EP3782231A1 - Automatisierungsfähige anschlussklemme und verfahren zum kontaktieren eines leiters - Google Patents
Automatisierungsfähige anschlussklemme und verfahren zum kontaktieren eines leitersInfo
- Publication number
- EP3782231A1 EP3782231A1 EP19719781.7A EP19719781A EP3782231A1 EP 3782231 A1 EP3782231 A1 EP 3782231A1 EP 19719781 A EP19719781 A EP 19719781A EP 3782231 A1 EP3782231 A1 EP 3782231A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- tool
- conductor
- slider
- slide
- terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R4/00—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation
- H01R4/24—Connections using contact members penetrating or cutting insulation or cable strands
- H01R4/2416—Connections using contact members penetrating or cutting insulation or cable strands the contact members having insulation-cutting edges, e.g. of tuning fork type
- H01R4/242—Connections using contact members penetrating or cutting insulation or cable strands the contact members having insulation-cutting edges, e.g. of tuning fork type the contact members being plates having a single slot
- H01R4/2425—Flat plates, e.g. multi-layered flat plates
- H01R4/2429—Flat plates, e.g. multi-layered flat plates mounted in an insulating base
- H01R4/2433—Flat plates, e.g. multi-layered flat plates mounted in an insulating base one part of the base being movable to push the cable into the slot
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R4/00—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation
- H01R4/24—Connections using contact members penetrating or cutting insulation or cable strands
- H01R4/2416—Connections using contact members penetrating or cutting insulation or cable strands the contact members having insulation-cutting edges, e.g. of tuning fork type
- H01R4/242—Connections using contact members penetrating or cutting insulation or cable strands the contact members having insulation-cutting edges, e.g. of tuning fork type the contact members being plates having a single slot
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/46—Bases; Cases
- H01R13/502—Bases; Cases composed of different pieces
- H01R13/506—Bases; Cases composed of different pieces assembled by snap action of the parts
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
- H01R43/22—Hand tools
Definitions
- the present invention relates to a terminal and a method for contacting a conductor using such a terminal.
- the contacting of conductors to terminals is often done manually, since the terminals can not be automatically coupled with cable ends due to the mechanical connection technology used. In addition, the cable ends are traditionally prepared manually for connection.
- a conductor to be contacted at the conductor end is first stripped to expose the conductive core.
- the exposed end is then fitted with a wire end ferrule to ensure a reliable introduction and contact in the region of the nip.
- the determination of the conductor end can be done by screwing a jaw, or, if it is a "push-in" or direct connection, by introducing ren the conductor into a terminal opening, the Ein Industriesbewe movement the clamping of the conductor end by triggering a mechanical clamping mechanism causes.
- the present invention is based on the technical problem, an on-circuit terminal and a method for contacting a conductor indicate which do not have the aforementioned disadvantages or at least to a lesser extent, and in particular allow an auto matized terminal assignment.
- the invention relates to an on terminal, with a housing, with a slider and with a cutting contact, wherein the slider and the Schneidkon clock at least partially received in the housing, wherein the slider has an opening for insertion of a conductor to be contacted wherein the slider is movable from a first position towards the cutting contact to a second position to engage the cutting contact with the conductor to be contacted, and wherein
- Slider has a tool stop which is adapted to transfer a mounting force of a particular robot-guided mounting tool for moving the slider from the first to the second position on the slider.
- the terminal is therefore on the one hand by the Malawi impact for automated contacting a conductor appro net, and before contacting no stripping or preparing a conductor must be made, since a cutting contact is provided.
- the terminal therefore allows zügi ges automated contacting a conductor.
- the housing may have a guide to guide the slider ge rectilinearly from the first to the second position.
- a guide to guide the slider ge rectilinearly from the first to the second position.
- Slider is pivotable about a pivot axis to be transferred from the ers th position in the second position.
- the movement to transfer the slider from the first to the second position at least partially or completely rotationally.
- the cutting contact may be partially or completely formed of a metallic material.
- the cutting contact may be positively secured to the housing.
- the cutting contact one or more Garab sections have, which are inserted into grooves or recesses of the housing and set the cutting contact form-fitting manner to the housing.
- the housing has a further tool stop to support the mounting tool when moving the slider from the ers th in the second position on the housing.
- a resulting from the mounting force supporting force in particular be completely supportable on the housing.
- This allows an automated movement of the slider from the first to the second position, without the assembly forces acting on surrounding, adjacent to the housing components.
