JP6816764B2 - 故障検知装置 - Google Patents
故障検知装置 Download PDFInfo
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- JP6816764B2 JP6816764B2 JP2018509666A JP2018509666A JP6816764B2 JP 6816764 B2 JP6816764 B2 JP 6816764B2 JP 2018509666 A JP2018509666 A JP 2018509666A JP 2018509666 A JP2018509666 A JP 2018509666A JP 6816764 B2 JP6816764 B2 JP 6816764B2
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- 238000001514 detection method Methods 0.000 title claims description 40
- 230000006837 decompression Effects 0.000 claims description 36
- 230000007935 neutral effect Effects 0.000 claims description 26
- 238000003745 diagnosis Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 239000003921 oil Substances 0.000 description 45
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 12
- 238000011109 contamination Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/008—Valve failure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/355—Pilot pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/36—Pilot pressure sensing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/575—Pilot pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
- F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/67—Methods for controlling pilot pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/855—Testing of fluid pressure systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/857—Monitoring of fluid pressure systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
- F15B2211/8636—Circuit failure, e.g. valve or hose failure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/87—Detection of failures
Description
パイロット圧源と、
アクチュエータに作動圧を供給するコントロール弁に対してパイロット圧を供給するパイロット圧供給部と、
前記パイロット圧源と前記パイロット圧供給部とを接続するパイロット油路と、
前記パイロット油路に配置され、前記パイロット油路の圧力を制御する圧力制御部と、を備えるパイロット回路の故障検知装置であって、
前記パイロット油路における前記圧力制御部のパイロット圧供給方向下流側の圧力を計測する圧力センサーと、
前記アクチュエータを動作させるための操作を受け付ける操作レバーが中立状態に戻されることに伴い、前記圧力制御部を制御して前記パイロット油路の圧力を順次切り換え、このときの前記圧力センサーの計測結果に基づいて故障診断を行うコントローラと、を備えることを特徴とする。
1A メイン回路
1B 油圧パイロット回路
1C 故障検知装置
2 パイロット圧源
6 パイロット圧アンロード用ソレノイド弁(圧力制御部)
7 コントローラ
10 減圧ユニット(圧力制御部)
11 パイロット圧減圧切換ソレノイド弁
12 減圧弁
5、13 パイロット油路
14 リモコン弁(パイロット圧供給部)
15 操作レバー
18 圧力センサー
20 コントロール弁
22 アクチュエータ
Claims (5)
- パイロット圧源と、
アクチュエータに作動圧を供給するコントロール弁に対してパイロット圧を供給するパイロット圧供給部と、
前記パイロット圧源と前記パイロット圧供給部とを接続するパイロット油路と、
前記パイロット油路に配置され、前記パイロット油路の圧力を制御する圧力制御部と、を備えるパイロット回路の故障検知装置であって、
前記パイロット油路における前記圧力制御部のパイロット圧供給方向下流側の圧力を計測する圧力センサーと、
前記アクチュエータを動作させるための操作を受け付ける操作レバーが中立状態に戻されることに伴い、前記圧力制御部を制御して前記パイロット油路の圧力を順次切り換え、このときの前記圧力センサーの計測結果に基づいて故障診断を行うコントローラと、を備えることを特徴とする故障検知装置。 - 前記圧力制御部は、前記パイロット回路をオンロード状態又はアンロード状態に切り換えるパイロット圧アンロード用ソレノイド弁を含むことを特徴とする請求項1に記載の故障検知装置。
- 前記圧力制御部は、前記パイロット圧アンロード用ソレノイド弁のパイロット圧供給方向下流側に配置され、前記オンロード状態となっている前記パイロット回路を減圧状態又は非減圧状態に切り換える減圧ユニットと、を含むことを特徴とする請求項2に記載の故障検知装置。
- 前記コントローラは、前記操作レバーが中立状態に戻された後のオンロード非減圧状態における第1の圧力と、前記操作レバーが前記中立状態に戻されてからA時間経過後のオンロード減圧状態における第2の圧力と、前記操作レバーが前記中立状態に戻されてから(A+B)時間経過後のアンロード状態における第3の圧力と、に基づいて故障診断を行うことを特徴とする請求項3に記載の故障検知装置。
- 前記コントローラは、前記第1の圧力、前記第2の圧力及び前記第3の圧力と、それぞれに対応して予め設定された判定値とを比較することにより故障診断を行うことを特徴とする請求項4に記載の故障検知装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016070993 | 2016-03-31 | ||
JP2016070993 | 2016-03-31 | ||
