion mark is set;
s05: returning to S01.
Drilling:
s00: completing the initialization of drilling;
s01: checking the index turntable positioning completion zone bit;
s02: the drill bit rotates and extends out;
s03: the drill hole reaches the designated displacement;
s04: the drill bit is retracted and stopped;
s05: setting a drilling machining station completion mark;
s06: returning to S01.
Assume that the above two modules respectively allocate variables as: index, Drill, convert to code as follows:
CASE Index OF
10: checking a drilling processing station completion flag bit;
index ═ 20; // flow jump to the next step
20: triggering an indexing turntable operation command;
Index:＝25；
25: detecting the operation of the indexing turntable;
Index:＝30；
30: the indexing turntable positioning completion mark is set;
index ═ 10; v/flow Return
END_CASE；
CASE Drill OF
10: checking the index turntable positioning completion zone bit;
drill ═ 20; // flow jump to the next step
20: the drill bit rotates and extends to trigger;
Drill:＝25；
25: detecting that the drill hole reaches a specified displacement;
Drill:＝30；
30: bit retract and stop command trigger;
Drill:＝35；
35: detecting that the drill bit reaches an initial position;
Drill:＝40；
40: setting an index turntable positioning completion mark;
drill ═ 10; v/flow Return
END_CASE；
From the above example it can be seen that:
1. by adopting the algorithm, the pseudo code can be easily and directly coded, and the process flow is clearly described;
2. if the process needs to be added or deleted, only a numerical comparison statement needs to be added (planning is carried out in advance, the action step is marked by the whole 10 numerical value, and the feedback detection step is marked by the whole 5 numerical value);
3. the debugging is convenient, for example, if a certain process step needs to be temporarily shielded, the corresponding numerical value can be directly skipped, and even the whole module is shielded;
4. the numerical value interval can be divided, and special processing is realized. Such as:
10-9999: describing a process flow;
10000-19999: initializing a process;
20000-29999: interrupt processing is carried out;
5. and rapidly positioning the abnormity. Such as: the flow is interrupted when the execution of a certain step is finished, and the problem can be searched through the numerical value, so that the problem is rapidly checked. Even if the programmer is not on site, the problem can be quickly diagnosed only by numerical values on a human-computer interface.
6. Assuming that a station is required to be added to equipment on a certain day, only a variable needs to be newly established, a telescopic program is quickly established, and the program only needs to be slightly changed;
the process design shows the encapsulation performance from a certain surface and hides the implementation details of the process, the process flow of modifying a certain module cannot influence other modules, and problems are also locked in the module.
According to the method, through a Switch statement in a computer language, a variable (maximum representation 65535) of an int type is established, the numerical value of the variable is classified and changed, and the execution effect of a stepping instruction is achieved, so that sequential flow control can be well performed, and the method is particularly suitable for description of modularization of a physical mechanical structure. With the programming idea, any PLC can work at present, and the move command can be supported by all models.
The application also provides a turntable control device, which is as above.
The application also provides a station control device, the station control device is as above.
The application also provides a carousel system of processing, carousel system of processing includes as above the control system for carousel system of processing.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A control system for a rotary disc processing system, the rotary disc processing system including at least two station assemblies and an indexing rotary disc for controlling station rotation, the control system comprising:
the number of the station control devices is the same as that of the stations, and one station control device is used for controlling one station assembly;
a turntable control device for controlling the index turntable; wherein the content of the first and second substances,
the rotary table control device is used for controlling the indexing rotary table to receive the station completion zone bits generated by each station control device before positioning is executed, resetting the station completion zone bits, controlling the indexing rotary table to execute indexing positioning, and setting a rotary table positioning completion mark by the rotary table control device after the indexing positioning is finished;
each station control device is used for resetting the turntable positioning completion mark after receiving the turntable positioning completion mark bit generated by the turntable control device before executing the process, and controlling the corresponding station assembly to work, and setting the corresponding station completion mark bit after each station assembly works.
2. The control system for a rotary disc machining system according to claim 1, wherein said station control means includes:
the station detection resetting module is used for detecting and resetting the positioning completion zone bit of the turntable;
the equipment control module is used for sending a control command to the station assembly after the station detection resetting module detects the positioning completion flag bit of the turntable so as to enable the station assembly to work;
and the station setting module is used for setting a station completion flag bit after the station execution completes the current process, so that the turntable control device is informed that the station is in a standby state through the station completion flag bit.
3. The control system for a rotary disc processing system according to claim 2, wherein said rotary disc control means comprises:
the rotary table detection reset module is used for respectively detecting the station completion zone bits and resetting the station completion zone bits;
the rotary disc control module is used for controlling the operation of the indexing rotary disc after the rotary disc detection reset module acquires the station completion zone bits;
and the turntable setting module is used for setting each positioning completion zone bit after the turntable completes positioning, and informing each station to execute respective flow through the positioning completion zone bit.
4. The control system for a rotary disc processing system of claim 3, wherein the station assembly includes a drilling station including a drill bit means;
the appliance control module includes:
the drill bit control module is used for controlling the drill bit to rotate and extend out;
and the drilling displacement control module is used for controlling the drill bit to extend into the specified depth of the drilled hole.
5. The control system for a rotary disc machining system according to any one of claims 1 to 4, wherein the station assembly further comprises:
the device comprises a raw material leading-in station, a cleaning and polishing station and a part discharging station.
6. A control method for a rotary disk processing system, characterized by comprising:
after each station control device detects the positioning completion mark from the turntable control device, the station control device controls the corresponding station component to work, and after the station component works, the corresponding station completion mark bit is set;
when the turntable control device detects that each station finishes the zone bit, the indexing turntable is controlled to work, and each positioning finishing zone bit is respectively set after the turntable finishes positioning; wherein, a location completion flag bit is correspondingly used for a station control device to detect.
7. The control method for a rotary disc processing system according to claim 6, wherein the control method for a rotary disc processing system further comprises:
after the indexing turntable works, each station control device respectively detects a positioning completion zone bit set by the indexing turntable which needs to be checked;
and when each station control device detects that the indexing turntable which needs to be detected is positioned to complete the zone bit, the corresponding station components are respectively controlled to work.
8. A turntable control device, characterized in that the turntable control device is a turntable control device according to any one of claims 1 to 5.
9. A station control apparatus, characterized in that the station control apparatus is the station control apparatus according to any one of claims 1 to 5.
10. A rotary disc processing system, characterized in that it comprises a control system for a rotary disc processing system according to any one of claims 1 to 5.
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2022
- 2022-02-14 CN CN202210133899.9A patent/CN114442554A/en active Pending
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