CN114523238B - Centering and positioning device for tubular pile inner wall welding equipment - Google Patents
Centering and positioning device for tubular pile inner wall welding equipment Download PDFInfo
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- CN114523238B CN114523238B CN202210263905.2A CN202210263905A CN114523238B CN 114523238 B CN114523238 B CN 114523238B CN 202210263905 A CN202210263905 A CN 202210263905A CN 114523238 B CN114523238 B CN 114523238B
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- 238000003466 welding Methods 0.000 title claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 230000008901 benefit Effects 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Piles And Underground Anchors (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention provides a centering and positioning device for pipe pile inner wall welding equipment, which comprises the following components: profiling counterpoint mechanism includes: a connecting rod, a profiling alignment block and a linear bearing; the connecting rods are integrally connected in a cross shape; the profiling alignment block is positioned on the side surface of the connecting rod; the linear bearing is positioned at the joint of the connecting rod and penetrates through the connecting rod along the thickness; positioning mechanism includes: the device comprises an L-shaped mounting frame, a bearing and a switch type magnetic seat; the L-shaped mounting frame is positioned at one side of the connecting rod, which is far away from the profiling alignment block, and is integrally connected in a cross shape; the bearing is positioned at the joint of the L-shaped mounting frame and corresponds to the linear bearing; the switch type magnetic seat is positioned at the free end of the L-shaped mounting frame and is positioned at the outer side of the connecting rod; and the connecting shaft is inserted into the linear bearing and the bearing. The centering and positioning device of the pipe pile inner wall welding equipment can realize centering and positioning of the pipe pile and the welding device in the pipe pile, does not need to enter the pipe pile inner wall welding operation manually, and can weld the pipe pile by adopting a welding robot.
Description
Technical Field
The invention relates to the field of mechanical technology and welding, in particular to a centering and positioning device for pipe pile inner wall welding equipment.
Background
The pipe pile manufacturing length is limited by the mould, when the pipe pile with longer requirement is needed, two pipe piles are required to be welded into a whole, when the outer circular seam welding of two pipe piles is completed, workers need to enter the inner wall of the pipe pile to carry out circular seam welding at the joint, the workers are relatively difficult to enter the inner wall of the large-diameter pipe pile, when the inner wall of the pipe pile with the diameter smaller than 800mm is required to be welded, the operation is extremely difficult due to space problems, therefore, the welding robot in the pipe pile is required to realize circular seam welding of the inner wall of the pipe pile, the welding robot is required to realize the welding of the transverse pipe pile, a plurality of problems need to be solved, firstly, the welding robot in the inner wall of the pipe pile is required to realize centering positioning aiming at the axle center of the pipe pile end plate, and at present, a centering positioning device which can not realize centering positioning is required to weld the inner wall of the pipe pile by using the welding robot.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a centering and positioning device of pipe pile inner wall welding equipment, which is used for solving the problems in the prior art.
To achieve the above and other related objects, the present invention provides a centering and positioning device for a pipe pile inner wall welding apparatus, comprising:
Profiling counterpoint mechanism includes: a connecting rod, a profiling alignment block and a linear bearing; the connecting rods are integrally connected in a cross shape; the profiling alignment block is positioned on the side surface of the connecting rod; the linear bearing is positioned at the joint of the connecting rod and penetrates through the connecting rod along the thickness;
positioning mechanism includes: the device comprises an L-shaped mounting frame, a bearing and a switch type magnetic seat; the L-shaped mounting frame is positioned at one side of the connecting rod, which is far away from the profiling alignment block, and is integrally connected in a cross shape; the bearing is positioned at the joint of the L-shaped mounting frame, penetrates through the L-shaped mounting frame along the thickness and is arranged corresponding to the linear bearing; the switch type magnetic seat is positioned at the free end of the L-shaped mounting frame and is positioned at the outer side of the connecting rod;
And the connecting shaft is inserted into the linear bearing and the bearing so as to connect the profiling alignment mechanism and the positioning mechanism.
Optionally, the device further comprises a thrust ring, wherein the thrust ring is sleeved on the periphery of the connecting shaft and is positioned on one side of the positioning mechanism away from the profiling alignment mechanism.
