CN117168380A - High-precision closed-loop centering width measurement control system and application method thereof - Google Patents
High-precision closed-loop centering width measurement control system and application method thereof Download PDFInfo
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- CN117168380A CN117168380A CN202311412995.8A CN202311412995A CN117168380A CN 117168380 A CN117168380 A CN 117168380A CN 202311412995 A CN202311412995 A CN 202311412995A CN 117168380 A CN117168380 A CN 117168380A
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Abstract
The invention provides a high-precision closed-loop centering width measurement control system and a use method thereof, wherein the high-precision closed-loop centering width measurement control system comprises a shell: the shell is used for penetrating materials; a sensor group: the sensor group comprises at least one sensor, and the sensor is used for collecting the material position; and (3) a bracket: the sensor is movably arranged on the bracket, and the bracket is arranged on the shell; deviation correcting component: the deviation rectifying component is arranged on the shell; and the control assembly controls the sensor and the deviation correcting assembly to move. According to the invention, the sensor is movably arranged on the bracket, so that the sensor can movably determine the positions and measure the widths of materials with different widths in the use process, the functions of automatic measurement and automatic deviation correction are realized, and the precision of the system is improved.
Description
Technical Field
The invention relates to the technical field of deviation correction, in particular to a high-precision closed-loop centering width measurement control system and a using method thereof.
Background
The deviation correcting system refers to the technical operation adopted by the coiled material produced by a manufacturer in the processes of spraying, printing, punching, laminating, slitting or winding other coiled materials, the side surface of the coiled material is always kept neat and consistent, great benefits are brought to the industry by the wide use of the deviation correcting system, and the automatic control is realized in the industries of steel, corrugated paper, textile, printing, labels, labeling, papermaking, plastic films, building materials, cables, rubber, tires, non-woven fabric corrugated paper processing and the like by deviation correcting control.
However, in the existing deviation correcting system, the sensors are arranged on a fixed support, the support cannot perform automatic centering operation, after equipment is started, after three points and one line of materials are moved, on-site workers can adjust the knob on the support according to the width of the materials cut by the roller press, so that the whole position of the sensors is moved by adjusting the position of the support, and the materials are kept at the center positions of the two sensors. In addition, the former support is generally provided with a stepping motor and a brushless direct current motor, and the precision is poor. The automatic deviation correcting control system corrects the deviation according to the numerical values of the two sensors only, if the width of the material changes, the material can not be always kept at the center positions of the two sensors only by the automatic deviation correcting function of the deviation correcting controller, even when the width of the material is greatly different, the situation of edge loss can occur, and under the situation, the deviation correcting system can not work normally.
In view of this, the present invention has been made.
Disclosure of Invention
The first object of the invention is to provide a high-precision closed-loop centering width measurement control system, which enables a sensor to be movably arranged on a bracket by arranging the sensor in a chute on the bracket, and in the use process, a control center calculates the width of a material according to data detected by the sensor and controls a deviation correcting component to correct the deviation, so that the functions of automatic measurement and automatic deviation correction are realized, and the precision of the system is improved.
The second object of the present invention is to provide a method for using the high-precision closed-loop centering width measurement control system, which has simple steps and automatic operation, and can greatly liberate labor force and reduce errors.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a high-precision closed-loop centering width measurement control system, which comprises:
a shell: the shell is used for penetrating materials;
a sensor group: the sensor group comprises at least one sensor, and the sensor is used for collecting the material position;
and (3) a bracket: the sensor is movably arranged on the bracket, and the bracket is arranged on the shell;
deviation correcting component: the deviation rectifying component is arranged on the shell;
and the control assembly controls the sensor and the deviation correcting assembly to move.
Preferably, a chute is formed in the support, the sensor is arranged in the chute, and the chute is perpendicular to the movement direction of the material. Through setting up the spout for the sensor can remove on the support, realizes carrying out automated inspection's purpose to the material.
