CN219727869U - Differential drive structure and pipeline robot - Google Patents
Differential drive structure and pipeline robot Download PDFInfo
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- CN219727869U CN219727869U CN202321015775.7U CN202321015775U CN219727869U CN 219727869 U CN219727869 U CN 219727869U CN 202321015775 U CN202321015775 U CN 202321015775U CN 219727869 U CN219727869 U CN 219727869U
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- 230000005540 biological transmission Effects 0.000 claims abstract description 149
- 238000003780 insertion Methods 0.000 claims abstract description 11
- 230000037431 insertion Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000007704 transition Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Abstract
The utility model belongs to the technical field of robots, and discloses a differential driving structure and a pipeline robot, wherein the differential driving structure comprises a driving module and two driven driving modules; the driving module comprises a first mounting seat, two first wheel shafts, two driving transmission shafts and two motors, wherein the two motors are respectively connected with the two driving transmission shafts in a transmission way, and the two driving transmission shafts are respectively connected with the two first wheel shafts in a transmission way; the driven driving module comprises a second mounting seat, two second wheel shafts and two driven transmission shafts extending along the front-rear direction, and the two driven transmission shafts are respectively connected with the two second wheel shafts in a transmission manner; the two ends of the driving transmission shaft are connected with the corresponding driven transmission shafts through the connecting sleeves, and the insertion depth of the driving transmission shaft and/or the driven transmission shaft in the connecting sleeves is adjustable; the pipeline robot comprises the differential driving structure; the differential driving structure is suitable for pipeline robots with different front and rear wheel tracks.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a differential driving structure and a pipeline robot.
Background
The pipeline robot is a robot device for inspecting a pipeline, and generally comprises a pipeline robot main body and a camera, wherein at present, a multi-wheeled mobile robot for the pipeline robot main body is provided with a driving structure in the pipeline robot main body so as to determine wheel rotation. When a curved pipeline needs to be inspected, a differential type pipeline robot is generally required, and a driving structure of the differential type pipeline robot is a differential driving structure, so that wheels on the left side and the right side can be driven to rotate at different speeds, and a pipeline robot main body is driven to turn.
In the differential driving structure of most of the prior differential type pipeline robots, front and rear wheel shafts are driven by a transmission shaft, the length of the transmission shaft is designed according to the front and rear wheel tracks of the differential type pipeline robots and is fixed and unchanged, and the transmission shaft is only matched with the specific differential type pipeline robots, so that the differential driving structure has poor applicability and cannot be suitable for the pipeline robots with different front and rear wheel tracks.
Disclosure of Invention
The utility model aims to provide a differential driving structure and a pipeline robot, wherein the differential driving structure is suitable for the pipeline robot with different front and rear wheel tracks.
In a first aspect, the present utility model provides a differential driving structure, including a driving module and two driven driving modules;
the driving module comprises a first mounting seat, two first wheel shafts which extend transversely and are coaxially arranged, two driving transmission shafts which extend in the front-rear direction and two motors, wherein the two motors are respectively connected with the two driving transmission shafts in a transmission way, and the two driving transmission shafts are respectively connected with the two first wheel shafts in a transmission way;
each driven driving module comprises a second mounting seat, two second wheel shafts which extend transversely and are coaxially arranged, and two driven transmission shafts which extend in the front-rear direction, wherein the two driven transmission shafts are respectively connected with the two second wheel shafts in a transmission manner;
the front ends of the two driving transmission shafts are respectively connected with the two driven transmission shafts of one driven driving module through connecting sleeves, and the rear ends of the two driving transmission shafts are respectively connected with the two driven transmission shafts of the other driven driving module through connecting sleeves; the insertion depth of the driving transmission shaft and/or the driven transmission shaft in the connecting sleeve is adjustable.
