CN114486065A - Calibration testing device of programmable two-degree-of-freedom universal flexible pressure sensor - Google Patents
Calibration testing device of programmable two-degree-of-freedom universal flexible pressure sensor Download PDFInfo
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- CN114486065A CN114486065A CN202210108696.4A CN202210108696A CN114486065A CN 114486065 A CN114486065 A CN 114486065A CN 202210108696 A CN202210108696 A CN 202210108696A CN 114486065 A CN114486065 A CN 114486065A
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- 238000012360 testing method Methods 0.000 title claims abstract description 33
- 238000005303 weighing Methods 0.000 claims abstract description 65
- 238000013459 approach Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 238000003491 array Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000009864 tensile test Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000010339 medical test Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
- G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
Abstract
The invention provides a calibration testing device of a programmable two-degree-of-freedom universal flexible pressure sensor, which comprises: the device comprises a first moving mechanism, a second moving mechanism, a pressure head component and a weighing component; the weighing part is used for bearing the flexible pressure sensor and comprises a weighing sensor for collecting pressure signals; the second moving mechanism is connected between the first moving mechanism and the pressure head part, the first moving mechanism can drive the pressure head part to approach to and press down the flexible pressure sensor on the weighing part, and the second moving mechanism can be used for adjustably driving the pressure head part to move in parallel in two degrees of freedom relative to the weighing part; the pressure head component comprises a plurality of independent supporting columns which are arranged in an array mode, and the supporting columns can independently and adjustably extend out towards the weighing component to press the flexible pressure sensors on the weighing component. By applying the technical scheme, the universal quick calibration testing device applicable to the flexible sensors and flexible sensor arrays with different sizes can be provided, and the testing functions of changing the sizes of the sensors, changing the number of the sensors and calibrating in situ can be realized.
Description
Technical Field
The invention relates to the technical field of flexible sensor calibration, in particular to a calibration testing device of a programmable two-degree-of-freedom universal flexible pressure sensor.
Background
Flexible pressure sensors have been widely used in medical testing, robotics, wearable electronics, and other fields. The flexible pressure sensor may be classified into a piezoresistive type, a capacitive type, and a piezoelectric type according to the signal output type of the sensor. The calibration and test of the flexible pressure sensor refers to that the output signals and the loading pressure of the pressure sensor in the working state are simultaneously acquired, and the signals are processed to obtain performance indexes such as sensitivity, measuring range, linearity and the like of the sensor. At present, a commonly used pressure sensor calibration device generally adopts a universal tensile testing machine, a tension and compression sensor for acquiring a pressure signal is fixedly connected with a testing machine movement mechanism to realize up-and-down movement, and meanwhile, a specific clamp needs to be machined and a pressure loading module needs to be installed on the tension and compression sensor.
The universal tensile testing machine is bulky, resulting in poor mobility. In addition, because the specific clamp and the pressure loading module are only suitable for calibrating a specific size and a single sensor, the calibration test requirements of other sizes and an entire sensor array formed by a plurality of sensors cannot be met, and the calibration efficiency is low and the universality is not high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a universal quick calibration testing device which is suitable for flexible sensors and flexible sensor arrays with different sizes, so that the testing functions of changing the size of the sensors, changing the number of the sensors and calibrating in situ can be realized.
In order to solve the technical problem, the invention provides a calibration test device of a programmable two-degree-of-freedom universal flexible pressure sensor, which comprises: the device comprises a first moving mechanism, a second moving mechanism, a pressure head component and a weighing component; the weighing component is used for bearing the flexible pressure sensor and comprises a weighing sensor for collecting pressure signals; the second moving mechanism is connected between the first moving mechanism and the pressure head part, the first moving mechanism can drive the pressure head part to approach to and press down the flexible pressure sensor on the weighing part, and the second moving mechanism can be used for adjustably driving the pressure head part to move in parallel in two degrees of freedom relative to the weighing part; the pressure head component comprises a plurality of independent supporting columns which are arranged in an array mode, and the supporting columns can independently and adjustably extend out towards the weighing component to press the flexible pressure sensors on the weighing component.
In a better embodiment, the device further comprises a base and a supporting seat; the supporting seat is connected with the base, and the weighing part is arranged on the base; the first moving mechanism is connected with the supporting seat and the base to drive the pressure head component to move along the vertical direction to be close to the weighing component.