PCT/JP2017/013646 WO2017171022A1 (ja) | 2016-03-31 | 2017-03-31 | 故障検知装置 |
Publications (2)
Publication Number | Publication Date |
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JPWO2017171022A1 JPWO2017171022A1 (ja) | 2019-02-07 |
JP6816764B2 true JP6816764B2 (ja) | 2021-01-20 |
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Family Applications (1)
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JP2018509666A Active JP6816764B2 (ja) | 2016-03-31 | 2017-03-31 | 故障検知装置 |
Country Status (5)
Country | Link |
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US (1) | US10920804B2 (ja) |
EP (1) | EP3438470B1 (ja) |
JP (1) | JP6816764B2 (ja) |
CN (1) | CN108779792B (ja) |
WO (1) | WO2017171022A1 (ja) |
Families Citing this family (4)
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CN109268347B (zh) * | 2018-11-26 | 2024-02-13 | 湖北华电江陵发电有限公司 | 一种发电机组及其汽轮机遮断预警系统 |
CN113007159B (zh) * | 2021-02-09 | 2023-03-10 | 中国煤炭科工集团太原研究院有限公司 | 液压张紧方法、液压张紧装置和连续采煤机 |
CN114295349B (zh) * | 2021-12-23 | 2023-11-17 | 广东华控汽车科技有限公司 | 一种节气门体功能测试设备 |
CN114439815A (zh) * | 2022-01-25 | 2022-05-06 | 北京三一智造科技有限公司 | 回转缓冲阀用测试系统及测试主机 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
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US3910314A (en) * | 1973-08-16 | 1975-10-07 | Koehring Co | High-speed shutoff and dump valve |
JP2556838Y2 (ja) * | 1992-12-28 | 1997-12-08 | 東洋運搬機株式会社 | 荷役車両の油圧回路 |
JPH08210307A (ja) | 1995-02-07 | 1996-08-20 | Shin Caterpillar Mitsubishi Ltd | アタッチメント作動油圧回路 |
JP3277986B2 (ja) * | 1997-05-14 | 2002-04-22 | 日立建機株式会社 | 油圧式建設作業機械の制御装置 |
JPH11294402A (ja) * | 1998-04-13 | 1999-10-26 | Shin Caterpillar Mitsubishi Ltd | 油圧弁制御装置 |
CN100350159C (zh) * | 2001-01-19 | 2007-11-21 | 日立建机株式会社 | 液压马达的故障检测装置 |
CN1736829A (zh) * | 2004-08-21 | 2006-02-22 | 山东临工工程机械有限公司 | 装载机工作液压系统嵌入式故障诊断装置 |
JP4896774B2 (ja) * | 2007-02-28 | 2012-03-14 | 日立建機株式会社 | 油圧作業機械の安全装置 |
CN102561450B (zh) * | 2012-02-20 | 2014-06-25 | 上海三一重机有限公司 | 一种挖掘机电控主泵切换为液控的控制结构及控制方法 |
CN103046610B (zh) * | 2012-12-28 | 2015-09-02 | 三一重机有限公司 | 一种行走信号检测装置及行走机械 |
JP6474908B2 (ja) * | 2015-09-25 | 2019-02-27 | 日立建機株式会社 | 作業機械の油圧システム |
CN108884846B (zh) * | 2016-03-24 | 2020-05-15 | 株式会社多田野 | 故障诊断装置 |
JP6487872B2 (ja) * | 2016-03-30 | 2019-03-20 | 日立建機株式会社 | 作業機械の駆動制御装置 |
JP6731373B2 (ja) * | 2017-03-30 | 2020-07-29 | 日立建機株式会社 | 建設機械 |
-
2017
- 2017-03-31 US US16/086,080 patent/US10920804B2/en active Active
- 2017-03-31 JP JP2018509666A patent/JP6816764B2/ja active Active
- 2017-03-31 EP EP17775553.5A patent/EP3438470B1/en active Active
- 2017-03-31 WO PCT/JP2017/013646 patent/WO2017171022A1/ja active Application Filing
- 2017-03-31 CN CN201780018713.2A patent/CN108779792B/zh active Active
Also Published As
Publication number | Publication date |
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EP3438470A4 (en) | 2019-11-06 |
EP3438470B1 (en) | 2022-01-26 |
WO2017171022A1 (ja) | 2017-10-05 |
US20200291971A1 (en) | 2020-09-17 |
CN108779792A (zh) | 2018-11-09 |
EP3438470A1 (en) | 2019-02-06 |
US10920804B2 (en) | 2021-02-16 |
JPWO2017171022A1 (ja) | 2019-02-07 |
CN108779792B (zh) | 2020-10-27 |
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