WO2017177617A1 - 运送托盘及包括其的运输机器人 - Google Patents
运送托盘及包括其的运输机器人 Download PDFInfo
- Publication number
- WO2017177617A1 WO2017177617A1 PCT/CN2016/099330 CN2016099330W WO2017177617A1 WO 2017177617 A1 WO2017177617 A1 WO 2017177617A1 CN 2016099330 W CN2016099330 W CN 2016099330W WO 2017177617 A1 WO2017177617 A1 WO 2017177617A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- permanent magnet
- coil
- fixed
- movable
- transport tray
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/06—Serving trays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D19/0002—Platforms, i.e. load supporting devices without provision for handling by a forklift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D19/0004—Rigid pallets without side walls
- B65D19/0006—Rigid pallets without side walls the load supporting surface being made of a single element
- B65D19/0008—Rigid pallets without side walls the load supporting surface being made of a single element forming a continuous plane contact surface
- B65D19/001—Rigid pallets without side walls the load supporting surface being made of a single element forming a continuous plane contact surface the base surface being made of a single element
- B65D19/0012—Rigid pallets without side walls the load supporting surface being made of a single element forming a continuous plane contact surface the base surface being made of a single element forming a continuous plane contact surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D19/38—Details or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D2519/00004—Details relating to pallets
- B65D2519/00258—Overall construction
- B65D2519/00263—Overall construction of the pallet
- B65D2519/00273—Overall construction of the pallet made of more than one piece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D2519/00004—Details relating to pallets
- B65D2519/00736—Details
- B65D2519/00776—Accessories for manipulating the pallet
Definitions
- the present application relates to the field of robot technology, and in particular, to a transport tray and a transport robot including the transport tray.
- a robot is a machine that automatically performs work. It is the product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics, and can accept both human command and pre-programmed procedures, as well as action principles based on artificial intelligence techniques. Robots can assist or replace humans in performing certain operations, such as production line operations, construction operations, or certain high-risk operations, and thus have important applications in industrial, medical, agricultural, and military fields.
- the feeding robot generally adopts anthropomorphic appearance, and the hands are lifted on the chest to transport the tray, and the foot is driven by the motor wheel drive.
- the food delivery robot is equipped with a dedicated track that uses a photoelectric sensor or camera to identify the track and position it. Feeding a meal with a feeding robot can reduce the number of service staff in the restaurant and enhance the brand image of the restaurant.
- Embodiments of the present invention provide a transport tray, including a fixed disk, a movable disk movable relative to the fixed disk, a plurality of anti-sloshing actuators disposed on the fixed disk, a shaking detecting device disposed on the movable plate, and a control device, wherein: the shake detecting device is configured to detect shaking information of the movable disk or the fixed disk; the control device is configured to control the plurality of anti-sloshing actuators according to the shaking information of the movable disk or the fixed disk Drive the movable disk toward and Shake in the opposite direction.
- the anti-sloshing actuator drives the movable disc to move in a direction opposite to the sway direction, thereby compensating for the sloshing of the transport tray, so that the transport tray is relatively stable, thereby preventing The food or liquid on the transport tray is spilled, so that the transport object is safer.
- the fixed disk has an accommodating space
- the movable disk is disposed in the accommodating space of the fixed disk and horizontally movable relative to the fixed disk
- the plurality of anti-sloshing actuators are disposed on the side of the movable disk Between the inner side wall of the fixed plate.
- the movable disc is a rectangular movable disc
- an anti-sloshing actuator is respectively disposed between at least two adjacent sides of the rectangular movable disc and the inner side wall of the fixed disc.
- the bottom of the movable plate is provided with balls, or the inner bottom wall of the fixed plate is provided with balls.
- the frictional force of the movable disk relative to the fixed disk can be reduced.
- the anti-slosh actuator includes: a connecting post, a housing, and a fixing post disposed in the housing, the first coil, the plurality of first permanent magnets, and the elastic member, wherein: the housing includes a base, a top cover and a yoke between the base and the top cover, the top cover having a through hole for avoiding the first coil and the fixing post, the connecting post being connected to the fixing post through the through hole of the top cover; The first coil is sleeved on the outer side of the fixed column, and the plurality of first permanent magnets are arranged to surround the first coil and the one side facing the first coil is magnetically identical, the yoke and the plurality of first permanent magnets The outer side is fixedly connected, and the elastic member connects the outer casing and the fixing post.