- a holding device such as a mounting wall, a mounting rail, a support rail or the like, be strengthened, act in the automated transfer of the slide bers from the first to the second position none of the Assembly force resulting reaction forces from the terminal clamp on the holding device, since the mounting force is supported on the other tool stop of the housing.
- the tool stop of the slider and the other tool stop of the housing are facing each other and zen a receptacle for insertion of a spreading tool.
- the tool stop of the slider and the further tool stop of the housing in the first position define a tubular opening into which a ge in the closed state mandrel-shaped expansion tool can be inserted.
- the opening may in particular be circular-cylindrical in order to favor the threading of a spreading tool which is also circularly shaped in the closed state.
- the spreading tool may have two prongs which, viewed in cross section, complement each other in the closed state of the tool to form a circular shape.
- a rectangular, oval, triangular or asymmetric cross-sectional shape is also applicable.
- a spreading tool can thus be inserted into the receptacle in the first position of the slider. Opening of the spreading tool causes the slider is transferred from the first to the second position, wherein the tool stop of the slider and the further tool stop of the housing in the second position of the slider to the Sp Schwarzhub of
- the tool stop of the slide and the further tool stop of the housing are spaced apart from each other and each form a receptacle for the introduction of a pressing tool.
- the tool stop of the slide and the other tool stop of the housing in the first position of the slide may each be arranged to receive the tines of an open pressing tool.
- a pressing tool can therefore be in the first position of the slider with his teeth in the respective recording leads are. Closing of the pressing tool causes the slider to be transferred from the first to the second position, wherein the tool stop of the slider and the further tool stop of the housing in the second position of the slider have been moved towards each other by the pressing stroke of the pressing tool.
- the assembly forces that are required to move the slider and to cut the insulating sheath of the conductor to be contacted in the course of this movement Be supported on the other tool stop of the slider on the housing.
- the opening of the slider is part of a rectilinearly extending, tubular conductor receiving.
- Conductor picking promotes automated insertion of a conductor since insertion can be accomplished by straight-line motion without reshaping the conductor during insertion.
- the conductor receptacle pa rallel to a receptacle for insertion of a tool he stretches, so that in particular a simultaneous
- the opening of the slide bers part of an at least partially curved extending, conductor receiving is.
- the opening of the slide bers part of an at least partially curved extending, conductor receiving is.
- the slider has a recess for receiving the cutting tool, wherein the cutting tool at least in the second position of the slider in the recess of
- a conductor receptacle is provided on two sides to the recess on the slider, so that a recorded in the conductor receiving conductor rests on both sides and spans the recess.
- the cutting tool may have fork-shaped projecting cutting edges ha to border a conductor to be contacted on both sides and to contact.
- the cutting can limit a cutting gap, in which a conductor to be contacted or a conductor end of a conductor to be contacted due to the movement of the slide Be from the first to the second position is performed.
- a latching device is provided in order to hold the slide positively and / or non-positively in the first position.
- the latching device may, for example, have groove and Fe, between which a snap connection is formed, which is releasable by applying force with a minimum Z force.
- a locking device may be provided to hold the slide positively and / or non-positively in the second position. This can ensure that the slider reliably remains ver in the second position to ensure a permanent contact between the cutting contact and the conductor to be contacted.
- the latching device may, for example, have tongue and groove, between which a snap connection is formed, which alsschlagung by Kraftbe with a minimum Z is solvable force.
- a first groove may be provided on a slider, which in the first position is in engagement with a first spring of the housing.
- a tensile force can be introduced into the snap connection to disperse groove and spring nondestructively and to move the slide from the first to the second position.
- a second groove formed on the slider may be locked to a second spring of the housing to lock the slider in the second position.
- the second snap connection is in particular non-destructive by exceeding a minimum Z solving force solvable.
- the invention relates to a procedural ren for contacting a conductor, with the Aidsschrit th: providing a terminal, wherein the
- Terminal is designed according to the invention; Providing a conductor to be contacted; Inserting the conductor into the opening of the slider; Moving the slider from a first position towards the cutting contact to a second position to engage the cutting contact with the conductor to be contacted, the cutting contact severing insulation of the conductor and engaging a conductive core of the conductor and wherein the movement of the slider is automated using the assembly tool of a robot.
- an automated contacting of a conductor allows, before stripping no stripping or preparing a Porterendabitess the conductor must be made, since a cutting contact is provided. It is therefore an automated contacting a conductor with a short process time allows.