Preferably, the chute is arranged at the lower end of the bracket, the chute is a T-shaped chute, the bottom end of the sensor is provided with a T-shaped sliding block, and the T-shaped sliding block is matched with the T-shaped chute. Through setting up T font slider and T font spout, guarantee the stability that support and sensor are connected, simultaneously, with the spout setting in the lower extreme of support, can also avoid the sensor to produce the conveying of material and block, improve the smoothness nature of system operation.
Preferably, the deviation rectifying component comprises a deviation rectifying plate and a deviation rectifying shaft;
the correcting shaft is arranged at the upper end of the shell, the lower end of the correcting shaft is fixedly connected with the correcting plate, and the correcting shaft rotates to drive the correcting plate to rotate so as to realize the correcting function.
Preferably, the deviation rectifying shaft is a square shaft, the deviation rectifying shaft comprises a first deviation rectifying shaft and a second deviation rectifying shaft, the second deviation rectifying shaft is hollow, the first deviation rectifying shaft is arranged in the second deviation rectifying shaft and slides along the second deviation rectifying shaft, and the first deviation rectifying shaft is fixedly connected with the deviation rectifying plate. Through setting up square with rectifying the axle, can accomplish that first rectifying the axle of rectifying both can follow the second and rectify the axle and remove, can also drive first rectifying the axle through the second and rotate, set up the second to hollow with rectifying the axle simultaneously, can adjust the height of rectifying the board, prevent to rectify the board and block the conveying of material.
Preferably, the sensor group comprises a positioning sensor group, a correction sensor group and a correction sensor group, each group comprises at least one sensor, and the sensors are communicated with the control assembly.
Preferably, a driving roller is arranged on the bracket, the driving roller is arranged at the outlet of the shell, the correcting sensor is communicated with the driving roller, and the correcting sensor hole controls the rotation of the driving roller.
The invention also provides a using method of the high-precision closed-loop centering width measurement control system, which comprises the following steps:
the material gets into the casing, the sensor group is right the position of material is gathered, the sensor group will gather data transmission extremely control assembly, control assembly carries out the analysis after control whether rectify the subassembly rectifies.
Preferably, the method for collecting the materials by the sensor group comprises the following steps: when the material enters the shell, the positioning sensor group moves, the width of the material is calculated through the detected boundary of the material, and then whether the material needs to be corrected or not is judged according to the position of the positioning sensor group.
Preferably, the control module controls whether the deviation rectifying module rectifies after analyzing the deviation, and the method comprises the following steps:
the positioning sensor group detects the material position at the inlet of the shell, and the positioning sensor sends detected data to the control component;
when the control assembly finds that the material is deviated, the control assembly controls the deviation correcting assembly to correct the deviation until the deviation correcting sensor group detects that the position of the material is correct;
and then the correction sensor group detects the position of the material again at the outlet of the shell, and the material is conveyed out of the shell after the position is correct.
Compared with the prior art, the invention has at least the following advantages:
(1) According to the invention, the width and the position of the material are measured by arranging the positioning sensor group, then the position of the material is corrected by the correction plate and the correction sensor group, and then the position of the material is finally confirmed by using the correction sensor group, so that the accuracy of the output position of the material is ensured, and the accuracy of the system is improved.
(2) According to the invention, the sensor is arranged in the chute of the bracket, and can slide in the use process, so that the deviation correcting system can measure and correct the width of materials with different widths, the application range of the system is greatly improved, and the use feeling of a user is improved.
(3) The deviation correcting system provided by the invention can adjust the position of the sensor through the controller, thereby meeting the requirement of cutting materials with special sizes and greatly improving the adaptation degree of the system.
(4) The using method of the high-precision closed-loop centering width measurement control system provided by the invention is simple in steps, and can greatly liberate labor force.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a top isometric view of a high-precision closed-loop centering width measurement control system provided by an embodiment of the present invention;
fig. 2 is a bottom isometric view of a high-precision closed-loop centering width measurement control system provided by an embodiment of the invention.
