WO2019116522A1 - 移動式クレーンのブーム旋回角度検出装置 - Google Patents
移動式クレーンのブーム旋回角度検出装置 Download PDFInfo
- Publication number
- WO2019116522A1 WO2019116522A1 PCT/JP2017/044994 JP2017044994W WO2019116522A1 WO 2019116522 A1 WO2019116522 A1 WO 2019116522A1 JP 2017044994 W JP2017044994 W JP 2017044994W WO 2019116522 A1 WO2019116522 A1 WO 2019116522A1
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- WIPO (PCT)
- Prior art keywords
- turning angle
- turning
- angle detection
- boom
- gear
- Prior art date
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- 238000001514 detection method Methods 0.000 title claims abstract description 84
- 230000002093 peripheral effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 abstract description 11
- 239000004519 grease Substances 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/94—Safety gear for limiting slewing movements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/342—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells the sensed object being the obturating part
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
Definitions
- the present invention relates to a mobile crane such as a crawler crane, and more particularly to a boom turning angle detection device for detecting a turning angle of a crane boom.
- Mobile cranes such as crawler cranes, are equipped with safety devices.
- the safety device forcibly stops the crane automatically when the crane operation state exceeds the safe operation area, and prevents a fall and the like in advance.
- the stability of the crane depends on the turning angle of the crane boom, and it is necessary to detect the turning angle of the crane boom in order to make full use of the capability.
- Patent Documents 1 to 3 disclose boom turning angle detection devices in a crane.
- the sensor gear is engaged with the ring gear.
- the proximity sensor is disposed opposite to the ring gear. Based on the amount of rotation of the ring gear detected by these sensors, the turning angle of the upper turning body is calculated.
- standard protrusion and the reference (standard) position sensor for detecting this are arrange
- the conventional boom turning angle detection device has the following problems to be solved. First, vibration, deflection, etc. applied to the turning force transmission mechanism directly act on the ring gear which is the transmission part for transmitting the turning force to the boom swivel base or the sensor gear directly engaged with it, such vibration, bending, etc. Detection accuracy may be reduced. In addition, the sensor gear that rotates while meshing with the ring gear or the like may be worn out, which may reduce the detection accuracy.
- an object of the present invention is a boom turning angle detection device of a mobile crane that can be configured with a small number of parts and can accurately detect a boom turning angle without requiring a large amount of installation space. It is to provide.
- the present invention relates to a boom turning angle detection device of a mobile crane that detects a turning angle from a turning storage position of a crane boom, A turning angle detection gear coaxially mounted on a shaft end of a pinion gear that is an output element of a turning reduction gear on the side of a lower traveling body that transmits turning force to a ring gear attached to the crane boom side; , A turning angle detection proximity sensor that detects the amount of rotation of the turning angle detection gear; A pivot storage position sensor for detecting a pivot storage position of the crane boom; A swing amount calculation unit that calculates the swing amount of the crane boom based on the rotation amount detected by the proximity sensor for swing angle detection, a swing angle calculation unit that calculates the swing angle based on the swing amount, and a swing storage position sensor It is characterized by having a controller provided with a turning angle 0 point adjustment part which resets a turning angle to 0 degree, if a storing position is detected.
- the turning angle detection gear is attached to one end of the pinion gear on the lower traveling body side engaged with the ring gear on the crane boom side, and the amount of rotation of the turning detection gear that rotates integrally with the pinion gear detects the turning angle Is detected by the proximity sensor.
- the turning angle detection gear is not engaged with the ring gear and the pinion gear which are parts constituting the turning force transmission mechanism. Therefore, foreign matter such as grease and abrasion powder does not adhere to the turning angle detection gear from the side of the ring gear and the pinion gear.
- vibration, deflection and the like generated in the turning force transmission system do not directly act. Furthermore, wear does not occur in the portion of the external teeth for detection of the turning angle detection gear due to meshing.
- the angle detection gear is attached to one end of a pinion gear which is a component of the turning force transmission mechanism. As compared with the case where the turning angle detection gear is installed at an independent position by a bearing mechanism or the like, a large installation space is not required, and the number of parts can be reduced.
- FIG. 1 is a front view showing an example of a small mobile crane to which the present invention can be applied
- FIG. 2 is an explanatory view showing an example of a state in which the crane is in operation.
- the mobile crane 1 is provided with a lower traveling body 2 made of a crawler.
- the upper swing body 4 is mounted on the lower traveling body 2 via the swing bearing 3 in a rotatable state.