- the terminal provided on a Hal te such as a mounting wall, a mounting rail or the like
- the housing of the terminal has another tool stop to the mounting tool when moving the slider from the first in the second posi tion to support the housing, wherein a mounting force of the mounting tool is substantially completely supported on the housing, so that substantially no forces are introduced into the holding device by moving the slider.
- substantially no forces means lying before that less than 10% of the forces required to support the assembly reaction forces are introduced into the holding device, in particular, that less than 5% of the reaction forces required to support the assembly forces are introduced into the holding device , in particular, that less than 2% of the reaction forces required for supporting the assembly forces are introduced into the holding device.
- Another embodiment of the method is characterized in that the movement of the slider from the first position to the second position is a linear movement. Such a movement can be carried out automatically in a simple manner.
- the assembly tool is a spreading tool that performs a spreading movement or the assembly tool is a pressing tool that performs a closing movement or a pressing movement.
- a further embodiment of the method is characterized in that the conductor to be contacted prior to the introduction of the conductor into the opening of the slide is not reserved delt, in particular not from-isolated and / or
- Figure 1 shows a terminal according to the invention in a per-perspective view.
- FIG. 2 shows the connection terminal of FIG. 1 with a conductor to be contacted
- FIG. 3 shows the connection terminal of FIG. 1 with a conductor and a tool to be contacted
- FIG. 4 the terminal of Figure 1 with a kontak-ended conductor and a tool.
- FIG. 5 the terminal of Figure 1 with a kontak-related conductor and a tool.
- FIG. 6 shows another terminal according to the invention in egg ner perspective view.
- FIG. 7 shows the connection terminal from FIG. 6 with a conductor to be contacted
- Fig. 10 the terminal of Figure 9 with a kontak-related conductor.
- FIG. 11 the terminal of Fig. 9 with a kontak-ended conductor.
- Fig. 1 shows a connecting terminal 2 according to the invention in a perspective view.
- the terminal 2 has a Ge housing 4, a slider 6 and a cutting contact 8.
- the slider 6 and the cutting contact 8 are at least partially included in the housing 4.
- the slider 6 has an opening 10 for insertion of a conductor 12 to be contacted.
- the slider 6 is movable from a first position (FIG. 1) in the direction of the cutting contact 8 to a second position (FIG. 5). In this way, the cutting contact 6 is brought into engagement with the conductor 12 to be contacted.
- the slider 6 has a tool stop 14, which is directed to a mounting force of a robot-mounted mounting tool 16 (Fig. 3) for moving the slider 6 from the first to the second position on the slider 6 to transmis conditions.
- the housing 4 has another tool stop 18.
- the tool stop 18 is used to support the mounting tool 16 when moving the slider 6 from the first to the second position on the housing 4. In this way, the force introduced by the tool 16 on the slide 6 assembly force can be fully supported on the housing 4 Ge, so that when moving the slider 6 from the first position to the second position no forces on a holding device (not shown) act, where the terminal 2 is mounted in the assembled state.
- the force acting on the slide 6 assembly force and there resulting out, acting on the tool stop 14 reac tion force or support force therefore cancel each other with respect to a holding device to which the terminal 2 is fixed, mutually.
- the tool stop 14 of the slide 6 and the further tool stop 18 of the housing 4 in the in Fig. In the FIG.
- the opening 10 of the slider 6 is in this case part of a GE rectilinearly extending, tubular conductor receiving 22.
- the Lei terage 22 is present along its longitudinal extent considered parallel to the tubular receptacle 20 oriented.
- the slide 6 further has a recess 24 for receiving the cutting tool 8.
- the cutting tool 8 is in the first position (Fig. 1) of the slider 6 and in the second position (Fig. 5) of the slider 6 in the receptacle 24 of the slider. 6 cantilevered.
- the cutting tool 8 has fork-shaped projecting cutting edges 26 to border the conductor 12 to be contacted on both sides and to contact.
- the terminal 2 has a locking device 28 to hold the slide 6 positively and non-positively in the first Po position.
- the latching device 28 has a housing 4 formed on the Ge spring 30 and one on the slider. 6
- Another latching device 34 is used to Festle conditions of the slider 6 in the second position (Fig. 5), wherein the latching device 34 has a spring 36 formed on the housing 4 and provided on the slider 6 groove 38 has.
- the inven tion proper connection terminal 2 is first provided.
- the slider 6 is in the position shown in Fig. 1, the first Po tion, wherein the slider 6 is held by the formed between the spring 30 and the groove 32 snap connection in the first posi tion.