Optionally, the device further comprises an elastic device, wherein the elastic device is sleeved on the periphery of the connecting shaft and is positioned between the connecting rod and the L-shaped mounting frame.
Optionally, the profiling alignment mechanism further comprises a guide shaft, and the guide shaft is positioned on the side surface of the connecting rod, which is far away from the bionic alignment block; the positioning mechanism further comprises a guide sleeve, wherein the guide sleeve is positioned on the side face of the L-shaped mounting frame, which faces the connecting rod, and is arranged corresponding to the guide shaft, and is sleeved on the periphery of the guide shaft.
Optionally, the device further comprises an operating handle, wherein the operating handle is positioned on one side of the positioning mechanism away from the profiling alignment mechanism and is connected with the connecting shaft.
Optionally, the quick-mounting pipe clamp is positioned in the pipe pile and is positioned at one side of the profiling alignment mechanism away from the positioning mechanism, and is connected with the connecting shaft.
As described above, the centering and positioning device for the pipe pile inner wall welding equipment has the following beneficial effects: the centering and positioning device of the pipe pile inner wall welding equipment can realize centering and positioning of the pipe pile and the welding device in the pipe pile, does not need to enter the pipe pile inner wall welding operation manually, and can weld the pipe pile by adopting a welding robot; according to the centering and positioning device for the pipe pile inner wall welding equipment, only one worker is needed to assist in the operation outside the pipe pile in the centering and positioning process, so that the labor cost is greatly saved, and the centering and positioning of the pipe pile inner wall welding equipment can be completed; the centering and positioning device has the advantages of small volume, light weight, easy operation, good effect and high benefit.
Drawings
Fig. 1 is a schematic perspective view of a centering and positioning device for a pipe pile inner wall welding device, which is arranged on a pipe pile end plate.
Fig. 2 is a schematic perspective view of a profiling alignment mechanism in the alignment positioning device for the pipe pile inner wall welding equipment.
Fig. 3 is a schematic perspective view of a positioning mechanism in a centering and positioning device for a pipe pile inner wall welding device.
Fig. 4 is a schematic perspective view of a contour alignment mechanism and a positioning mechanism in the alignment positioning device for the pipe pile inner wall welding equipment, which are connected through a connecting shaft.
Description of the reference numerals:
1. The device comprises a profiling alignment mechanism 2, a connecting shaft, 3, a spring device, 4, a thrust ring, 5, a positioning mechanism, 6, a quick-assembly pipe clamp, 7, a profiling alignment block, 8, a connecting rod, 9, a linear bearing, 10, a switch type magnetic seat, 11, an L-shaped mounting frame, 12, a bearing, 13, an operating handle, 14, a guide shaft, 15 and a guide sleeve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
The manufacturing length of the pipe pile is limited by a die, when a pipe pile with a longer requirement is needed, two pipe piles are required to be welded into a whole, when the outer circular seam welding of two pipe piles is completed, workers are required to enter the inner wall of the pipe pile to carry out circular seam welding at the joint, and for the pipe pile with a smaller diameter, the workers are difficult to enter the inner wall of the pipe pile to carry out welding operation; at present, a centering positioning device capable of realizing centering positioning is not available, and a welding machine robot cannot be used for welding the inner wall of the tubular pile.
Example 1
Referring to fig. 1 to 4, the present invention provides a centering and positioning device for a pipe pile inner wall welding apparatus, the centering and positioning device for a pipe pile inner wall welding apparatus comprising: the profiling alignment mechanism 1, the profiling alignment mechanism 1 includes: a connecting rod 8, a profiling alignment block 7 and a linear bearing 9; the connecting rod 8 is integrally connected in a cross shape; the profiling alignment block 7 is positioned on the side surface of the connecting rod 8; the linear bearing 9 is positioned at the joint of the connecting rod 8 and penetrates through the connecting rod 8 along the thickness; a positioning mechanism 5, the positioning mechanism 5 comprising: an L-shaped mounting frame 11, a bearing 12 and a switch type magnetic seat 10; the L-shaped mounting frame 11 is positioned at one side of the connecting rod 8, which is far away from the profiling alignment block 7, and is integrally connected in a cross shape; the bearing 12 is located at the junction of the L-shaped mounting frame 11, penetrates through the L-shaped mounting frame 11 along the thickness, and is arranged corresponding to the linear bearing 9; the switch type magnetic seat 10 is positioned at the free end of the L-shaped mounting frame 11 and is positioned at the outer side of the connecting rod 8; and a connecting shaft 2, wherein the connecting shaft 2 is inserted into the linear bearing 9 and the bearing 12 to connect the profiling alignment mechanism 1 and the positioning mechanism 5.