When the pipeline robot is used, the first wheel axle and the second wheel axle are connected with the wheels of the pipeline robot, and the distance between the driving module and the driven driving module can be adjusted by adjusting the insertion depth of the driving transmission shaft and/or the driven transmission shaft into the connecting sleeve, so that different front and rear wheel tracks are adapted; therefore, the differential drive structure is suitable for the pipeline robots with different front and rear wheel tracks.
Preferably, the connecting sleeve comprises a first connecting hole and a second connecting hole which are coaxially arranged, the driving transmission shaft is inserted into the first connecting hole and is connected with the first connecting hole in a key manner, and the driven transmission shaft is inserted into the second connecting hole and is connected with the second connecting hole in a key manner.
Preferably, a first locking hole and a second locking hole are formed in the wall of the connecting sleeve; the first locking hole is communicated with the first connecting hole and is used for allowing a locking screw to pass through so as to lock the axial position of the driving transmission shaft relative to the connecting sleeve; the second locking hole is communicated with the second connecting hole and is used for allowing a locking screw to pass through so as to lock the axial position of the driven transmission shaft relative to the connecting sleeve.
After the insertion depth of the driving transmission shaft and/or the driven transmission shaft into the connecting sleeve is adjusted, the driving transmission shaft and/or the driven transmission shaft can be locked through the locking screw, so that the driving requirements of different front and rear wheel tracks are met.
Preferably, the motor is in transmission connection with the corresponding driving transmission shaft through a gear transmission mechanism; the gear transmission mechanism is arranged in the first mounting seat.
Preferably, a first bevel gear is sleeved on the driving transmission shaft, a second bevel gear is sleeved at one end of the first wheel shaft, and the first bevel gear of the driving transmission shaft is meshed with the corresponding second bevel gear of the first wheel shaft; the first bevel gear and the second bevel gear are disposed in the first mount.
Preferably, a third bevel gear is sleeved on the driven transmission shaft, a fourth bevel gear is sleeved at one end of the second wheel shaft, and the third bevel gear of the driven transmission shaft is meshed with the fourth bevel gear of the corresponding second wheel shaft; the third bevel gear and the fourth bevel gear are arranged in the second mounting seat.
Preferably, the driven transmission shaft can reciprocate along the axial direction relative to the third bevel gear, and a third locking hole is formed in the third bevel gear and used for allowing a locking screw to pass through so as to lock the axial position of the driven transmission shaft relative to the third bevel gear.
Therefore, the axial position of the driven transmission shaft relative to the third bevel gear is adjustable, the adjusting range of the distance between the driving module and the driven driving module is further improved, and the applicability is further improved.
Preferably, a space-avoiding cavity is formed in the second mounting seat, and the driven transmission shaft penetrates through the third bevel gear to extend into the space-avoiding cavity.
Preferably, the driven transmission shaft is sleeved with a C-shaped limiting ring, and the C-shaped limiting ring is clamped on the driven transmission shaft and props against the second mounting seat to limit the driven transmission shaft.
In a second aspect, the present utility model provides a pipe robot, including a pipe robot body and a camera, where the pipe robot body includes the differential driving structure described above, and each of the first wheel axle and each of the second wheel axle of the differential driving structure is connected with one wheel.
The beneficial effects are that: according to the differential driving structure and the pipeline robot, when the differential driving structure is used, the first wheel shaft and the second wheel shaft are connected with the wheels of the pipeline robot, and the distance between the driving module and the driven driving module can be adjusted by adjusting the insertion depth of the driving transmission shaft and/or the driven transmission shaft into the connecting sleeve, so that different front and rear wheel tracks can be adapted; therefore, the differential drive structure is suitable for the pipeline robots with different front and rear wheel tracks.
Drawings
Fig. 1 is a perspective view of a differential drive structure according to an embodiment of the present utility model.
Fig. 2 is a side view of a differential drive structure provided in an embodiment of the present utility model.
Fig. 3 is a connection structure diagram among the driving transmission shaft, the driven transmission shaft and the connection sleeve.
