CN116424528B - AUV kuppe mechanism with steady high regulatory function - Google Patents
AUV kuppe mechanism with steady high regulatory function Download PDFInfo
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- CN116424528B CN116424528B CN202310601142.2A CN202310601142A CN116424528B CN 116424528 B CN116424528 B CN 116424528B CN 202310601142 A CN202310601142 A CN 202310601142A CN 116424528 B CN116424528 B CN 116424528B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 18
- 230000009711 regulatory function Effects 0.000 title claims abstract description 5
- 230000006870 function Effects 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 239000000203 mixture Substances 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 6
- 101100438971 Caenorhabditis elegans mat-1 gene Proteins 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 101100491335 Caenorhabditis elegans mat-2 gene Proteins 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000011707 mineral Substances 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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Mechanical Engineering (AREA)
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Abstract
An AUV air guide sleeve mechanism with a steady-core height adjusting function comprises a rotating ring, an air guide sleeve, a rotating bearing, a driving motor and a rotating gear, wherein the rotating bearing is formed by the rotating ring and a support ring of a carrier frame through bearing balls; each kuppe is fixed on the swivel becket through the bolt respectively, blends into the kuppe steady high regulatory function ingenious, under the condition that does not occupy the inside space of arranging, through weight, drainage volume matching relation between the kuppe to with slewing mechanism cooperation, can be according to the demand of operation task or the intensity of external environment interference, the high size of steady heart is adjusted fast, accurately, controllably, makes AUV freely switch between long range navigation stability and small region flexibility, has effectively improved AUV and has carried out the variety and the stability of task.
Description
Technical field
The invention relates to the technical field of auxiliary equipment of underwater unmanned vehicles, in particular to an AUV (autonomous Underwater vehicle) dome mechanism with a steady height adjusting function.
Background
The ocean is valuable wealth and expandable space for sustainable development of human society, rich biological resources and mineral resources are reserved in the ocean, and the steps of entering the ocean, exploring the ocean and developing the ocean are quickened all over the world. Under unmanned and intelligent hot tides, underwater unmanned vehicles (Autonomous Underwater Vehicle, AUV) are widely concerned, are rapidly developed, and play an increasingly important role in sustainable utilization of ocean resources. With diversification and complicacy of AUV operation tasks, new requirements are put forward on the operation capability of the AUV, so that the AUV can maintain certain stability in long-distance navigation and has certain flexibility in small-area underwater operation. The high stability (the vertical distance between the floating center and the gravity center) is taken as one of important overall performance indexes of the AUV, the size of the high stability is directly related to the maneuvering capability of the AUV, the larger the high stability is, the larger the restoring moment is, the motion state is not easy to change, and the better the stability is; the smaller the steady height, the smaller the restoring moment, the easier the motion state is changed, and the higher the flexibility. When AUV sails for a long distance or external environment disturbance is large, the steady height is required to have a large value, so that the AUV sails with high stability are ensured; when AUV carries out small-area underwater operation or disturbance of external environment is small, the steady height is required to have a small value, so that the AUV has certain flexibility in operation and can be rapidly maneuvered.
At present, most AUVs are solidified in the use process, have no adjustment capability of the stability, cannot adjust the stability according to the conversion of the operation requirement, and limit the capability of the AUVs to execute different tasks. Meanwhile, even if the AUV has the function of regulating the height of the center, the height of the center is changed by means of vertically moving weights or equipment, and the AUV is very limited in regulating capacity due to compact space, low in integration level, large in occupied arrangement space and unfavorable for miniaturization and light weight of the AUV.
Disclosure of Invention
The applicant provides an AUV air guide sleeve mechanism with a stable center height adjusting function aiming at the defects in the prior art, so that the air guide sleeve is skillfully integrated into the stable center height adjusting function, and the AUV can be quickly, accurately and controllably adjusted according to the requirements of operation tasks or the strength of external environment interference through the matching relationship between the weight and the drainage volume of the air guide sleeves and the rotating mechanism under the condition of not occupying the internal arrangement space, so that the AUV can be freely switched between the long-range navigation stability and the small-area maneuvering flexibility, and the diversity and the stability of the AUV execution tasks are effectively improved.