Wherein,
1-a housing; 2-a controller; 3-a sensor; 4-positioning a sensor group; 5-a correction sensor group; 6-correcting the sensor group; 7-positioning a bracket; 8, a deviation rectifying bracket; 9-correcting the bracket; 10-sliding grooves; 11-a first deviation correcting axis; 12-second deviation correcting axis; 13, a deviation correcting plate; 14, a deviation rectifying motor; 15-servo motor.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and detailed description, but it will be understood by those skilled in the art that the examples described below are some, but not all, examples of the present invention, and are intended to be illustrative of the present invention only and should not be construed as limiting the scope of the present invention. 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 specific conditions are not noted in the examples and are carried out according to conventional conditions or conditions recommended by the manufacturer. The reagents or apparatus used were conventional products commercially available without the manufacturer's attention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be in mechanical communication or in electrical communication; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In order to more clearly illustrate the technical scheme of the invention, the following description is given by way of specific examples.
Examples
As shown in fig. 1-2, this embodiment provides a high-precision closed-loop centering width measurement control system, this system includes casing 1, support, sensor group, rectifying component and control component, the support rectifying component and control component sets up on the casing 1, sensor group includes at least one sensor 3, sensor 3 installs on the support, this embodiment is through setting up sensor 3 on the support, will the support is mobilizable to be set up on the casing 1, in the use, mobilizable sensor 3 can carry out the calculation of width to the material that gets into casing 1, still can judge simultaneously whether the material is in the center of casing 1, through rectifying component with control component can rectify the material that is not at the center, satisfies the purpose of carrying out automatic width measurement, automatic rectifying to the material of different width.
In this embodiment, the support is disposed at the upper end of the casing 1, a hollow structure is disposed between the support and the casing 1, a chute 10 facing the direction of the casing 1 is formed on the support, the sensor 3 is disposed in the chute 10, and the chute 10 is perpendicular to the movement direction of the material in the casing 1. In order to ensure the stability of the support and the sensor group, the sliding chute 10 is set to be a T-shaped sliding chute, the bottom end of the sensor 3 is set to be a T-shaped sliding block, and the T-shaped sliding block is matched with the T-shaped sliding chute 10, so that the sensor 3 can slide along the sliding chute 10 and cannot fall down.
In the present embodiment, the sensor groups are arranged into three groups: the positioning sensor group 4, the correction sensor group 5 and the correction sensor group 6, the positioning sensor group 4, the correction sensor group 5 and the correction sensor group 6 are communicated with the control assembly, each sensor group comprises at least one sensor 3, in this embodiment, the positioning sensor group 4, the correction sensor group 5 and the correction sensor group 6 are all set to two sensors 3, each sensor group is correspondingly provided with one support, that is, the positioning sensor group 4 is correspondingly provided with a positioning support 7, the correction sensor group 5 is correspondingly provided with a correction support 8, the correction sensor group 6 is correspondingly provided with a correction support 9, in order to ensure better use effect, the positioning support 7 is arranged at the inlet of the material of the shell 1, the correction support 9 is arranged at the outlet of the material of the shell 1, the correction support 8 is arranged at a position close to the material inlet of the shell 1, the correction support 8 is correspondingly provided with a positioning support 7, and the servo motor 15 is arranged on the positioning support 7 to control the motion of the sensors 3.
Further, the deviation rectifying support 8 is provided with a deviation rectifying component, the deviation rectifying component comprises a deviation rectifying shaft and a deviation rectifying plate 13, the upper end of the deviation rectifying shaft is installed on the deviation rectifying support 8, the deviation rectifying plate 13 is installed at the lower end of the deviation rectifying shaft, and the deviation rectifying shaft rotates to drive the deviation rectifying plate 13 to move, so that deviation rectifying of materials is realized.
For better carrying out rectifying of the material, the rectifying shaft is set to the square shaft, the rectifying shaft is set to a first rectifying shaft 11 and a second rectifying shaft 12, the second rectifying shaft 12 is in a hollow arrangement, the second rectifying shaft 12 is connected with the rectifying support 8, the first rectifying shaft 11 is arranged in the second rectifying shaft 12, the first rectifying shaft 11 can slide along the second rectifying shaft 12, so that the height of the rectifying plate 13 can be adjusted, the rectifying plate 13 presses the material when rectifying is needed, and the rectifying plate 13 is lifted when not needed.