Fig. 4 is a perspective view of an active driving module.
Fig. 5 is a transmission structure diagram among the motor, the drive transmission shaft and the first wheel axle.
Fig. 6 is a perspective view of the driven driving module.
Fig. 7 is a cross-sectional view of the driven drive module.
Fig. 8 is a cross-sectional view of a C-shaped stop collar.
Fig. 9 is a schematic structural diagram of a pipeline robot according to an embodiment of the present utility model.
Description of the reference numerals: 1. an active driving module; 2. a driven driving module; 3. a first mount; 4. a first axle; 401. a second bevel gear; 5. a drive transmission shaft; 501. a first bevel gear; 6. a motor; 7. a second mounting base; 701. a space avoidance cavity; 702. a weight reduction groove; 8. a second axle; 801. a fourth bevel gear; 9. a driven transmission shaft; 901. a third bevel gear; 902. a third locking hole; 10. a connecting sleeve; 1001. a first connection hole; 1002. a second connection hole; 1003. a first locking hole; 1004. a second locking hole; 11. a gear transmission mechanism; 1101. a drive gear; 1102. a driven gear; 1103. a transition gear; 12. c-shaped limiting rings; 1201. a notch; 1202. a C-shaped body; 1203. trepanning; 1204. a screw hole; 100. a pipe robot body; 101. a differential drive structure; 102. a wheel; 103. a base; 104. an upper cover; 200. a camera is provided.
Detailed Description
The following description of the embodiments of the present utility model 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 utility model, but not all embodiments. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present utility model.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present utility model, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1-8, a differential driving structure 101 according to some embodiments of the present utility model includes a driving module 1 and two driven driving modules 2;
the driving module 1 comprises a first mounting seat 3, two first wheel shafts 4 which extend transversely and are coaxially arranged, two driving transmission shafts 5 which extend in the front-rear direction and two motors 6, wherein the two motors 6 are respectively connected with the two driving transmission shafts 5 in a transmission manner, and the two driving transmission shafts 5 are respectively connected with the two first wheel shafts 4 in a transmission manner;
each driven driving module 2 comprises a second mounting seat 7, two second wheel shafts 8 which extend transversely and are coaxially arranged, and two driven transmission shafts 9 which extend in the front-rear direction, wherein the two driven transmission shafts 9 are respectively connected with the two second wheel shafts 8 in a transmission manner;
the front ends of the two driving transmission shafts 5 are respectively connected with two driven transmission shafts 9 of one driven driving module 2 through connecting sleeves 10, and the rear ends of the two driving transmission shafts 5 are respectively connected with two driven transmission shafts 9 of the other driven driving module 2 through connecting sleeves 10; the depth of insertion of the drive shaft 5 and/or the driven shaft 9 in the connecting sleeve 10 is adjustable.
When the pipeline robot is used, the first wheel axle 4 and the second wheel axle 8 are connected with the wheels 102 of the pipeline robot, and the distance between the driving module 1 and the driven driving module 2 can be adjusted by adjusting the insertion depth of the driving transmission shaft 5 and/or the driven transmission shaft 9 into the connecting sleeve 10, so that different front and rear wheel tracks are adapted; therefore, the differential drive structure 101 is suitable for a pipe robot having different front and rear wheel pitches.
The transverse direction and the front-rear direction herein are two directions perpendicular to each other, and the front-rear direction corresponds to the movement direction when the pipe robot makes a linear movement when the differential driving structure 101 is used, and the transverse direction corresponds to the left-right direction when the pipe robot makes a linear movement.
Specifically, referring to fig. 3, the connection sleeve 10 includes a first connection hole 1001 and a second connection hole 1002 coaxially provided, and the driving transmission shaft 5 is inserted into the first connection hole 1001 and is keyed to the first connection hole 1001, and the driven transmission shaft 9 is inserted into the second connection hole 1002 and is keyed to the second connection hole 1002. The distance between the driving module 1 and the driven driving module 2 can be adjusted by adjusting the insertion position of the driving transmission shaft 5 in the first connection hole 1001 and/or the insertion position of the driven transmission shaft 9 in the second connection hole 1002.