- the elastic member is a planar spring
- the planar spring comprises an outer ring, an inner ring and a spring wire connecting the outer ring and the inner ring, the inner ring is fixedly connected with the fixing post, and the outer ring is fixed to the outer casing connection.
- planar springs are two, wherein one planar spring is adjacent to the top cover and has an outer ring connected to the top cover, the other planar spring is adjacent to the base and has an outer ring connected to the base .
- the first coil is a rectangular loop coil
- the number of the first permanent magnets is four
- the four first permanent magnets are disposed adjacent to the four sides of the first coil.
- the connecting post is fixedly connected to the movable plate.
- the anti-sloshing actuator is fixedly connected to the movable plate through the connecting post, and can provide not only the movable plate but also the movable plate.
- the swaying thrust in the opposite direction can also provide the movable disk with a pulling force opposite to the swaying direction, thereby greatly reducing the swaying phenomenon of the transporting tray of the transport robot.
- the fixing post is a magnetically conductive fixing column.
- the transport tray includes a permanent magnet fixture
- the anti-slosh actuator includes: a second coil, the second coil is fixedly coupled to the movable disc; and is located at both ends of the second coil and a first permanent magnet group and a second permanent magnet group are disposed at intervals of the second coil, the first permanent magnet group is fixedly connected to the permanent magnet fixing member, the second permanent magnet group is fixedly connected to the fixed disc; the return spring, the return spring One end is connected to the fixed plate and the other end is connected to the movable plate.
- the first permanent magnet group includes a second permanent magnet and a third permanent magnet
- the second permanent magnet group includes a fourth permanent magnet and a fifth permanent magnet respectively positioned opposite to the second permanent magnet and the third permanent magnet.
- the second permanent magnet and the third permanent magnet are magnetically opposite to a side of the second coil
- the fourth permanent magnet and the fifth permanent magnet are magnetically opposite to a side of the second coil
- the second permanent magnet and the second permanent magnet The side of the four permanent magnets facing the second coil is magnetically opposite.
- the sway detecting device comprises a gyroscope or an accelerometer.
- An embodiment of the present invention further provides a transport robot, including a transport tray of the transport robot according to any one of the above technical solutions.
- the transport robot has strong anti-swaying ability and is highly safe when transporting objects.
- FIG. 1 is a top plan view of a shipping tray in accordance with an embodiment of the present invention.
- Figure 2 is a cross-sectional view of a transport tray in accordance with a first embodiment of the present invention
- FIG. 3 is a schematic structural view of a sloshing actuator according to a first embodiment of the present invention
- Figure 4 is a cross-sectional view of a sloshing actuator in accordance with a first embodiment of the present invention
- Figure 5 is an exploded view of a sloshing actuator according to a first embodiment of the present invention.
- Figure 6 is a plan view of an elastic member according to a first embodiment of the present invention.
- Figure 7 is a plan view of a transport tray in accordance with a second embodiment of the present invention.
- Figure 8 is a view showing the transport tray removed from the permanent magnet fixing member according to the second embodiment of the present invention.
- Figure 9 is a cross-sectional view of a transport tray in accordance with a second embodiment of the present invention.
- the embodiment of the invention provides a transport robot and a transport robot.
- a transport tray of a transport robot includes a fixed disc 10 , a movable disc 11 movable relative to the fixed disc, and a plurality of anti-slosh actuators 12 disposed on the fixed disc.
- the shake detecting device 14 is for detecting the shaking information of the movable disk or the fixed disk. It should be appreciated that in addition to the position shown in Figure 1, it may be located elsewhere.
- the control device 13 is electrically connected to the sway detecting device 14 and the plurality of anti-sloshing actuators 12 for controlling a plurality of anti-sloshing actuators to drive the movable disc to face the swaying direction according to the swaying information of the movable or fixed disc The direction of movement.
- the shaking information of the movable disk or the fixed disk may specifically include the shaking amplitude and the shaking direction of the movable disk or the fixed disk, and the like.
- the specific type of the shake detecting device is not limited, and may be, for example, a gyroscope or an accelerometer or the like.