The centering and positioning device of the pipe pile inner wall welding equipment can realize centering and positioning of the pipe pile and the welding device in the pipe pile, does not need to enter the pipe pile inner wall welding operation manually, and can weld the pipe pile by adopting a welding robot; according to the centering and positioning device for the pipe pile inner wall welding equipment, only one worker is needed to assist in the operation outside the pipe pile in the centering and positioning process, so that the labor cost is greatly saved, and the centering and positioning of the pipe pile inner wall welding equipment can be completed; the centering and positioning device has the advantages of small volume, light weight, easy operation, good effect and high benefit.
Specifically, in this embodiment, the number of the profiling alignment blocks 7 may be set according to actual needs, and in this embodiment, the number of the square alignment blocks 7 is taken as four as an example, but in other examples, the number of the profiling alignment blocks 7 is not limited thereto.
Furthermore, the connecting rod 8 is connected into a cross structure, the profiling alignment blocks 7 are respectively installed at the end parts of the connecting rod 8, namely, the profiling alignment blocks 7 are uniformly distributed in the circumferential direction, and the linear bearing 9 can be installed at the central hole part of the cross structure formed by connecting the connecting rod 8.
In particular, the switch-type magnetic base 10 may be a magnetic iron controlled by a knob switch.
In this embodiment, the number of the L-shaped mounting frames 11 may be four, the four L-shaped mounting frames 11 may be welded into a whole in a cross structure, the number of the switch-type magnetic seats 10 may be four, the four switch-type magnetic seats 10 are respectively mounted at the end portions of the L-shaped mounting frames 11, and the bearing 12 is mounted at the central portion of the positioning mechanism 5.
In addition, in this embodiment, an integral L-shaped mounting frame 11 is used, so that the whole positioning mechanism 5 is vertically positioned with the tubular pile end plate when the switch type magnetic base 10 attracts the end surface of the tubular pile end plate.
Specifically, when the profiling alignment block 7 of the profiling alignment mechanism 1 is tightly attached to the groove of the tubular pile end plate, and the switch magnetic base 10 of the positioning mechanism 5 is used for sucking the end surface of the tubular pile end plate, the axis of the whole centering positioning device is aligned with the axis of the tubular pile end plate.
As an example, the end of the profiling alignment block 7 away from the junction of the connecting rod 8 is flush with the free end of the connecting rod.
In an example, the profiling alignment mechanism 1 is configured to attach the entire profiling alignment mechanism 1 to the groove of the pipe pile end plate by using a profiling alignment block 7, the profiling alignment mechanism 1 is configured to uniformly distribute the profiling alignment blocks 7 in a circumferential direction in a cross structure, the profiling alignment blocks 7 are connected on the same plane, and when the profiling alignment block 7 of the profiling alignment mechanism 1 is attached to the groove of the pipe pile end plate, the center of the profiling alignment mechanism 1 is equivalent to be aligned with the axis of the pipe pile end plate, so as to prevent improper operation: when the profiling alignment mechanism 1 is inclined in the vertical direction, that is, the axis is inaccurate when the profiling alignment block 7 is not completely attached to the groove of the end plate, therefore, the profiling alignment mechanism 1 and the positioning mechanism 5 are connected into a whole by adopting the connecting shaft 2, and when the switch type magnetic base 10 on the positioning mechanism 5 is attached to the plane of the end plate of the pipe pile, the profiling alignment block 7 of the profiling alignment mechanism 1 is attached to the groove of the end plate of the pipe pile, the whole axis of the centering positioning device is aligned with the axis of the end plate of the whole pipe pile.
Example two
With continued reference to fig. 1 to 4, in this embodiment, a centering and positioning device for a pipe pile inner wall welding apparatus is further provided, and in this embodiment, the centering and positioning device for a pipe pile inner wall welding apparatus further includes the following structure as compared with the centering and positioning device for a pipe pile inner wall welding apparatus in the first embodiment.