In order to ensure the motion of the deviation correcting shaft, the deviation correcting shaft is communicated with the deviation correcting motor 14, the deviation correcting motor 14 is installed on the shell 1, the deviation correcting motor 14 is communicated with the control assembly, the control assembly controls the opening and closing of the deviation correcting motor 14, and in order to ensure accurate control, the deviation correcting motor 14 is selected as the servo motor 15.
In order to ensure good deviation correcting effect, a driving roller is arranged at the outlet of the shell 1 and is communicated with the control component, the control component controls the rotation of the driving roller by detecting the position of the material detected by the correction sensor 3, and after the position of the material detected by the correction sensor 3 deviates, the control component controls other stop movements of the shell 1, and the driving roller reverses to perform repeated deviation correcting movements.
The control assembly comprises a controller 2, the controller 2 is communicated with the positioning sensor group 4, the correction sensor group 5, the correction sensor group 6, the driving roller and the correction motor 14, the operation of each assembly is automatically controlled, the controller 2 is connected with an operation touch screen, and a user can issue instructions to the controller 2 according to the operation touch screen.
The embodiment also provides a use method of the high-precision closed-loop centering width measurement control system, which comprises the following steps:
(1) Firstly, the positioning bracket 7, the correction bracket 8 and the correction bracket 9 are installed, then the positioning sensor group 4, the correction sensor group 5 and the correction sensor group 6 are installed on the corresponding brackets, and then a user sets the central position on the operation touch screen: in this embodiment, the center line of the housing 1 is set as a center position, a straight line where the center line of the housing 1 and the positioning bracket 7 (taking the positioning bracket 7 as an example, the deviation correcting bracket 8 and the correcting bracket 9 are set to be the same) are taken as coordinates, a coordinate system is established, an intersection point of the center line and the positioning bracket 7 is taken as a zero point, one of the numerical values of the positions where the two sensors 3 of the positioning sensor group 4 are located is a positive value, one is a negative value, and the sum of the two numerical values is 0, so that the two sensors 3 are ensured to be symmetrical.
(2) After the shell 1 enters the material, the positioning sensor group 4 performs measurement of the width of the material: the two sensors 3 slide along the chute 10, when the sensors 3 detect the boundary of the material, the operation is stopped, the positioning sensor group 4 transmits the detected data to the controller 2, the controller 2 analyzes the detected data to obtain the width of the material, then the data obtained by the two sensors 3 are added, if the result is 0, it is proved that the material does not need to be corrected, and the material is directly transmitted out of the shell 1.
If the addition result of the data obtained by the two positioning sensors 3 is not 0, proving that the material needs to be rectified, the rectifying operation comprises the following steps:
firstly, judging the deviation rectifying angle according to the result obtained by the two positioning sensors 3, if the result is positive, correcting the direction of the sensor 3 which obtains negative value, if the result is negative, correcting the direction of the sensor 3 which obtains positive value, then controlling the deviation rectifying sensor 3 and the correction sensor 3 to reach the position of the boundary when the material is positioned at the center by the controller 2 according to the width of the obtained material, simultaneously controlling the deviation rectifying motor 14 to rotate to drive the deviation rectifying shaft to move downwards so as to press the material, then controlling the deviation rectifying shaft to rotate, wherein the rotating direction of the deviation rectifying shaft is determined by the result obtained by the positioning sensor group 4 until the boundary of the material is detected by the deviation rectifying sensor 3 at the same time, stopping rotating the deviation rectifying shaft, and driving the deviation rectifying shaft to move upwards by the deviation rectifying motor 14 so as to finish the deviation rectifying.