- the upper swing body 4 is provided with a boom swing base 5 rotatably supported relative to the lower traveling body 2 by a swing bearing 3 and a knuckle boom type crane boom 6 mounted on the boom swing base 5.
- the crane boom 6 may, of course, be a straight boom or the like other than the knuckle boom type.
- the traveling control lever 8 of the lower traveling body 2 is disposed at one end of the lower traveling body 2, and the control panel 9 and the crane operating lever 10 are mounted at the other end of the lower traveling body 2 .
- the mobile crane 1 can be remotely operated using a radio control lever (not shown).
- the crane boom 6 is provided with a first boom 11 and a second boom 12.
- the first boom 11 pivots in the left-right direction around the pivot center of the boom pivot 5 supported by the pivot bearing 3.
- a pair of relief cylinders 13 are bridged between the boom swivel 5 and the first boom 11, and the expansion and contraction of the relief cylinders 13 causes the first boom 11 to move up and down.
- a knuckle boom joint mechanism 14 couples the front end of the first boom 11 and the rear end of the second boom 12. When the cylinder 15 of the knuckle boom joint mechanism 14 is expanded and contracted, the second boom 12 can be raised and lowered relative to the first boom 11.
- the second boom 12 is a multistage boom, and can extend and contract in the axial direction.
- the outrigger 7 is pivoted and extended so as to face outward, and the lower traveling body 2 is lifted from the ground contact surface.
- the mobile crane 1 is fixed in a stable state. In this state, the crane boom 6 is pivoted left and right from the pivoting storage position which is the initial position, and the crane boom 6 is raised and lowered to perform crane work.
- FIG. 3 is an explanatory view showing an example of components of a turning force transmission mechanism of the crane boom 6 incorporated in the mobile crane 1 having the above-mentioned configuration and an example of a boom turning angle detection device.
- the turning force transmission mechanism for transmitting the turning force to the side of the crane boom 6 reduces the rotational force of the hydraulic motor (not shown) mounted on the lower traveling body 2 and the hydraulic motor to support the crane boom 6 It has a swing reducer (not shown) that is transmitted to the side of the boom swing base 5 that is located.
- FIG. 3 shows a pinion gear 21 which is an output element of the turning reduction gear vertically disposed on the upper end portion 2 a of the lower traveling body 2.
- the turning force transmission mechanism is provided with a ring gear 22 integrally formed on the circular outer peripheral surface of the turning side part supporting the boom turning base 5 in the turning bearing 3 (in FIG. , Others have been omitted.).
- a pinion gear 21 meshes with the ring gear 22, and a turning force is transmitted via these.
- a boom turning angle detection device 30 for detecting the turning angle of the crane boom 6 includes a turning angle detection gear 31, a turning angle detection proximity sensor 32, a limit switch 33 which is a turning storage position sensor, and a control panel 9. It has a controller 34 mounted on (see FIG. 1). In FIG. 3, the controller 34 and the signal transmission path (wired or wireless) are indicated by alternate long and short dashed lines. Further, the turning angle detection gear 31, the turning angle detection proximity sensor 32, and the limit switch 33 are covered by the dustproof cover 35 attached to the upper end portion 2a of the lower traveling body 2. In FIG. 3, the dustproof cover 35 is shown by a two-dot chain line.
- the turning angle detection gear 31 is coaxially fixed to the upper shaft end which is one shaft end of the pinion gear 21 of the turning force transmission mechanism so as to integrally rotate.
- the detection outer teeth 31a are formed on the outer peripheral surface of the turning angle detection gear 31 at regular intervals.
- the turning angle detection proximity sensor 32 is disposed adjacent to the turning angle detection gear 31 in a direction along the outer periphery of the ring gear 22.
- a turning angle detecting proximity sensor 32 is horizontally mounted on the upper end portion of the L-shaped mounting bracket 36 fixed to the upper end portion of the lower traveling body 2 toward the rotation center of the turning angle detecting gear 31.
- the tip end face 32a faces the detection outer teeth 31a of the turning angle detection gear 31 with a minute interval.
- the swing angle detection proximity sensor 32 is, for example, an optical sensor, and detects the detection outer teeth 31a that cross the detection position.
- the limit switch 33 which is a turning storage position sensor, is disposed adjacent to the turning angle detection gear 31 on the opposite side of the turning angle detection proximity sensor 32 along the circumferential direction of the ring gear 22.
- the limit switch 33 detects the turning storage position of the crane boom 6.
- the swivel storage position is a position where the swivel angle of the crane boom 6 (boom swivel base 5) is 0 degree, and in the traveling state or the like, the crane boom 6 is returned to the swivel storage position and stored.