In practice, the driving transmission shaft 5 and the first connection hole 1001 and the driven transmission shaft 9 and the second connection hole 1002 are not limited to transmission by a key connection, and for example, the end portions of the driving transmission shaft 5 and the driven transmission shaft 9 inserted into the connection sleeve 10 may be set to a polygonal shape (such as a positive direction, a regular hexagon, etc.) or other non-circular shape, and the first connection hole 1001 and the second connection hole 1002 may be set to corresponding shapes.
Further, as shown in fig. 3, a first locking hole 1003 and a second locking hole 1004 are formed on the wall of the connecting sleeve 10; the first locking hole 1003 communicates with the first connection hole 1001 and is used for a locking screw to pass through to lock the axial position of the driving transmission shaft 5 relative to the connection sleeve 10; the second locking hole 1004 communicates with the second connecting hole 1002 and is used for passing a locking screw to lock the axial position of the driven transmission shaft 9 relative to the connecting sleeve 10. After the insertion depth of the driving transmission shaft 5 and/or the driven transmission shaft 9 into the connecting sleeve 10 is adjusted, the driving transmission shaft can be locked through locking screws, so that the driving transmission shaft is suitable for transmission requirements of different front and rear wheel tracks. Wherein, the number of the first locking holes 1003 and the second locking holes 1004 can be set according to actual needs.
In some embodiments, see fig. 4, 5, the motor 6 is in driving connection with the corresponding driving transmission shaft 5 through a gear transmission 11; the gear transmission 11 is disposed within the first mount 3. The number of gears included in the gear transmission mechanism 11 may be set according to actual needs, for example, in fig. 5, the gear transmission mechanism 11 includes a driving gear 1101, a driven gear 1102 and a transition gear 1103, the driving gear 1101 is sleeved on an output shaft of the motor 6, the driven gear 1102 is sleeved on the driving transmission shaft 5, the transition gear 1103 is disposed between the driving gear 1101 and the driven gear 1102, and the driving gear 1101 and the driven gear 1102 are both meshed with the transition gear 1103; by providing a transition gear 1103 between the driving gear 1101 and the driven gear 1102, the lateral dimensions of the first mount 3 are advantageously reduced due to the reduced diameters of the driving gear 1101 and the driven gear 1102.
Further, as shown in fig. 5, a first bevel gear 501 is sleeved on the driving transmission shaft 5, a second bevel gear 401 is sleeved on one end of the first wheel shaft 4, and the first bevel gear 501 of the driving transmission shaft 5 is meshed with the corresponding second bevel gear 401 of the first wheel shaft 4; a first bevel gear 501 and a second bevel gear 401 are provided in the first mount 3. The transmission between the mutually perpendicular drive transmission shaft 5 and the first wheel axle 4 is realized by means of a first bevel gear 501 and a second bevel gear 401.
Among them, the first bevel gear 501 and the driving shaft 5 and the second bevel gear 401 and the first wheel shaft 4 may be connected by a key connection, but not limited thereto.
Further, as shown in fig. 6 and 7, a third bevel gear 901 is sleeved on the driven transmission shaft 9, a fourth bevel gear 801 is sleeved on one end of the second wheel shaft 8, and the third bevel gear 901 of the driven transmission shaft 9 is meshed with the corresponding fourth bevel gear 801 of the second wheel shaft 8; a third bevel gear 901 and a fourth bevel gear 801 are provided in the second mount 7. The transmission between the driven transmission shaft 9 and the second wheel shaft 8, which are perpendicular to each other, is achieved by a third bevel gear 901 and a fourth bevel gear 801.