The material continues to run, the correction sensor group 6 continues to detect the material, detected data are transmitted to the controller 2, the controller 2 adds the obtained data, the result is 0 and is directly output, the result is not 0, the controller 2 stops running of other components, the driving roller rotates, the material is returned, correction is performed again, and the result of adding the data obtained by the correction sensor 3 is 0.
Of course, in the actual use process, the user can control the positions of the positioning sensor group 4, the deviation correcting sensor group 5 and the correcting sensor group 6 according to the requirement, the touch controller 2 can issue a command, and the controller 2 controls the position of the sensor 3 or modifies the central position, so that the width of the material after being cut can reach the required size of the customer.
According to the invention, the sliding chute 10 is arranged on the bracket, so that the sensor 3 can automatically measure the width and the position of the material, then the error of manual operation is reduced by automatically correcting the deviation according to the measurement result, and meanwhile, the sensor 3 can slide, so that the detection of the material is more convenient, and the accuracy of a correction system is improved.
According to the invention, the servo motor 15 is arranged, so that the positioning accuracy is improved, the error is reduced, and the system accuracy is greatly improved.
According to the invention, the positions of the positioning sensor group 4, the correction sensor group 5 and the correction sensor group 6 are controlled, so that the width of the finally obtained material reaches the ideal size of a customer, the use scene of the correction system is improved, and more demands of the customer can be met.
Finally, it is to be understood that the above embodiments are merely exemplary embodiments employed for the purpose of illustrating the principles of the present invention, however, the present invention is not limited thereto. Various modifications and improvements may be made by those skilled in the art without departing from the principles and spirit of the invention, and such modifications and improvements are also considered within the scope of the invention.
Claims (10)
1. A high precision closed loop centering width measurement control system, comprising:
a shell: the shell is used for penetrating materials;
a sensor group: the sensor group comprises at least one sensor, and the sensor is used for collecting the material position;
and (3) a bracket: the sensor is movably arranged on the bracket, and the bracket is arranged on the shell;
deviation correcting component: the deviation rectifying component is arranged on the shell;
and the control assembly controls the sensor and the deviation correcting assembly to move.
2. The high-precision closed-loop centering width measurement control system according to claim 1, wherein a chute is formed in the support, the sensor is arranged in the chute, and the chute is perpendicular to the movement direction of the material.
3. The high-precision closed-loop centering width measurement control system according to claim 2, wherein the chute is arranged at the lower end of the bracket, the chute is a T-shaped chute, the bottom end of the sensor is provided with a T-shaped sliding block, and the T-shaped sliding block is matched with the T-shaped chute.
4. The high-precision closed-loop centering width measurement control system according to claim 1, wherein the deviation correcting component comprises a deviation correcting plate and a deviation correcting shaft;
the correcting shaft is arranged at the upper end of the shell, the lower end of the correcting shaft is fixedly connected with the correcting plate, and the correcting shaft rotates to drive the correcting plate to rotate so as to realize the correcting function.
5. The high-precision closed-loop centering width measurement control system according to claim 4, wherein the deviation correction shaft is a square shaft, the deviation correction shaft comprises a first deviation correction shaft and a second deviation correction shaft, the second deviation correction shaft is arranged in a hollow mode, the first deviation correction shaft is arranged in the second deviation correction shaft and slides along the second deviation correction shaft, and the first deviation correction shaft is fixedly connected with the deviation correction plate.
6. The high precision closed loop centering width measurement control system of claim 1, wherein the sensor set comprises a positioning sensor set, a correction sensor set and a correction sensor set, each set comprising at least one of the sensors, the sensors in communication with the control assembly.
7. The high-precision closed-loop centering width measurement control system according to claim 6, wherein a driving roller is arranged on the bracket, the driving roller is arranged at the outlet of the shell, the correction sensor is communicated with the driving roller, and the correction sensor hole controls rotation of the driving roller.
8. The method of using a high precision closed loop centering width measurement control system as claimed in any one of claims 1-7, comprising the steps of:
the material gets into the casing, the sensor group is right the position of material is gathered, the sensor group will gather data transmission extremely control assembly, control assembly carries out the analysis after control whether rectify the subassembly rectifies.