As an example, the centering and positioning device for the pipe pile inner wall welding device further comprises a thrust ring 4, wherein the thrust ring 4 is sleeved on the periphery of the connecting shaft 2 and is positioned on one side of the positioning mechanism 5 away from the profiling alignment mechanism 1.
As an example, the centering and positioning device for the pipe pile inner wall welding device further comprises an elastic device 3, wherein the elastic device 3 is sleeved on the periphery of the connecting shaft 2 and is positioned between the connecting rod 8 and the L-shaped mounting frame 11.
In particular, the elastic means 3 may comprise, but are not limited to, springs.
In an example, the profiling alignment mechanism 1 is connected with the positioning mechanism 5 through the connecting shaft 2 and the elastic device 3, and the profiling alignment mechanism 1 can move back and forth along the axial direction within the range of the front thrust ring 4 and the rear thrust ring 4.
Specifically, the spring device 3 is installed between the profiling alignment mechanism 1 and the positioning mechanism 5, so that when the profiling alignment block 7 of the profiling alignment mechanism 1 is aligned to the pipe pile groove, errors such as the pipe pile end plate or the groove can be prevented from causing that the switch-type magnetic seat 10 of the positioning mechanism 5 cannot be absorbed onto the end surface of the pipe pile end plate.
As an example, the profiling alignment mechanism 1 further includes a guide shaft 14, and the guide shaft 14 is located on a side surface of the connecting rod 8 away from the bionic alignment block 7; the positioning mechanism 5 further comprises a guide sleeve 15, wherein the guide sleeve 15 is positioned on the side surface of the L-shaped mounting frame 11, which faces the connecting rod 8, and is arranged corresponding to the guide shaft 14, and is sleeved on the periphery of the guide shaft 14.
Specifically, the profiling alignment mechanism 1 is matched with the connecting shaft 2 through the linear bearing 9, the whole profiling alignment mechanism 1 can radially rotate 360 degrees on the connecting shaft 2, and meanwhile, the guide shaft 14 on the profiling alignment mechanism 1 is matched with the guide sleeve 15 on the positioning mechanism 5, so that coaxial back and forth movement of the profiling alignment mechanism 1 and the positioning mechanism 5 in the axial direction is further ensured.
As an example, the centering and positioning device for the pipe pile inner wall welding equipment further comprises an operating handle 13, wherein the operating handle 13 is positioned on one side of the positioning mechanism 5 away from the profiling alignment mechanism 1 and is connected with the connecting shaft 2.
Specifically, the connecting shaft 2 is provided with an operating handle 13, when the centering and positioning operation is performed, the operating handle 13 is lifted by one hand, the whole device is aligned to the pipe pile end plate, when the profiling alignment mechanism 1 is aligned to the pipe pile end plate, the profiling alignment mechanism 1 is used for aligning the axis of the pipe pile end plate, the four profiling alignment blocks 7 are used for guiding the whole device in a centering manner, the guide shaft 14 on the profiling alignment mechanism 1 is matched with the guide sleeve 15 on the positioning mechanism 5 in a coaxial guiding manner, so that the two mechanisms are coaxial in the axial direction, and the switch type magnetic seat 10 on the positioning mechanism 5 is used for sucking the pipe pile end plate, so that the whole device is fixed, and at the moment, the internal welding equipment is used for completing the operable fixation in the centering of the pipe pile inner cavity.
As an example, the centering positioning device for the pipe pile inner wall welding device further comprises a quick pipe clamp 6, wherein the quick pipe clamp 6 is positioned in the pipe pile and is positioned at one side of the profiling alignment mechanism 1 away from the positioning mechanism 5, and is connected with the connecting shaft 2.
Specifically, when the axis of the centering positioning device is aligned with the axis of the pipe pile end plate, the switch magnetic seat 10 attracts the pipe pile end plate to fix the centering positioning device, the fixing device connected with the central shaft of the centering positioning device through the quick-assembly pipe clamp 6 can be operated to fix the inner wall of the pipe pile, after the fixing device is fixed, the quick-assembly pipe clamp 6 can be loosened, the switch magnetic seat 10 is disconnected through a knob to remove the whole centering positioning device, and at the moment, the centering and positioning of the inner welding equipment are completed.