In some preferred embodiments, see fig. 6 and 7, the driven transmission shaft 9 is capable of axially reciprocating relative to the third bevel gear 901, and the third bevel gear 901 is provided with a third locking hole 902, and the third locking hole 902 is used for allowing a locking screw to pass through to lock the axial position of the driven transmission shaft 9 relative to the third bevel gear 901. Therefore, the axial position of the driven transmission shaft 9 relative to the third bevel gear 901 is adjustable, the adjusting range of the distance between the driving module 1 and the driven driving module 2 is further improved, and the applicability is further improved. Specifically, the third bevel gear 901 is provided with a through hole penetrating through the front and rear parts, and the driven transmission shaft 9 is slidably inserted into the through hole, wherein the third bevel gear 901 and the driven transmission shaft 9 can be connected by adopting a key connection mode, but the connection mode is not limited to the connection mode.
Further, as shown in fig. 7, a space avoiding cavity 701 is provided in the second mounting seat 7 for the driven transmission shaft 9 to extend into through the third bevel gear 901, so as to increase the axial position adjustment range of the driven transmission shaft 9 relative to the third bevel gear 901, and further increase the applicability of the differential driving structure 101.
Preferably, as seen in fig. 6, the second mounting seat 7 is provided with a plurality of weight reducing grooves 702 to reduce the weight of the differential drive structure 101.
In some preferred embodiments, see fig. 6 and 7, the driven transmission shaft 9 is sleeved with a C-shaped limiting ring 12, and the C-shaped limiting ring 12 is clamped on the driven transmission shaft 9 and abuts against the second mounting seat 7 to limit the driven transmission shaft 9. The driven transmission shaft 9 can be further positioned by the limiting force provided by the C-shaped limiting ring 12, and the axial position of the driven transmission shaft 9 is ensured to be accurate.
The C-shaped limiting ring 12 comprises a C-shaped main body 1202 provided with a notch 1201, a sleeve hole 1203 matched with the driven transmission shaft 9 is arranged at the center of the C-shaped main body 1202, the notch 1201 is communicated with the sleeve hole 1203 and the outer peripheral surface of the C-shaped main body 1202, a screw hole 1204 vertically penetrating through the notch 1201 is arranged on the C-shaped main body 1202, and the screw hole 1204 is used for installing a locking screw. The C-shaped limiting ring 12 can clamp the driven transmission shaft 9 by tightening the locking screw.
Referring to fig. 9, the present utility model provides a pipe robot including a pipe robot body 100 and a camera 200, the pipe robot body 100 including the differential driving structure 101 as described above, and one wheel 102 is connected to each of the first wheel axle 4 and each of the second wheel axles 8 of the differential driving structure 101.
Further, the pipe robot body 100 further includes a housing composed of a base 103 and an upper cover 104, in which the differential drive structure 101 is disposed.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present utility model and is not intended to limit the scope of the present utility model, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. The differential driving structure is characterized by comprising a driving module (1) and two driven driving modules (2);
the driving module (1) comprises a first mounting seat (3), two first wheel shafts (4) which extend transversely and are coaxially arranged, two driving transmission shafts (5) which extend in the front-rear direction and two motors (6), wherein the two motors (6) are respectively connected with the two driving transmission shafts (5) in a transmission manner, and the two driving transmission shafts (5) are respectively connected with the two first wheel shafts (4) in a transmission manner;
each driven driving module (2) comprises a second mounting seat (7), two second wheel shafts (8) which extend transversely and are coaxially arranged, and two driven transmission shafts (9) which extend in the front-rear direction, wherein the two driven transmission shafts (9) are respectively connected with the two second wheel shafts (8) in a transmission manner;
the front ends of the two driving transmission shafts (5) are respectively connected with the two driven transmission shafts (9) of one driven driving module (2) through connecting sleeves (10), and the rear ends of the two driving transmission shafts (5) are respectively connected with the two driven transmission shafts (9) of the other driven driving module (2) through connecting sleeves (10); the insertion depth of the driving transmission shaft (5) and/or the driven transmission shaft (9) in the connecting sleeve (10) is adjustable.