- the conductor 12 to be contacted is provided and automatically inserted into the opening 10 of the slider 6 (FIG. 2).
- the conductor 12 extends along the conductor receptacle 22 over the recess 24, so that the conductor 12 is supported on two sides.
- the spreading tool 16 is provided and leads into the receptacle 20.
- tines 40, 42 of the spreading tool 16 are moved apart to move the slider 6 from the first position to the second position shown in Figure 5. Since at the cutting contact 8 is brought into contact with the conductor 12, wherein the cutting contact 8 an insulation of the Lei age 12 cuts and is brought into contact with a conductive core of the conductor 12.
- the movement of the slider 6, he follows automatically using the mounted on a robot mounting tool 16. Moving the slider 6 from the ers th position to the second position is in the present case as a straight-line movement.
- FIG. 6 describes a further erfindungsge Permitted terminal 44 in a perspective view. To avoid repetition, only the differences from the above-described Ausry insurance example will be discussed below, wherein like reference numerals are assigned to the same features.
- the terminal 44 has a slider 46, the first Po position is shown in Fig. 6. In the first position, the slider 46 is partially extending beyond the housing 2 from cantilevered.
- the slider 46 has a tool stop 48 which is directed to transmit an assembly force of a robot-guided mounting tool for moving the slider 46 from the first position (FIG. 6) to the second position (FIG. 8) on the slider 46.
- a pressure force is exerted unilaterally on the tool stop 48 of the slider 46, so that the slider 46 is engaged in the housing 2.
- a latching device 50 initially forms a resistor, wherein the latching device can be displaced by applying a minimum force in the direction of the slider 6 Rich.
- the slider 46 has a curved extended, tubular Lei terage 52.
- a conductor 12 is therefore deformed end by insertion into the conductor receiving 52, so that the externa ßere lateral surface of the conductor 12 is the cutting tool 8 is applied.
- Figures 9, 10 and 11 show a furtherconstrusbei play a connecting terminal 54 according to the invention, which differs from the embodiment described with reference to FIGS 1-5 that the slider 56 through a pressing tool from the first posi tion shown in Fig. 9 in the second position shown in Fig. 11 is movable.
- a tool stop 58 of the slider 56 and a tool stop stop 60 of the housing 2 in the first position shown in FIG. 9 are first spaced apart by a pressing stroke to be performed, and are by inserting tines of a pressing tool in the receptacles 58, 60 and a subsequent merge of the tines approached each other.
- a movement of the slider 56 in Rich tion of the cutting contact 8 in contrast to the embodiment described above, therefore, not by opening a Sp Schwarzwerkmaschines, but by closing a pressing tool.
- the assembly and reaction forces cancel each other, so that a holding device (not shown) on which the terminal is held in the fully assembled state, no burden of assembly forces or resulting reaction forces undergoes.
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Manufacturing Of Electrical Connectors (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018109489.2A DE102018109489A1 (de) | 2018-04-20 | 2018-04-20 | Automatisierungsfähige Anschlussklemme und Verfahren zum Kontaktieren eines Leiters |
| PCT/EP2019/059639 WO2019201841A1 (de) | 2018-04-20 | 2019-04-15 | Automatisierungsfähige anschlussklemme und verfahren zum kontaktieren eines leiters |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3782231A1 true EP3782231A1 (de) | 2021-02-24 |
| EP3782231B1 EP3782231B1 (de) | 2025-03-19 |
Family
ID=66290385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP19719781.7A Active EP3782231B1 (de) | 2018-04-20 | 2019-04-15 | Automatisierungsfähige anschlussklemme und verfahren zum kontaktieren eines leiters |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US11381008B2 (de) |