The technical scheme adopted by the invention is as follows:
the utility model provides an AUV kuppe mechanism with steady high regulatory function, includes carrier frame, carrier frame's middle part and tip all are provided with the supporting ring, install 1# swivel becket, 2# swivel becket, 3# swivel becket and 4# swivel becket from bow to stern's direction in proper order on the supporting ring, and the mounting structure between single swivel becket and the supporting ring is: the support ring is provided with a groove, bearing balls are arranged in the groove, and the rotating ring, the groove on the support ring and the bearing balls jointly form a rotating bearing, so that the rotating ring and the support ring are fixed and rotate around the AUV longitudinal axis;
the device comprises a carrier frame, a 1# air guide sleeve, a 2# air guide sleeve, a 1# rotating ring, a 2# air guide sleeve, a 4# rotating ring and a 3# rotating ring, wherein the 1# air guide sleeve and the 2# air guide sleeve are arranged above the carrier frame, the 1# air guide sleeve is arranged between the 1# rotating ring and the 2# rotating ring, meanwhile, two ends of the 1# air guide sleeve are respectively fixed between the 1# rotating ring and the 2# rotating ring through fasteners, and the 2# air guide sleeve is arranged between the 3# rotating ring and the 4# rotating ring through fasteners;
the device also comprises a 3# air guide sleeve and a 4# air guide sleeve which are positioned below the carrier frame, wherein the 3# air guide sleeve and the 1# air guide sleeve are oppositely arranged and have the same installation structure, and the 4# air guide sleeve and the 2# air guide sleeve are oppositely arranged and have the same installation structure;
the driving motor is fixed on the carrier frame, a driving gear is arranged at the output end of the driving motor, driven teeth are arranged on the inner rings of the 2# rotating ring and the 3# rotating ring, and the driving gear is meshed with the two driven teeth simultaneously.
The further technical scheme is as follows:
the No. 1 air guide sleeve, the No. 2 air guide sleeve, the No. 3 air guide sleeve and the No. 4 air guide sleeve jointly form a local streamline shape of the AUV.
The shape of the No. 1 air guide sleeve, the No. 2 air guide sleeve, the No. 3 air guide sleeve and the No. 4 air guide sleeve are the same, and are of concave arc structures.
Each pod satisfies:
m 1# ＝m 2# ＝m 1 、m 3# ＝m 4# ＝m 2 、V 1# ＝V 2# ＝V 3# ＝V 4# 、m 1 <<m 2 ，
wherein:
m 1# is the weight of the No. 1 air guide sleeve,
V 1# is the drainage volume of the No. 1 air guide sleeve,
m 2# is the weight of the No. 2 air guide sleeve,
V 2# is the drainage volume of the No. 2 air guide sleeve,
m 3# is the weight of the 3# air guide sleeve,
V 3# is the drainage volume of the 3# air guide sleeve,
m 4# is the weight of the 4# air guide sleeve,
V 4# is the drainage volume of the 4# dome.
The 2# rotating ring and the 3# rotating ring rotate reversely.
The carrier frame adopts a split type structure.
The middle part of the carrier frame is of a cylindrical structure, and two ends of the carrier frame are of a circular truncated cone structure.
The beneficial effects of the invention are as follows:
the invention has compact and reasonable structure and convenient operation, skillfully blends the fairings into the stabilizing height adjusting function, and can quickly, accurately and controllably adjust the stabilizing height according to the requirements of operation tasks or the intensity of external environment interference by matching the weight and the drainage volume between the fairings and matching with the rotating mechanism under the condition of not occupying the internal arrangement space, thereby enabling the AUV to freely switch between the long-range navigation stability and the small-area maneuvering flexibility and effectively improving the diversity and the stability of the AUV executing tasks.
Meanwhile, the invention has the following advantages:
(1) According to the invention, through the matching between the guide hoods and the rotating mechanism, the weight and the drainage volume matching relation between the guide hoods are utilized, and the size of the steady height is quickly, accurately and controllably adjusted according to the requirements of the operation tasks, so that the AUV is freely switched between stability and flexibility, and the movement capacity of the AUV and the diversity of execution tasks are effectively improved;
(2) The invention can realize the adjustment of any size from the minimum stable center height to the maximum stable center height, can adjust the size of the stable center height according to the complexity of the external environment interference, ensures the stability of the AUV in the operation process while improving the flexibility of the AUV, has stronger environment adaptability and effectively balances the flexibility and the operation stability of the AUV;
(3) The guide cover is integrated into the steady-core height adjustment, so that the additional load and the arrangement space requirement are not increased, and the light weight and the miniaturization of the AUV are facilitated;
(4) The invention adopts the symmetrical rotation idea of the air guide sleeve, and can not influence the posture of the AUV while changing the steady height.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is an exploded view of the present invention.