9. The method of claim 8, wherein the method of collecting the material by the sensor group comprises the steps of: when the material enters the shell, the positioning sensor group moves, the width of the material is calculated through the detected position of the boundary of the material, and whether the material needs to be corrected or not is judged according to the position of the positioning sensor group.
10. The method of claim 8, wherein the controlling the deviation correcting assembly after analysis comprises the steps of:
the positioning sensor group detects the material position at the inlet of the shell, and the positioning sensor sends detected data to the control assembly;
when the control assembly finds that the material is deviated, the control assembly controls the deviation correcting assembly to correct the deviation until a deviation correcting sensor group detects that the material is correct in position;
the correction sensor group detects the position of the material again at the outlet of the shell, and the material is conveyed out of the shell after the position is correct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311412995.8A CN117168380B (en) | 2023-10-30 | 2023-10-30 | High-precision closed-loop centering width measurement control system and application method thereof |
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| CN202311412995.8A CN117168380B (en) | 2023-10-30 | 2023-10-30 | High-precision closed-loop centering width measurement control system and application method thereof |
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| CN117168380B CN117168380B (en) | 2024-02-13 |
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| US20030020231A1 (en) * | 2001-07-27 | 2003-01-30 | Xerox Corporation | Printer sheet deskewing system |
| CN2765768Y (en) * | 2004-11-05 | 2006-03-22 | 刘杰 | Full-automatic deviation rectifying control device of paperboard assembly line |
| CN104310098A (en) * | 2014-09-15 | 2015-01-28 | 德清德沃装饰材料有限公司 | Veneer winding and deviation-rectifying device |
| CN110203728A (en) * | 2019-07-05 | 2019-09-06 | 广东易美图影像科技股份有限公司 | A kind of paper correction alignment means and its alignment schemes of rectifying a deviation |
| CN111267380A (en) * | 2020-03-27 | 2020-06-12 | 东营市方兴橡胶有限责任公司 | Automatic tread feeding system |
| CN218318919U (en) * | 2022-10-11 | 2023-01-17 | 石山自动化设备（无锡）有限公司 | Deviation rectifying and conveying device of high-frequency welding machine |
| CN116767787A (en) * | 2023-06-12 | 2023-09-19 | 山西永硕新材料科技有限公司 | Automatic deviation correcting method for belt conveyor |
| CN116853738A (en) * | 2023-08-17 | 2023-10-10 | 福建正味生物科技有限公司 | Automatic regulating and controlling device for seasoning drying and conveying mechanism |
-
2023
- 2023-10-30 CN CN202311412995.8A patent/CN117168380B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030020231A1 (en) * | 2001-07-27 | 2003-01-30 | Xerox Corporation | Printer sheet deskewing system |
| CN2765768Y (en) * | 2004-11-05 | 2006-03-22 | 刘杰 | Full-automatic deviation rectifying control device of paperboard assembly line |
| CN104310098A (en) * | 2014-09-15 | 2015-01-28 | 德清德沃装饰材料有限公司 | Veneer winding and deviation-rectifying device |
| CN110203728A (en) * | 2019-07-05 | 2019-09-06 | 广东易美图影像科技股份有限公司 | A kind of paper correction alignment means and its alignment schemes of rectifying a deviation |
| CN111267380A (en) * | 2020-03-27 | 2020-06-12 | 东营市方兴橡胶有限责任公司 | Automatic tread feeding system |
| CN218318919U (en) * | 2022-10-11 | 2023-01-17 | 石山自动化设备（无锡）有限公司 | Deviation rectifying and conveying device of high-frequency welding machine |
| CN116767787A (en) * | 2023-06-12 | 2023-09-19 | 山西永硕新材料科技有限公司 | Automatic deviation correcting method for belt conveyor |
| CN116853738A (en) * | 2023-08-17 | 2023-10-10 | 福建正味生物科技有限公司 | Automatic regulating and controlling device for seasoning drying and conveying mechanism |
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| CN117168380B (en) | 2024-02-13 |
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