In a preferred embodiment, the ram assembly is programmable to control individual movement of the support posts to achieve a customized alignment of the support posts.
In a better embodiment, the second moving mechanism comprises a pressure head fixing piece, a first connecting piece and a second connecting piece; the pressure head fixing piece comprises a hole part, the first connecting piece comprises a first shaft part and a first hole part, and the second connecting piece comprises a second shaft part; the pressure head fixing piece is fixedly connected with the first moving mechanism; the first connecting piece is respectively and rotatably connected with the pressure head fixing piece and the second connecting piece; and the rotating axes of the first connecting piece and the second connecting piece are perpendicular to the weighing component.
In a better embodiment, the upper end of the hole part of the pressure head fixing piece is provided with a first limiting block; the upper end of the first shaft part of the first connecting piece is provided with a first spacing limiting surface; the first limiting block of the hole part of the pressure head fixing piece is matched with the first spacing limiting face of the first shaft part of the first connecting piece, the first connecting piece rotates relative to the pressure head fixing piece to drive the first spacing limiting face to abut against the first limiting block, and the control of the range of the rotating angle of the first connecting piece is achieved.
In a better embodiment, a second limiting block is arranged at the lower end of the first hole part of the first connecting piece; the lower end of the second shaft part of the second connecting piece is provided with a second spacing limiting surface; the second spacing limiting block of the first hole part of the first connecting piece is matched with the second spacing limiting face of the second shaft part of the second connecting piece, the second connecting piece rotates relative to the first connecting piece to drive the second spacing limiting face to abut against the second spacing limiting block, and the control of the range of the rotating angle of the second connecting piece is realized.
In a more preferred embodiment, the load cell structure is one of a parallel beam, spoke, S-shaped; the weighing sensor outputs a pressure signal, and the connection mode of the weighing sensor and an external computer is wired serial communication.
In a preferred embodiment, the flexible pressure sensor is one of a flexible piezoresistive pressure sensor unit, a flexible piezoresistive pressure sensor array, a flexible piezoelectric pressure sensor unit, and a flexible piezoelectric pressure sensor array.
In a preferred embodiment, the output signal of the flexible pressure sensor is one of a resistance value, a capacitance value and a current value; the output signal of the flexible pressure sensor is connected with an external computer in a wired or wireless mode, wherein the wireless connection is one of WIFI connection and Bluetooth connection, the wireless connection is communicated with the external computer through a virtual serial port, and the wired connection is serial port communication.
In a preferred embodiment, the pressure head component can move along the direction perpendicular to the weighing component and press down one or more units in the flexible pressure sensor so that the weighing sensor and the flexible pressure sensor respectively output corresponding electric signals.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
a calibration testing device of a programmable two-degree-of-freedom universal flexible pressure sensor comprises: the device comprises a first moving mechanism, a second moving mechanism, a pressure head component and a weighing component; the weighing part is used for bearing the flexible pressure sensor and comprises a weighing sensor for collecting pressure signals; the second moving mechanism is connected between the first moving mechanism and the pressure head part, the first moving mechanism can drive the pressure head part to approach to and press down the flexible pressure sensor on the weighing part, and the second moving mechanism can be used for adjustably driving the pressure head part to move in parallel in two degrees of freedom relative to the weighing part; the pressure head component comprises a plurality of independent supporting columns arranged in an array, and the supporting columns can independently and adjustably extend towards the weighing component so as to be capable of pressing down the flexible pressure sensor on the weighing component. The pressure head part can adjust the supporting columns which need to be extended out according to actual requirements, so that the supporting columns correspond to one or more units of the flexible pressure sensor; the pressure head component has wide universality, and in addition, the pressure head component can be close to and drive the supporting column to press down on the flexible pressure sensor by combining with the first moving mechanism; the second moving mechanism is combined to enable the pressure head component to move in parallel relative to the weighing component, the second moving mechanism enables the pressure head component to have two degrees of freedom relative to the weighing component, and adjustment is more convenient.