Fig. 3 is a front view (internal structure) of the present invention.
Fig. 4 is a partial enlarged view of fig. 3.
Fig. 5 is a schematic view showing the installation of the 3# rotating ring and 2# rotating ring according to the present invention.
Wherein: 1. a carrier frame; 2. a 1# rotating ring; 3. a # 1 pod; 4. a 2# rotating ring; 5. a No. 2 air guide sleeve; 6. a 4# rotating ring; 7. bearing balls; 8. a 4# air guide sleeve; 9. 3# rotating ring; 10. a driving motor; 11. a drive gear; 12. 3# air guide sleeve.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
As shown in fig. 1-5, the AUV pod mechanism with a stable center height adjusting function of the present embodiment includes a carrier frame 1, wherein the middle and end portions of the carrier frame 1 are respectively provided with a support ring, a 1# rotating ring 2, a 2# rotating ring 4, a 3# rotating ring 9 and a 4# rotating ring 6 are sequentially installed on the support rings from the fore to aft direction, and the installation structure between a single rotating ring and the support rings is as follows: the support ring is provided with a groove, the groove is internally provided with a bearing ball 7, and the rotating ring, the groove on the support ring and the bearing ball 7 jointly form a rotating bearing, so that the fixing of the rotating ring and the support ring and the rotation around the AUV longitudinal axis are realized;
the device further comprises a 1# air guide sleeve 3 and a 2# air guide sleeve 5 which are positioned above the carrier frame 1, wherein the 1# air guide sleeve 3 is arranged between the 1# rotating ring 2 and the 2# rotating ring 4, meanwhile, two ends of the 1# air guide sleeve 3 are respectively fixed between the 1# rotating ring 2 and the 2# rotating ring 4 through fasteners, the 2# air guide sleeve 5 is arranged between the 3# rotating ring 9 and the 4# rotating ring 6, and meanwhile, two ends of the 2# air guide sleeve 5 are respectively fixed between the 3# rotating ring 9 and the 4# rotating ring 6 through fasteners;
the device also comprises a 3# air guide sleeve 12 and a 4# air guide sleeve 8 which are positioned below the carrier frame 1, wherein the 3# air guide sleeve 12 and the 1# air guide sleeve 3 are oppositely arranged and have the same installation structure, and the 4# air guide sleeve 8 and the 2# air guide sleeve 5 are oppositely arranged and have the same installation structure;
the driving motor 10 is fixed on the carrier frame 1, the driving gear 11 is arranged at the output end of the driving motor 10, the driven teeth are arranged on the inner rings of the 2# rotating ring 4 and the 3# rotating ring 9, and the driving gear 11 is meshed with the two driven teeth simultaneously.
The # 1 pod 3, the # 2 pod 5, the # 3 pod 12, and the # 4 pod 8 together form a partial streamline shape of the AUV.
The 1# air guide sleeve 3, the 2# air guide sleeve 5, the 3# air guide sleeve 12 and the 4# air guide sleeve 8 are identical in shape and are of concave circular arc structures.
The 2# rotating ring 4 and the 3# rotating ring 9 are rotated reversely.
The carrier frame 1 is of a split type structure.
The middle part of the carrier frame 1 is of a cylindrical structure, and two ends of the carrier frame are of a truncated cone-shaped structure.
The specific structure and the functions of the AUV dome mechanism with the steady-core height adjusting function are as follows: comprises a carrier frame 1, a 1# rotating ring 2, a 1# air guide sleeve 3, a 2# rotating ring 4, a 2# air guide sleeve 5, a 4# rotating ring 6, bearing balls 7, a 4# air guide sleeve 8, a 3# rotating ring 9, a driving motor 10, a driving gear 11 and a 3# air guide sleeve 12.
The 1# rotating ring 2, the 2# rotating ring 4, the 3# rotating ring 9 and the 4# rotating ring 6 are arranged on the support ring of the carrier frame 1 in the direction from the fore to aft, wherein the 2# rotating ring 4 and the 3# rotating ring 9 are provided with passive teeth (not shown in the figure).
The connection mode of the rotating ring on the supporting ring of the carrier frame 1 is described below by taking the rotating ring 1# 2 as an example, grooves are formed in the rotating ring 1# 2 and the supporting ring of the carrier frame 1, bearing balls 7 are arranged in the grooves, and the rotating bearing is formed by the rotating ring 1# 2, the grooves in the supporting ring of the carrier frame 1 and the bearing balls 7 together, so that the fixing of the rotating ring 1# 2 on the supporting ring and the rotation around the longitudinal axis of the AUV are realized.