In the invention, the profiling alignment mechanism 1 is matched with the positioning mechanism 5 to realize the alignment, so that the embodiment of the invention is realized, and other purposes such as other round tubes and cylinder alignment are all alternatives and are all within the protection scope of the invention.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. A centering and positioning device for a tubular pile inner wall welding apparatus, comprising:
Profiling counterpoint mechanism includes: a connecting rod, a profiling alignment block and a linear bearing; the connecting rods are integrally connected in a cross shape; the profiling alignment block is positioned on the side surface of the connecting rod; the linear bearing is positioned at the joint of the connecting rod and penetrates through the connecting rod along the thickness;
The profiling alignment mechanism is characterized in that the profiling alignment blocks are adopted to tightly attach the whole profiling alignment mechanism to a groove of a pipe pile end plate, the profiling alignment mechanism is also uniformly distributed in the circumferential direction in a cross structure mode, the profiling alignment blocks are connected on the same plane, and the center of the profiling alignment mechanism is aligned with the axis of the pipe pile end plate;
positioning mechanism includes: the device comprises an L-shaped mounting frame, a bearing and a switch type magnetic seat; the L-shaped mounting frame is positioned at one side of the connecting rod, which is far away from the profiling alignment block, and is integrally connected in a cross shape; the bearing is positioned at the joint of the L-shaped mounting frame, penetrates through the L-shaped mounting frame along the thickness and is arranged corresponding to the linear bearing; the switch type magnetic seat is positioned at the free end of the L-shaped mounting frame and is positioned at the outer side of the connecting rod; the switch type magnetic seat is used for sucking the end face of the pipe pile end plate so that the whole positioning mechanism and the pipe pile end plate are vertically positioned;
And the connecting shaft is inserted into the linear bearing and the bearing so as to connect the profiling alignment mechanism and the positioning mechanism, and the profiling alignment mechanism and the positioning mechanism are coaxial.
2. The centering and positioning device for a tubular pile inner wall welding apparatus according to claim 1, wherein: the anti-slip device also comprises a thrust ring, wherein the thrust ring is sleeved on the periphery of the connecting shaft and is positioned on one side of the positioning mechanism away from the profiling alignment mechanism.
3. The centering and positioning device for a tubular pile inner wall welding apparatus according to claim 1, wherein: the connecting shaft is sleeved with the connecting rod, and the connecting shaft is connected with the L-shaped mounting frame through the connecting rod.
4. The centering and positioning device for a tubular pile inner wall welding apparatus according to claim 1, wherein: the profiling alignment mechanism further comprises a guide shaft, and the guide shaft is positioned on the side surface of the connecting rod, which is far away from the profiling alignment block; the positioning mechanism further comprises a guide sleeve, wherein the guide sleeve is positioned on the side face of the L-shaped mounting frame, which faces the connecting rod, and is arranged corresponding to the guide shaft, and is sleeved on the periphery of the guide shaft.
5. The centering and positioning device for a tubular pile inner wall welding apparatus according to claim 1, wherein: the copying mechanism further comprises an operating handle which is positioned on one side, far away from the copying aligning mechanism, of the positioning mechanism and is connected with the connecting shaft.
6. A centering and locating device for a pipe pile inner wall welding apparatus as claimed in any one of claims 1 to 5, wherein: the quick pipe clamp is positioned in the pipe pile, and is positioned at one side of the profiling alignment mechanism, which is far away from the positioning mechanism, and is connected with the connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263905.2A CN114523238B (en) | 2022-03-15 | 2022-03-15 | Centering and positioning device for tubular pile inner wall welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263905.2A CN114523238B (en) | 2022-03-15 | 2022-03-15 | Centering and positioning device for tubular pile inner wall welding equipment |
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| CN114523238A CN114523238A (en) | 2022-05-24 |
| CN114523238B true CN114523238B (en) | 2024-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210263905.2A Active CN114523238B (en) | 2022-03-15 | 2022-03-15 | Centering and positioning device for tubular pile inner wall welding equipment |
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| Publication number | Publication date |
|---|---|
| CN114523238A (en) | 2022-05-24 |
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