2. Differential drive structure according to claim 1, characterized in that the connection sleeve (10) comprises a first connection hole (1001) and a second connection hole (1002) coaxially arranged, the driving transmission shaft (5) being inserted into the first connection hole (1001) and keyed with the first connection hole (1001), the driven transmission shaft (9) being inserted into the second connection hole (1002) and keyed with the second connection hole (1002).
3. The differential drive structure according to claim 2, characterized in that the wall of the connecting sleeve (10) is provided with a first locking hole (1003) and a second locking hole (1004); the first locking hole (1003) is communicated with the first connecting hole (1001) and is used for a locking screw to pass through so as to lock the axial position of the driving transmission shaft (5) relative to the connecting sleeve (10); the second locking hole (1004) is communicated with the second connecting hole (1002) and is used for allowing a locking screw to pass through so as to lock the axial position of the driven transmission shaft (9) relative to the connecting sleeve (10).
4. Differential drive arrangement according to claim 1, characterized in that the motor (6) is in driving connection with the corresponding driving transmission shaft (5) via a gear transmission (11); the gear transmission mechanism (11) is arranged in the first mounting seat (3).
5. The differential drive structure according to claim 1, characterized in that a first bevel gear (501) is sleeved on the driving transmission shaft (5), a second bevel gear (401) is sleeved on one end of the first wheel shaft (4), and the first bevel gear (501) of the driving transmission shaft (5) is meshed with the corresponding second bevel gear (401) of the first wheel shaft (4); the first bevel gear (501) and the second bevel gear (401) are arranged in the first mounting seat (3).
6. The differential driving structure according to claim 1, characterized in that a third bevel gear (901) is sleeved on the driven transmission shaft (9), a fourth bevel gear (801) is sleeved on one end of the second wheel shaft (8), and the third bevel gear (901) of the driven transmission shaft (9) is meshed with the corresponding fourth bevel gear (801) of the second wheel shaft (8); the third bevel gear (901) and the fourth bevel gear (801) are arranged in the second mounting seat (7).
7. A differential drive arrangement according to claim 6, characterized in that the driven drive shaft (9) is axially reciprocable relative to the third bevel gear (901), the third bevel gear (901) being provided with a third locking hole (902), the third locking hole (902) being for a locking screw to pass through for locking the axial position of the driven drive shaft (9) relative to the third bevel gear (901).
8. A differential drive arrangement according to claim 7, characterized in that a clearance cavity (701) is provided in the second mounting seat (7) into which the driven drive shaft (9) extends through a portion of the third bevel gear (901).
9. The differential drive structure according to claim 7, characterized in that the driven transmission shaft (9) is sleeved with a C-shaped limiting ring (12), and the C-shaped limiting ring (12) is clamped on the driven transmission shaft (9) and abuts against the second mounting seat (7) to limit the driven transmission shaft (9).
10. A pipeline robot comprising a pipeline robot body (100) and a camera (200), characterized in that the pipeline robot body (100) comprises a differential drive structure (101) according to any one of claims 1-9, wherein each of the first wheel axle (4) and each of the second wheel axles (8) of the differential drive structure (101) is connected with one wheel (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321015775.7U CN219727869U (en) | 2023-04-28 | 2023-04-28 | Differential drive structure and pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321015775.7U CN219727869U (en) | 2023-04-28 | 2023-04-28 | Differential drive structure and pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219727869U true CN219727869U (en) | 2023-09-22 |
Family
ID=88025072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321015775.7U Active CN219727869U (en) | 2023-04-28 | 2023-04-28 | Differential drive structure and pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219727869U (en) |
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2023
- 2023-04-28 CN CN202321015775.7U patent/CN219727869U/en active Active
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