Drawings
FIG. 1 is a schematic perspective view of a calibration test apparatus according to a preferred embodiment of the present invention;
FIG. 2 is a perspective view of the connection of the second moving mechanism and the ram assembly in a preferred embodiment of the present invention;
FIG. 3 is an exploded perspective view of the connection of the second moving mechanism and the ram assembly in a preferred embodiment of the invention;
figures 4-5 show the multiple array of support posts in the preferred embodiment of the invention in an extended form.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Referring to fig. 1 to 5, a calibration testing apparatus for a programmable two-degree-of-freedom universal flexible pressure sensor includes: the device comprises a first moving mechanism 1, a second moving mechanism 2, a pressure head component 3 and a weighing component 4; the weighing part 4 is used for receiving the flexible pressure sensor, and the weighing part 4 comprises a weighing sensor 41 which can collect pressure signals; the second moving mechanism 2 is connected between the first moving mechanism 1 and the pressure head part 3, the first moving mechanism 1 can drive the pressure head part 3 to be close to and press the flexible pressure sensor on the weighing part 4, and the second moving mechanism 2 can adjustably drive the pressure head part 3 to move in parallel with two degrees of freedom relative to the weighing part 4; wherein the pressure head component 3 comprises a plurality of independent supporting columns 31 arranged in an array, and the supporting columns 31 can independently and adjustably extend towards the weighing component 4 so as to press down the flexible pressure sensors on the weighing component 4.
The pressure head part 3 can adjust the supporting columns 31 required to be extended according to actual requirements, so that the supporting columns correspond to one or more units of the flexible pressure sensor; the pressure head component 3 has wide universality, and in addition, the pressure head component 3 can be close to and drive the supporting column 31 to press down on the flexible pressure sensor by combining with the first moving mechanism 1; the second moving mechanism 2 is combined to enable the pressure head component 3 to move in parallel relative to the weighing component 4, the second moving mechanism 2 can enable the pressure head component 3 to have two degrees of freedom relative to the weighing component 4, and adjustment is more convenient.
In this embodiment, the ram assembly is programmable to control individual movement of the individual support posts to achieve a custom array arrangement of support posts. In this embodiment, each support column is controlled by a separate motor or cylinder, each motor or cylinder is connected to a human-computer interaction device (e.g., a mobile phone, a computer, or a tablet), and the extension length of each support column is controlled by a human program to realize the custom arrangement of the support columns.
The calibration test device also comprises a base 5 and a supporting seat 6; the supporting seat 6 is connected with the base 5, and the weighing component 4 is arranged on the base 5; the first moving mechanism 1 is connected with the supporting seat 6 and the base 5, and the first moving mechanism 1 drives the pressure head part 3 to be close to the weighing part 4 along the vertical direction. The first moving mechanism 1 comprises a screw rod module 12, and the second moving mechanism 2 comprises a pressure head fixing piece 20; the screw rod module 12 is linked with the pressure head fixing part 20; the second moving mechanism 2 is connected between the pressure head fixing piece 20 and the pressure head component 3.
Specifically, the pressure head fixing piece 20 is fixedly connected with the screw rod module 12, and the screw rod module 12 can refer to the prior art as long as the pressure head fixing piece 20 can be driven to move.
The ram fixing member 20 includes a hole portion 111, the first connecting member 21 includes a first shaft portion 211 and a first hole portion 212, and the second connecting member 22 includes a second shaft portion 32; the pressure head fixing piece 20 is fixedly connected with the first moving mechanism 1; the first connecting piece 21 is respectively and rotatably connected with the pressure head fixing piece 20 and the second connecting piece 22; wherein the axes of rotation of the first and second links 21, 22 are both perpendicular to the weighing element 4. A first limiting block 24 is arranged at the upper end of the hole part 111 of the pressure head fixing piece 20; the upper end of the first shaft part 211 of the first connecting piece 21 is provided with a first spacing limiting surface 23; the first limiting block 24 of the hole portion 111 of the indenter fixing member 20 is matched with the first spacing limiting surface 23 of the first shaft portion 211 of the first connecting member 21, and the first connecting member 21 rotates relative to the indenter fixing member 20 to drive the first spacing limiting surface 23 to abut against the first limiting block 24, so that the rotation angle range control of the first connecting member 21 is realized.