- a detection ring 37 is coaxially attached to the upper side of the ring gear 22 in the boom swivel 5.
- the tip roller of the operating rod 33a of the limit switch 33 is pressed against the circular outer peripheral surface 37a of the detection ring 37 from the direction toward the center with a predetermined elastic force.
- the circular outer peripheral surface 37a of the detection ring 37 is formed with a V-groove 37b in which the tip roller of the actuating rod 33a is fitted inward in the radial direction in a state where the boom rotation base 5 is rotated to the rotation storage position.
- the actuating rod 33a of the limit switch 33 operates to output a detection signal representing a turning and storing position.
- a protrusion or the like may be disposed as a detection portion of the limit switch 33 instead of the V groove 37b.
- the dustproof cover 35 has a horizontal top plate portion 35a disposed along the upper end edge of the circular outer peripheral surface 37a of the detection ring 37 in the boom turntable 5 and an inner peripheral edge on the side of the detection ring 37 in the top plate portion 35a. And a side plate portion 35b extending downward at a right angle from the edge on both sides and the outer peripheral side except for the portion.
- the dustproof cover 35 attached to the upper surface of the upper end portion 2 a of the lower traveling body 2, the inner peripheral side portion of the turning angle detecting gear 31, the turning angle detecting proximity sensor 32, and the limit switch 33 face the boom turning stand 5 Except for being obscured.
- the controller 34 functions as a turning amount calculation unit 41, a turning angle calculation unit 42, and a turning angle 0 point adjustment unit 43.
- the turning amount calculation unit 41 sets the turning amount of the crane boom 6 based on the rotation amount of the turning angle detection gear 31 detected by the turning angle detection proximity sensor 32, that is, the number of detected external teeth 31a.
- Calculate The turning angle calculation unit 42 calculates the turning angle of the crane boom 6 based on the calculated turning amount.
- the turning angle is a turning angle from the turning storage position when starting turning of the crane boom 6.
- the turning angle of the crane boom 6 is calculated each time the crane boom 6 is repeatedly turned to perform work. If the calculated turning angle includes an error, the repeated turning of the crane boom 6 causes an error to be accumulated, which may cause a detection error having a size that can not be ignored in terms of safety.
- the limit switch 33 which is a turning storage position sensor, outputs a detection signal indicating a turning storage position at which the turning angle is 0 degrees.
- the turning angle 0 point adjustment unit 43 of the controller 34 When the turning angle 0 point adjustment unit 43 of the controller 34 receives this detection signal, the turning angle 0 point adjustment unit 43 performs the 0 point adjustment of the turning angle to reset the turning angle calculated by the calculation to 0 degrees. By thus resetting the turning angle, it is possible to remove the error and perform the detecting operation of the turning angle of the crane boom 6 with high accuracy.
Abstract
Description
前記クレーンブームの側に取り付けたリングギヤに旋回力を伝達する下部走行体の側の旋回減速機の出力要素であるピニオンギヤの軸端に、一体回転するように同軸に取り付けた旋回角度検出用ギヤと、
旋回角度検出用ギヤの回転量を検出する旋回角度検出用近接センサと、
クレーンブームの旋回格納位置を検出する旋回格納位置センサと、