The # 1 pod 3, the # 2 pod 5, the # 3 pod 12, and the # 4 pod 8 together form a partial streamline shape of the AUV. Wherein, the 1# air guide sleeve 3 is arranged at the upper part of the carrier frame 1, between the 1# rotating ring 2 and the 2# rotating ring 4, and the two ends of the air guide sleeve are respectively fixed on the 1# rotating ring 2 and the 2# rotating ring 4 through bolts.
The 2# pod 5 is disposed at the upper portion of the carrier frame 1 between the 3# rotating ring 9 and the 4# rotating ring 6, and both ends thereof are respectively fixed to the 3# rotating ring 9 and the 4# rotating ring 6 by bolting.
The 3# pod 12 is disposed at the lower portion of the carrier frame 1 between the 1# rotating ring 2 and the 2# rotating ring 4, and both ends thereof are respectively fixed to the 1# rotating ring 2 and the 2# rotating ring 4 by bolting.
The 4# pod 8 is disposed at the lower portion of the carrier frame 1 between the 3# rotating ring 9 and the 4# rotating ring 6, and both ends thereof are respectively fixed to the 3# rotating ring 9 and the 4# rotating ring 6 by bolting.
The various fairings satisfy:
m 1# ＝m 2# ＝m 1 、m 3# ＝m 4# ＝m 2 、V 1# ＝V 2# ＝V 3# ＝V 4# 、m 1 <<m 2 ，
wherein:
m 1# is the weight of the No. 1 air guide sleeve 3,
V 1# is the drainage volume of the No. 1 air guide sleeve 3,
m 2# is the weight of the No. 2 air guide sleeve 5,
V 2# is the drainage volume of the No. 2 air guide sleeve 5,
m 3# for the weight of the 3# pod 12,
V 3# is the drainage volume of the 3# pod 12,
m 4# is the weight of the 4# air guide sleeve 8,
V 4# the drainage volume of the 4# dome 8.
The driving motor 10 is fixed on the carrier frame 1, the output end of the driving motor 10 is provided with a driving gear 11, the driving gear 11 is respectively meshed with the driven teeth of the 2# rotating ring 4 and the 3# rotating ring 9, and the driving motor 10 drives the driving gear 11 to drive the controllable reverse rotation of the 2# rotating ring 4 and the 3# rotating ring 9 and drive the guide cover to rotate. The relation between the steady center height GB and the rotation angle theta is as follows:
GB＝GB 0 +2(m 1 z m1 -m 2 z m2 )·(1-cosθ)/M
wherein:
GB 0 is the initial steady-state height of the AUV,
z m1 is the vertical coordinates of the gravity centers of the No. 1 air guide sleeve 3 and the No. 2 air guide sleeve 5,
z m2 is the vertical coordinate of the gravity center of the 3# air guide sleeve 12 and the 4# air guide sleeve 8,
m is the total weight of AUV.
In the actual working process:
when the AUV is placed in water, the 1# air guide sleeve 3 and the 2# air guide sleeve 5 are kept at the upper part of the AUV, and the 3# air guide sleeve 12 and the 4# air guide sleeve 8 are kept at the lower part of the AUV. At this time, the AUV has the highest stability and the highest sailing stability, and sails long distances to the work target point in this state.
After reaching an operation target point, the AUV comprehensively calculates a target value to which the steady height needs to be adjusted by a control algorithm of a control system according to the flexibility required by the operation and the perceived interference intensity of the external environment to obtain an angle required by the mechanism, controls a driving motor 10 to drive a driving gear 11 to rotate, and drives a 2# rotating ring and a 3# rotating ring to drive a guide cover to rotate respectively, wherein the 1# guide cover 3 and the 3# guide cover 12 are a group and rotate in the same direction; the number 2 air guide sleeve 5 and the number 4 air guide sleeve 8 are a group and rotate in the same direction; and the two groups of air guide covers symmetrically rotate in opposite directions. When the driving motor 10 stops working after rotating to the target angle, at this time, the steady height of the AUV is reduced, the flexibility is enhanced, the stability of the operation is ensured, and the AUV completes the fixed-point operation in this state.