The lower end of the first hole part 212 of the first connecting piece 21 is provided with a second limiting block 25; the lower end of the second shaft part 32 of the second connecting piece 22 is provided with a second spacing limiting surface 26; the second limiting block 25 of the first hole portion 212 of the first connecting member 21 is matched with the second spacing limiting surface 26 of the second shaft portion 32 of the second connecting member 22, and the second connecting member 22 rotates relative to the first connecting member 21 to drive the second spacing limiting surface 26 to abut against the second limiting block 25, so that the rotation angle range of the second connecting member 22 is controlled. Specifically, the rotation angle of the first connecting piece 21 relative to the pressure head fixing piece 20 is (-90 degrees to 90 degrees), and the rotation angle of the second connecting piece 22 relative to the first connection is (-70 degrees to 70 degrees).
In the present embodiment, the ram member 3 includes a main body 33 and the supporting pillars 31, the supporting pillars 31 are independently movable up and down, and the supporting pillars 31 can be adjusted to achieve the 2 × 2 array loading, 2 × 3 array loading, and tilted surface loading states, as shown in fig. 4 and 5. The 2 x 2 array loading state is applicable to a 2 x 2 array sensor; the 2 x 3 array loading state is applicable to a 2 x 3 array sensor; the inclined plane loading state can be suitable for in-situ calibration when the flexible pressure sensor is installed on the inclined plane. Of course, the custom state is not limited to the above method, and is applicable to the present invention as long as the loading state can be realized by the movement of the supporting column 31.
The weighing sensor 41 is in one of a parallel beam, a spoke type and an S type; the weighing sensor 41 outputs a pressure signal, and the connection mode between the weighing sensor 41 and an external computer is wired serial communication. The weighing part 4 comprises an upper cover plate 42, a lower cover plate 43 and the weighing sensor 41 positioned between the upper cover plate 42 and the lower cover plate 43, wherein the upper cover plate 42 is used for receiving the flexible pressure sensor.
The flexible pressure sensor is one of a flexible piezoresistive pressure sensor unit, a flexible piezoresistive pressure sensor array, a flexible pressure-capacitance pressure sensor unit, a flexible pressure-capacitance pressure sensor array, a flexible piezoelectric pressure sensor unit and a flexible piezoelectric pressure sensor array. The output signal of the flexible pressure sensor is one of a resistance value, a capacitance value and a current value; the output signal of the flexible pressure sensor is connected with an external computer in a wired or wireless mode, wherein the wireless connection is one of WIFI connection and Bluetooth connection, the wireless connection is communicated with the external computer through a virtual serial port, and the wired connection is serial port communication. The wired connection is that the sensor is firstly connected with an MCU (micro control unit), and then the MCU is communicated with an external computer through a serial port. The MCU may be an Arduino, 51 SCM or STM 32. Of course, the MCU is not limited to the above method, and any micro control unit capable of implementing the same function may be applied to the present invention.
In this embodiment, the pressure head component 3 can move along the direction perpendicular to the weighing component 4 and press down one or more units in the flexible pressure sensor to make the weighing sensor 41 and the flexible pressure sensor output corresponding electric signals respectively.
The pressure head component 3 can be controlled by the first moving mechanism 1 to realize two motion modes: unidirectional mode, bidirectional mode. The pressing minimum distance in the unidirectional mode is 0.01mm, and the speed is 0.05 mm/s; in a single mode, the calibration test of the sensitivity, the measuring range and the linearity of the flexible pressure sensor can be realized. The bidirectional mode can be used for carrying out cyclic reciprocating loading and unloading tests, and can realize the cyclic stability and hysteresis calibration tests of the flexible pressure sensor. Of course, the motion mode is not limited to the above method, and the flexible pressure sensor calibration test can be realized, and the method is applicable to the invention.
In addition, the calibration test device can also be used for testing a loading state in a crosstalk mode. The pressure head component 3 firstly presses down and loads the flexible pressure sensor to be tested until the flexible pressure sensor is in a stable state, and then moves the supporting column 31 near the loading area to press down and load the supporting column to the surface of the sensor, so that the crosstalk calibration test of the sensor array is realized.
The above description is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any person skilled in the art can make insubstantial changes in the technical scope of the present invention within the technical scope of the present invention, and the actions infringe the protection scope of the present invention are included in the present invention.