- the specific mounting position of the anti-sloshing actuator is not limited to the position shown in the drawing, and may be mounted, for example, on the upper and lower sides of the movable plate or on the left and right sides.
- the anti-slosh actuator can compensate for the sway of the transport tray.
- the anti-sloshing actuator drives the movable disc to move in a direction opposite to the sway direction, thereby compensating and compensating for the sway of the transport tray, thereby making the transport tray relatively stable, thereby It prevents the food or liquid on the transport tray from spilling out, so the safety of the transported object is high.
- the fixed disk 10 has an accommodating space
- the movable disk 11 is disposed in the accommodating space of the fixed disk and horizontally movable relative to the fixed disk, and the plurality of anti-sloshing actuators 12 are disposed at The side of the movable plate 11 is between the side wall of the fixed disk 10.
- the movable plate is a rectangular movable plate
- the anti-sloshing actuator is respectively disposed between at least two adjacent sides of the rectangular movable plate and the inner side wall of the fixed plate.
- the anti-sloshing actuator can apply a pulling force or a thrust opposite to the swaying direction to the movable disc, thereby completing the sway compensation process for the transport tray.
- the bottom of the movable disk is provided with a roll
- the beads 15, or the inner bottom wall of the fixed plate, are provided with balls 15.
- the specific type of construction of the anti-slosh actuator is not limited to the examples shown herein.
- the structure of the anti-sloshing actuator will be described below by merely referring to two specific embodiments, but the structure of the anti-sloshing actuator is not limited thereto, and may be, for example, a drive motor or the like. Further, the structure of the anti-sloshing actuator based on the principle of the present invention is within the scope of the present invention.
- the anti-sloshing actuator includes:
- the outer casing includes a base 128, a top cover 122 and a yoke 124 between the base and the top cover.
- the top cover has a through hole 121 for avoiding the first coil and the fixing post, and the connecting post 120 passes through the through hole 121 of the top cover and the fixed post. 125 fixed connection;
- the first coil 126 is sleeved outside the fixing post 125, and the plurality of first permanent magnets 127 are disposed around the first coil 126 and face the first coil 126 with the same polarity, and the yoke 124 and the outer sides of the plurality of first permanent magnets 127
- the elastic member 123 is connected to the outer casing and the fixing post 125.
- the control device is electrically coupled to the sway detection device and the anti-slosh actuator.
- the control device sends an electrical signal to the anti-slosh actuator.
- the first coil 126 is energized, and the plurality of first permanent magnets 127 have the same magnetic force toward the side of the first coil 126.
- the coil 126 will be subjected to an Ampoule force in the direction toward or away from the base, the direction of the Ampoule being set opposite to the direction of the shaking of the transport tray.
- the anti-sloshing actuator drives the movable disk to move in a direction opposite to the swaying direction, completing the sway compensation process for the transport tray.
- the elastic member 123 undergoes a certain elastic deformation, so that under the action of the elastic member 123, the anti-sloshing actuator will return to the initial state after the movement, and the movable plate will also return to the initial state after the movement. .
- the specific type of the fixing post is not limited to the type described herein, and a magnetically-conductive fixing post is preferably employed;
- the specific type of the elastic member 123 is not limited to the type described herein, and may be, for example, a planar spring or the like.
- the elastic member is a planar spring, as shown in FIG. 6, the planar spring includes an outer ring 1230, an inner ring 1232, and a spring wire 1231 connecting the outer ring and the inner ring, wherein the inner ring 1232 is fixedly connected with the fixed column, and the outer ring The 1230 is fixedly coupled to the outer casing 124.
- the number of planar springs is two (as shown in Figure 5), wherein the outer ring of one planar spring is fixedly coupled to the top cover, and the outer ring and base of the other planar spring The connection is fixed and the inner rings of the two planar springs are fixedly connected to the outer casing 124, respectively.
- the first coil is a rectangular loop-shaped coil, and accordingly, the number of the first permanent magnets is four, and the four first permanent magnets are disposed to be adjacent to one of the four sides of the first coil, respectively.
- the connecting post is fixedly coupled to the movable plate.
- the anti-sloshing actuator is fixedly coupled to the movable plate by the connecting post, and not only can the thrust plate be provided with a thrust opposite to the swaying direction, but also the pulling force of the movable plate can be provided opposite to the swaying direction. The sloshing phenomenon of the transport tray of the transport robot is greatly reduced.