旋回角度検出用近接センサによって検出される回転量に基づきクレーンブームの旋回量を演算する旋回量演算部、この旋回量に基づき旋回角度を演算する旋回角度演算部、および、旋回格納位置センサによって旋回格納位置が検出されると旋回角度を0度にリセットする旋回角度0点調整部を備えたコントローラと
を有していることを特徴とする。
図1は本発明を適用可能な小型の移動式クレーンの一例を示す正面図であり、図2はそのクレーン作業中の状態の一例を示す説明図である。移動式クレーン1はクローラからなる下部走行体2を備えている。下部走行体2には、旋回ベアリング3を介して、上部旋回体4が旋回可能な状態で搭載されている。上部旋回体4は、旋回ベアリング3によって下部走行体2に対して旋回可能に支持されたブーム旋回台5と、ブーム旋回台5に搭載されたナックルブーム式のクレーンブーム6とを備えている。
図3は、上記構成の移動式クレーン1に組み込まれているクレーンブーム6の旋回力伝達機構の構成部品およびブーム旋回角度検出装置の一例を示す説明図である。
Claims (2)
- クレーンブームの旋回格納位置からの旋回角度を検出する移動式クレーンのブーム旋回角度検出装置において、
前記クレーンブームの側に取り付けたリングギヤに旋回力を伝達する下部走行体の側の旋回減速機の出力要素であるピニオンギヤの軸端に、一体回転するように同軸に取り付けた旋回角度検出用ギヤと、
前記旋回角度検出用ギヤの回転量を検出する旋回角度検出用近接センサと、
前記クレーンブームの前記旋回格納位置を検出する旋回格納位置センサと、
前記旋回角度検出用近接センサによって検出される前記回転量に基づき前記クレーンブームの旋回量を演算する旋回量演算部、この旋回量に基づき前記旋回角度を演算する旋回角度演算部、および、前記旋回格納位置センサによって前記旋回格納位置が検出されると前記旋回角度を0度にリセットする旋回角度0点調整部を備えたコントローラと、
を有している移動式クレーンのブーム旋回角度検出装置。 - 請求項1において、
前記旋回角度検出用近接センサおよび前記旋回格納位置センサは、前記リングギヤの外周側において、前記旋回角度検出用ギヤを挟み、前記リングギヤの外周面に沿った方向に隣接配置されており、
前記旋回角度検出用ギヤ、前記旋回角度検出用近接センサおよび前記旋回格納位置センサは、前記下部走行体に取り付けた防塵カバーによって覆われている移動式クレーンのブーム旋回角度検出装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/044994 WO2019116522A1 (ja) | 2017-12-14 | 2017-12-14 | 移動式クレーンのブーム旋回角度検出装置 |
JP2019558816A JP6846541B2 (ja) | 2017-12-14 | 2017-12-14 | 移動式クレーンのブーム旋回角度検出装置 |
EP17934703.4A EP3726181B1 (en) | 2017-12-14 | 2017-12-14 | Boom turning angle detection device for mobile crane |
KR1020207015039A KR102306145B1 (ko) | 2017-12-14 | 2017-12-14 | 이동식 크레인의 붐 선회각도 검출장치 |
US16/759,861 US11414304B2 (en) | 2017-12-14 | 2017-12-14 | Boom slewing angle detection device for mobile crane |
CN201780097566.2A CN111465820B (zh) | 2017-12-14 | 2017-12-14 | 移动式起重机的起重臂旋转角度检测装置 |
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PCT/JP2017/044994 WO2019116522A1 (ja) | 2017-12-14 | 2017-12-14 | 移動式クレーンのブーム旋回角度検出装置 |
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US (1) | US11414304B2 (ja) |
EP (1) | EP3726181B1 (ja) |
JP (1) | JP6846541B2 (ja) |
KR (1) | KR102306145B1 (ja) |
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2017
- 2017-12-14 EP EP17934703.4A patent/EP3726181B1/en active Active
- 2017-12-14 KR KR1020207015039A patent/KR102306145B1/ko active IP Right Grant
- 2017-12-14 CN CN201780097566.2A patent/CN111465820B/zh active Active
- 2017-12-14 US US16/759,861 patent/US11414304B2/en active Active
- 2017-12-14 WO PCT/JP2017/044994 patent/WO2019116522A1/ja unknown
- 2017-12-14 JP JP2019558816A patent/JP6846541B2/ja active Active
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JPS5675384A (en) * | 1979-11-23 | 1981-06-22 | Tadano Tekkosho Kk | Detector for turning angle of crane boom |
JPH0674751A (ja) | 1992-08-26 | 1994-03-18 | Yanmar Diesel Engine Co Ltd | 建設機械の旋回角検出機構 |
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JP2007176650A (ja) | 2005-12-28 | 2007-07-12 | Furukawa Unic Corp | 旋回範囲制限装置 |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP2021050540A (ja) * | 2019-09-25 | 2021-04-01 | 日立建機株式会社 | 作業機械 |
JP7213165B2 (ja) | 2019-09-25 | 2023-01-26 | 日立建機株式会社 | 作業機械 |
Also Published As
Publication number | Publication date |
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US20200331729A1 (en) | 2020-10-22 |
JPWO2019116522A1 (ja) | 2020-11-26 |
EP3726181C0 (en) | 2023-10-25 |
CN111465820B (zh) | 2021-11-26 |
EP3726181A1 (en) | 2020-10-21 |
KR102306145B1 (ko) | 2021-09-27 |
JP6846541B2 (ja) | 2021-03-24 |
US11414304B2 (en) | 2022-08-16 |
EP3726181A4 (en) | 2021-07-28 |
KR20200078580A (ko) | 2020-07-01 |
EP3726181B1 (en) | 2023-10-25 |
CN111465820A (zh) | 2020-07-28 |
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