After the fixed-point operation is completed, the control system drives the motor 10 to drive the driving gear 11 to rotate, and drives the 2# rotating ring and the 3# rotating ring to drive the guide cover to recover to the initial state respectively, the AUV recovers to the state with the maximum stable center, the sailing stability is the highest, and the AUV sails to the next operation target point under the state. And then, adjusting the stability height, and carrying out operation, and repeating the operation until all operation tasks are completed.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (5)
1. AUV kuppe mechanism with steady high regulatory function, its characterized in that: including carrier frame (1), carrier frame (1)'s middle part and tip all are provided with the supporting ring, and the direction from bow to stern is installed 1# and is rotated ring (2), 2# and rotate ring (4), 3# and rotate ring (9) and 4# on the supporting ring in proper order and is rotated ring (6), and the mounting structure between single rotation ring and the supporting ring is: the support ring is provided with a groove, bearing balls (7) are arranged in the groove, and the rotating ring, the groove on the support ring and the bearing balls (7) form a rotating bearing together, so that the rotating ring and the support ring are fixed and rotate around the AUV longitudinal axis;
the device comprises a carrier frame (1), a 1# air guide sleeve (3) and a 2# air guide sleeve (5), wherein the carrier frame is arranged on the carrier frame (1), the 1# air guide sleeve (3) is arranged between a 1# rotating ring (2) and a 2# rotating ring (4), meanwhile, two ends of the 1# air guide sleeve (3) are respectively fixed between the 1# rotating ring (2) and the 2# rotating ring (4) through fasteners, the 2# air guide sleeve (5) is arranged between a 3# rotating ring (9) and a 4# rotating ring (6), and meanwhile, two ends of the 2# air guide sleeve (5) are respectively fixed between the 3# rotating ring (9) and the 4# rotating ring (6) through fasteners;
the device also comprises a 3# air guide sleeve (12) and a 4# air guide sleeve (8) which are positioned below the carrier frame (1), wherein the 3# air guide sleeve (12) and the 1# air guide sleeve (3) are oppositely arranged and have the same mounting structure, and the 4# air guide sleeve (8) and the 2# air guide sleeve (5) are oppositely arranged and have the same mounting structure;
the device comprises a carrier frame (1), and is characterized by further comprising a driving motor (10) fixed on the carrier frame (1), wherein a driving gear (11) is arranged at the output end of the driving motor (10), driven teeth are arranged on the inner rings of the 2# rotating ring (4) and the 3# rotating ring (9), and the driving gear (11) is meshed with the two driven teeth at the same time; each pod satisfies:
、/>、/>、/>，
wherein:
is the weight of the No. 1 air guide sleeve (3),
is the drainage volume of the No. 1 air guide sleeve (3),
is the weight of a No. 2 air guide sleeve (5),
is the drainage volume of the No. 2 air guide sleeve (5),
is the weight of the 3# air guide sleeve (12),
is the drainage volume of the 3# air guide sleeve (12),
is the weight of the 4# air guide sleeve (8),
the water discharge volume of the 4# air guide sleeve (8);
the 2# rotating ring (4) and the 3# rotating ring (9) rotate reversely.
2. An AUV pod mechanism with a steady-core height adjustment function as claimed in claim 1, wherein: the No. 1 air guide sleeve (3), the No. 2 air guide sleeve (5), the No. 3 air guide sleeve (12) and the No. 4 air guide sleeve (8) jointly form a local streamline shape of the AUV.
3. An AUV pod mechanism with a steady-core height adjustment function as claimed in claim 1, wherein: the shape of the No. 1 air guide sleeve (3), the No. 2 air guide sleeve (5), the No. 3 air guide sleeve (12) and the No. 4 air guide sleeve (8) are the same, and are of concave arc structures.
4. An AUV pod mechanism with a steady-core height adjustment function as claimed in claim 1, wherein: the carrier frame (1) adopts a split type structure.
5. An AUV pod mechanism with a steady-core height adjustment function as claimed in claim 1, wherein: the middle part of the carrier frame (1) is of a cylindrical structure, and two ends of the carrier frame are of a circular truncated cone structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310601142.2A CN116424528B (en) | 2023-05-25 | 2023-05-25 | AUV kuppe mechanism with steady high regulatory function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310601142.2A CN116424528B (en) | 2023-05-25 | 2023-05-25 | AUV kuppe mechanism with steady high regulatory function |
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| CN116424528A CN116424528A (en) | 2023-07-14 |
| CN116424528B true CN116424528B (en) | 2024-02-02 |
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| CN116424528A (en) | 2023-07-14 |
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