| EP (1) | EP3782231B1 (de) |
| CN (1) | CN112020797B (de) |
| DE (1) | DE102018109489A1 (de) |
| WO (1) | WO2019201841A1 (de) |
Family Cites Families (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE268089C (de) | ||||
| DE2902536C2 (de) * | 1979-01-24 | 1980-12-18 | C. A. Weidmueller Kg, 4930 Detmold | Reihenklemme |
| FR2503464A1 (fr) * | 1981-04-03 | 1982-10-08 | Alsthom Cgee | Bloc de jonction a raccordement electrique sans denudage |
| DD268089A1 (de) * | 1987-12-14 | 1989-05-17 | Geraete & Regler Werke Veb | Schraubenlose anschlussklemme |
| FR2710785B1 (fr) * | 1993-09-28 | 1995-11-10 | Alcatel Cable Interface | Dispositif de raccordement fiabilisé. |
| FR2718295B1 (fr) * | 1994-03-30 | 1996-04-26 | Alcatel Cable Interface | Poussoir de raccordement et réglette de connexion équipée de tels poussoirs. |
| FR2722033B1 (fr) * | 1994-07-04 | 1996-08-02 | Entrelec Sa | Module de raccordement electrique a piece de connexion du type a fente de retenue de fil dotee d'une embouchure denudante |
| DE4437022C1 (de) * | 1994-10-08 | 1996-02-22 | Krone Ag | Anschlußelement |
| DE19628116C1 (de) * | 1996-07-12 | 1997-10-16 | Weidmueller Interface | Ein- oder mehrpoliger Steckverbinder für Einzelleiter |
| JPH10106371A (ja) * | 1996-09-27 | 1998-04-24 | Harness Sogo Gijutsu Kenkyusho:Kk | ワイヤーハーネスの製造 |
| DE29802412U1 (de) * | 1998-02-13 | 1998-05-14 | Phoenix Contact Gmbh & Co., 32825 Blomberg | Schneidanschlußverbinder |
| DE29802674U1 (de) * | 1998-02-17 | 1998-04-16 | Weidmueller Interface | Reihenklemme mit isolationsdurchdringendem Leiteranschluß |
| DE19835459C2 (de) * | 1998-08-06 | 2002-12-19 | Phoenix Contact Gmbh & Co | Anschlußklemme für elektrische Leiter |
| CA2364673C (en) * | 1999-05-14 | 2006-08-22 | Wieland Electric Gmbh | Screwless terminal |
| DE10039961C1 (de) * | 2000-08-16 | 2002-02-28 | Siemens Ag | Elektrisches Gerät |
| DE20214727U1 (de) * | 2001-09-26 | 2003-02-20 | Wieland Electric GmbH, 96052 Bamberg | Anschlussklemme |
| DE10256719A1 (de) * | 2002-12-04 | 2004-07-15 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Elektrische Kontaktstruktur sowie Verfahren zur Herstellung derselben |
| DE50306441D1 (de) * | 2003-12-08 | 2007-03-22 | Siemens Ag | Vorrichtung zur Kontaktierung eines elektrischen Leiters |
| DE202005012792U1 (de) * | 2005-08-11 | 2006-02-16 | Phoenix Contact Gmbh & Co. Kg | Elektrische Klemme |
| FR2918805B1 (fr) * | 2007-07-09 | 2009-09-25 | Amphenol Air Lb Soc Par Action | Borne de raccordement electrique autodenudante. |
| US7976334B2 (en) * | 2009-09-10 | 2011-07-12 | Avx Corporation | Capped insulation displacement connector (IDC) |
| DE202009013342U1 (de) * | 2009-10-13 | 2011-02-24 | Weidmüller Interface GmbH & Co. KG | Elektrisches Gerät, insbesondere Reihenklemme, mit Direktsteckanschlüssen |
| DE102010029714A1 (de) * | 2010-04-08 | 2011-10-13 | Tyco Electronics Amp Gmbh | Elektrische Federklemmeinrichtung, Stanzgitter, Stromschiene und elektrische Anschlussvorrichtung |
| CN204190007U (zh) * | 2014-09-16 | 2015-03-04 | 施耐德电器工业公司 | 快速接线装置及端子接线组件 |
| DE202016003374U1 (de) * | 2016-05-27 | 2016-08-25 | Horst-Helmut Tenham | Abisolierfreie Anschlussklemme für Massivleiter (Litze) |
-
2018
- 2018-04-20 DE DE102018109489.2A patent/DE102018109489A1/de active Pending
-
2019
- 2019-04-15 WO PCT/EP2019/059639 patent/WO2019201841A1/de not_active Ceased
- 2019-04-15 US US17/048,968 patent/US11381008B2/en active Active
- 2019-04-15 EP EP19719781.7A patent/EP3782231B1/de active Active
- 2019-04-15 CN CN201980026654.2A patent/CN112020797B/zh active Active
Also Published As
| Publication number | Publication date |
|---|---|
| DE102018109489A1 (de) | 2019-10-24 |
| EP3782231B1 (de) | 2025-03-19 |
| US11381008B2 (en) | 2022-07-05 |
| WO2019201841A1 (de) | 2019-10-24 |
| US20210151906A1 (en) | 2021-05-20 |
| CN112020797B (zh) | 2022-08-26 |
| CN112020797A (zh) | 2020-12-01 |
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