- the transport tray further includes a permanent magnet holder 16.
- the permanent magnet fixture 16 is located at the edge of the fixed disk of the shipping tray and is, for example, annular.
- the anti-sloshing actuator includes:
- the second coil 226 is fixedly connected to the movable disk 11;
- a first permanent magnet group 2271 and a second permanent magnet group 2272 are disposed on both sides of the second coil and spaced apart from the second coil.
- the first permanent magnet group 2271 is fixedly connected to the permanent magnet fixing member 16, and includes a second permanent magnet 2271a and a third permanent magnet 2271b.
- the second permanent magnet group 2272 is fixedly connected to the fixed disk 10, including the second permanent magnet and the third The permanent magnets are respectively opposed to the fourth permanent magnet 2272a and the fifth permanent magnet 2272b; the second permanent magnet 2271a and the third permanent magnet 2271b are magnetically opposite to the side of the second coil, and the fourth permanent magnet 2272a and the fifth permanent magnet 2272b The side facing the second coil is magnetically opposite, and the second permanent magnet 2271a is magnetically opposite to the side of the fourth permanent magnet 2272a toward the second coil;
- the return spring 223 has one end connected to the fixed disk 10 and the other end connected to the movable disk 11.
- the control device is electrically coupled to the sway detection device and the anti-slosh actuator.
- the control device sends an electrical signal to the anti-slosh actuator.
- the second coil is energized.
- the second coil is divided into a first portion 2260 and a second portion 2261 depending on the direction of current flow (eg, relative to the paper surface).
- the current flowing through the first portion 2260 and the second portion 2261 is opposite in direction, and the direction of the magnetic field passing through the first portion and the second portion is also opposite, so according to Ampere's rule, the first portion and the second portion are subjected to Ampere force in the same direction.
- the control device controls the direction of the current so that the direction of the amperage is opposite to the direction of the shaking of the transport tray. Therefore, under the action of the Ampere force, the anti-sloshing actuator drives the movable disk to move in a direction opposite to the shaking direction, thereby completing the shaking of the transport tray. Reimbursement process. During this movement, the return spring will undergo a certain elastic deformation. Therefore, under the action of the return spring, the anti-sloshing actuator will return to the initial state after the movement, and the movable disc will also return to the initial state after the movement.
- An embodiment of the present invention provides a transport robot, including the transport tray of any of the foregoing embodiments.
- the transport robot has strong anti-swaying ability and high safety of transporting objects.