Claims (10)
1. A calibration testing device of a programmable two-degree-of-freedom universal flexible pressure sensor is characterized by comprising: the device comprises a first moving mechanism, a second moving mechanism, a pressure head part and a weighing part; the weighing part is used for bearing the flexible pressure sensor and comprises a weighing sensor for collecting pressure signals; the second moving mechanism is connected between the first moving mechanism and the pressure head part, the first moving mechanism can drive the pressure head part to approach to and press down the flexible pressure sensor on the weighing part, and the second moving mechanism can drive the pressure head part to move in parallel relative to the weighing part in two degrees of freedom in an adjustable manner; the pressure head component comprises a plurality of independent supporting columns which are arranged in an array mode, and the supporting columns can independently and adjustably extend out towards the weighing component to press the flexible pressure sensors on the weighing component.
2. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 1, wherein: the device also comprises a base and a supporting seat; the supporting seat is connected with the base, and the weighing part is arranged on the base; the first moving mechanism is connected with the supporting seat and the base to drive the pressure head component to move along the vertical direction to be close to the weighing component.
3. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 1, wherein: the ram assembly programmably controls individual movement of the support posts to achieve a custom arrangement of support posts.
4. A calibration and test device for programmable two-degree-of-freedom universal flexible pressure sensor according to claim 1, 2 or 3, characterized in that: the second moving mechanism comprises a pressure head fixing piece, a first connecting piece and a second connecting piece; the pressure head fixing piece comprises a hole part, the first connecting piece comprises a first shaft part and a first hole part, and the second connecting piece comprises a second shaft part; the pressure head fixing piece is fixedly connected with the first moving mechanism; the first connecting piece is respectively and rotatably connected with the pressure head fixing piece and the second connecting piece; and the rotating axes of the first connecting piece and the second connecting piece are perpendicular to the weighing component.
5. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 4, wherein: the upper end of the hole part of the pressure head fixing piece is provided with a first limiting block; the upper end of the first shaft part of the first connecting piece is provided with a first spacing limiting surface; the first limiting block of the hole part of the pressure head fixing piece is matched with the first spacing limiting face of the first shaft part of the first connecting piece, the first connecting piece rotates relative to the pressure head fixing piece to drive the first spacing limiting face to abut against the first limiting block, and the control of the range of the rotating angle of the first connecting piece is achieved.
6. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 4, wherein: a second limiting block is arranged at the lower end of the first hole part of the first connecting piece; the lower end of the second shaft part of the second connecting piece is provided with a second spacing limiting surface; the second spacing limiting block of the first hole part of the first connecting piece is matched with the second spacing limiting face of the second shaft part of the second connecting piece, the second connecting piece rotates relative to the first connecting piece to drive the second spacing limiting face to abut against the second spacing limiting block, and the control of the range of the rotating angle of the second connecting piece is realized.
7. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 1, wherein: the weighing sensor structure is one of a parallel beam, a spoke type and an S type; the weighing sensor outputs a pressure signal, and the connection mode of the weighing sensor and an external computer is wired serial communication.
8. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 1, wherein: the flexible pressure sensor is one of a flexible piezoresistive pressure sensor unit, a flexible piezoresistive pressure sensor array, a flexible pressure-capacitance pressure sensor unit, a flexible pressure-capacitance pressure sensor array, a flexible piezoelectric pressure sensor unit and a flexible piezoelectric pressure sensor array.
9. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 1, wherein: the output signal of the flexible pressure sensor is one of a resistance value, a capacitance value and a current value; the output signal of the flexible pressure sensor is connected with an external computer in a wired or wireless mode, wherein the wireless connection is one of WIFI connection and Bluetooth connection, the wireless connection is communicated with the external computer through a virtual serial port, and the wired connection is serial port communication.
10. The calibration testing device of the programmable two-degree-of-freedom universal flexible pressure sensor as claimed in claim 1, wherein: the pressure head component can move along the direction vertical to the weighing component and press down one or more units in the flexible pressure sensor so that the weighing sensor and the flexible pressure sensor respectively output corresponding electric signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108696.4A CN114486065B (en) | 2022-01-28 | Calibration testing device of general flexible pressure sensor with two degrees of freedom capable of programming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108696.4A CN114486065B (en) | 2022-01-28 | Calibration testing device of general flexible pressure sensor with two degrees of freedom capable of programming |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114486065A true CN114486065A (en) | 2022-05-13 |
| CN114486065B CN114486065B (en) | 2024-05-17 |
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