Abstract
Description
Claims (14)
- 一种运送托盘,包括固定盘,可相对固定盘移动的可动盘,设置于固定盘上的若干个防晃动致动器,设置于可动盘或固定盘上的晃动检测装置,以及控制装置,其中:所述晃动检测装置被配置为检测可动盘或固定盘的晃动信息;所述控制装置被配置为根据可动盘或固定盘的晃动信息,控制所述若干个防晃动致动器驱动可动盘朝向与晃动方向相反的方向运动。
- 如权利要求1所述的运送托盘,其中,所述固定盘具有容置空间,所述可动盘设置于固定盘的容置空间内且可相对固定盘水平移动,所述若干个防晃动致动器设置于可动盘的侧面与固定盘内侧壁之间。
- 如权利要求2所述的运送托盘,其中,所述可动盘为矩形可动盘,所述矩形可动盘的至少两个相邻的侧面与固定盘内侧壁之间分别设置有防晃动致动器。
- 如权利要求3所述的运送托盘,其中,所述可动盘的底部设置有滚珠,或者,所述固定盘的内底壁设置有滚珠。
- 如权利要求1到4中的任一项所述的运送托盘,其中,所述防晃动致动器包括:连接柱、外壳以及设置于外壳内的固定柱、第一线圈、多个第一永磁铁和弹性件,其中:所述外壳包括底座、顶盖以及位于底座和顶盖之间的轭铁,所述顶盖具有避让第一线圈与固定柱的通孔,所述连接柱穿过所述顶盖的通孔与固定柱固定连接;所述第一线圈套设于固定柱外侧,所述多个第一永磁铁被布置为包围第一线圈且面向第一线圈的一侧具有相同的磁性,所述轭铁与所述多个第一永磁铁的外侧固定连接,所述弹性件连接到外壳和固定柱。
- 如权利要求5所述的运送托盘,其中,所述弹性件为平面弹簧,所述平面弹簧包括外圈、内圈以及连接外圈和内圈的簧丝,所述内圈与固定柱固定连接,所述外圈与外壳固定连接。
- 如权利要求6所述的运送托盘,其中,所述平面弹簧为两个,其中一个平面弹簧与顶盖相邻并且具有与顶盖连接的外圈与固定柱连接的内圈,另一个平面弹簧与底座相邻并且具有与底座连接的外圈和 与固定柱连接的内圈。
- 如权利要求5所述的运送托盘,其中,所述第一线圈为矩形环状的线圈,所述第一永磁铁的数量为四个,四个第一永磁铁被布置为分别相邻第一线圈的四个侧面之一。
- 如权利要求5所述的运送托盘,其中,所述连接柱与所述可动盘固定连接。
- 如权利要求5所述的运送托盘,其中,所述固定柱为导磁固定柱。
- 如权利要求1到4中的任一项所述的运送托盘,其中,所述运送托盘还包括永磁铁固定件,所述防晃动致动器包括:第二线圈,所述第二线圈与可动盘固定连接;位于第二线圈两侧并与第二线圈间隔设置的第一永磁铁组和第二永磁铁组,第一永磁铁组与永磁铁固定件固定连接,第二永磁铁组与固定盘固定连接;复位簧,所述复位簧的一端与固定盘连接,另一端与可动盘连接。
- 如权利要求11所述的运送托盘,其中,所述第一永磁铁组包括第二永磁铁和第三永磁铁,所述第二永磁铁组包括与第二永磁铁和第三永磁铁分别位置相对的第四永磁铁和第五永磁铁,所述第二永磁铁和第三永磁铁朝向第二线圈的一侧磁性相反,所述第四永磁铁和第五永磁铁朝向第二线圈的一侧磁性相反,所述第二永磁铁与第四永磁铁朝向第二线圈的一侧磁性相反。
- 如权利要求1-4中任一项所述的运送托盘,其中,所述晃动检测装置包括陀螺仪或者加速度计。
- 一种运输机器人,其中,包括如权利要求1-12中任一项所述的运送托盘。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US15/527,815 US20180194514A1 (en) | 2016-04-15 | 2016-09-19 | Transfer tray and transport robot comprising the same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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CN201610236045.8A CN105666503B (zh) | 2016-04-15 | 2016-04-15 | 一种运输机器人的端送托盘及运输机器人 |
CN201610236045.8 | 2016-04-15 |
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PCT/CN2016/099330 WO2017177617A1 (zh) | 2016-04-15 | 2016-09-19 | 运送托盘及包括其的运输机器人 |
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US (1) | US20180194514A1 (zh) |
CN (1) | CN105666503B (zh) |
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CN105666503B (zh) * | 2016-04-15 | 2017-11-10 | 京东方科技集团股份有限公司 | 一种运输机器人的端送托盘及运输机器人 |
CN109516336A (zh) * | 2018-12-29 | 2019-03-26 | 刘英辉 | 直线驱动装置、安全钳装置及电梯系统的控制方法 |
CN110074635A (zh) * | 2019-04-09 | 2019-08-02 | 哈尔滨理工大学 | 一种传菜机器人上带有安全防护功能的托盘 |
CN113580169B (zh) * | 2021-08-26 | 2023-06-06 | 上海擎朗智能科技有限公司 | 一种减震托盘机构及配送机器人 |
WO2023138561A1 (zh) * | 2022-01-19 | 2023-07-27 | 深圳市普渡科技有限公司 | 防溢洒装置及配送机器人 |
CN115593749B (zh) * | 2022-10-19 | 2023-07-28 | 杭州易闻科技有限公司 | 一种防抖抓具、搬运托盘及其桁架结构 |
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- 2016-09-19 US US15/527,815 patent/US20180194514A1/en not_active Abandoned
- 2016-09-19 WO PCT/CN2016/099330 patent/WO2017177617A1/zh active Application Filing
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CN105666503B (zh) | 2017-11-10 |
US20180194514A1 (en) | 2018-07-12 |
CN105666503A (zh) | 2016-06-15 |
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