CN104942690B - A kind of elastic polished equipment and method of special-shaped workpiece - Google Patents
A kind of elastic polished equipment and method of special-shaped workpiece Download PDFInfo
- Publication number
- CN104942690B CN104942690B CN201510420947.2A CN201510420947A CN104942690B CN 104942690 B CN104942690 B CN 104942690B CN 201510420947 A CN201510420947 A CN 201510420947A CN 104942690 B CN104942690 B CN 104942690B
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- China
- Prior art keywords
- polishing
- special
- shaped workpiece
- governor circuit
- workpiece
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
A kind of elastic polished equipment of special-shaped workpiece, including pedestal, the governor circuit for having the special-shaped workpiece three-dimensional data, at least four polishing unit and the driving motor equal with polishing element number, the polishing unit is symmetrically set in pedestal both sides and forms line of symmetry, and the driving mechanism drives polishing unit closer or far from line of symmetry to adapt to the different sizes of workpiece different parts under the control of governor circuit；The polishing unit includes holder, polishing wheel and the spring for enabling polishing wheel resilient movement on holder, and motor is connect with holder, the movement of driving arm relative symmetry line.The advantage of the invention is that：Each polishing unit flexibly, can be controlled easily, have the advantages that it is simple in structure, can be good at polishing special-shaped workpiece.
Description
Technical field
The present invention relates to a kind of polissoir, especially it is a kind of can be used in polishing the elastic polished equipment of special-shaped workpiece with
And method.
Background technology
With the improvement of people ' s living standards and the innovation and development of engineering technology, to the surface matter of required parts material
How efficiently amount proposes higher and higher requirement, high-quality, free of contamination be processed by shot blasting to have become an emphasis to material surface
Probing direction.Wherein special-shaped workpiece is irregular due to face shaping, to its polishing usually need multiple clamping process or
It manually completes, leads to inefficiency, unstable quality, high processing costs.
Polishing machine is also referred to as grinder, is commonly used as mechanical polishing, polishing and waxing.Its operation principle is：Motor
Drive be mounted on polishing machine on sponge or wool polishing disk high speed rotation, due to polishing disk and polishing agent collective effect and with wait for
Surface is thrown to rub, so can reach removal lacquer painting pollution, oxide layer, shallow trace purpose.For special-shaped metal parts, five
The special-shaped workpieces such as golden product, plastic part need surface deburring, descale, deflashing, raising workpiece surface brightness etc.
Polishing requires, and traditional polissoir or hand lapping processing may be handled less than positions such as endoporus, gap, dog-ears.The prior art
In, there is also irregular part to be put into machine operation bucket, place into according to workpiece shapes and appearance and size and type selecting customization
Special grinding stone, polishing chip, brown corundum abrasive, white fused alumina abrasive material, silicon carbide abrasive, alumina porcelain abrasive material, high frequency porcelain abrasive material, steel ball
The polishing abrasive tools such as abrasive material, be added suitable quantity of water and polishing auxiliary agent, allow workpiece with grinding stone and polishing auxiliary agent together in work barrel into
The actions such as row rotation, rolling, allow grinding stone to rub in workpiece surface, carry out micro cutting, can be workpiece surface
These attachments polishing such as burr, oxide skin, overlap is clean.And this polishing mode usually also needs to the throwing in conjunction with other equipment
Light can reach necessary requirement, such as three-D oscillatory type polishing machine, eddy current type polishing machine, centrifugal polishing machine, drum polishing
The techniques such as machine.Entire polishing process is cumbersome, and required polishing time is long, and polishes uneven.
It is entitled application No. is 200910037777.4 if publication date is the Chinese invention patent on the 12nd of August in 2009
《A kind of special-shaped porcelain brick or stone polishing method and device》Comprising the straight line transmission process of special-shaped porcelain brick or stone material, to conveying
The multi-step polishing process of special-shaped porcelain brick or stone material in the process, and control polishing wheels at different levels move down the lead screw of cutting output,
The amount of corresponding polishing wheel pedestal at different levels moved up and down is controlled by rotating corresponding lead screw, to control polishing wheels at different levels
Move down chip polishing special-shaped porcelain brick or stone material amount.The special-shaped polissoir of this structure needed in polishing process by
Special-shaped workpiece is kept flat on the conveyor belt, is then polished to the upper surface of workpiece, therefore the polishing machine of this structure is applied to
The only workpiece of a face abnormal curved surface, narrow application range.
Invention content
It above-mentioned exist in the prior art insufficient and a kind of special-shaped workpiece is provided present invention solves the technical problem that being to overcome
Elastic polished equipment and method.
In order to solve the above technical problems, present invention employs following technical measures：
A kind of elastic polished equipment of special-shaped workpiece, including pedestal, the master control electricity for having the special-shaped workpiece three-dimensional data
Road, at least four polishing unit and the driving mechanism equal with polishing element number, the polishing unit are symmetrically set in pedestal both sides
And line of symmetry is formed, the driving mechanism drives polishing unit closer or far from line of symmetry to adapt under the control of governor circuit
The different sizes of workpiece different parts；The polishing unit includes holder, polishing wheel and polishing wheel elasticity on holder is enable to move
Dynamic spring, motor are connect with holder, the movement of driving arm relative symmetry line.
The present invention can also be further perfect by following technical measures：
As a further improvement, further include the three-dimensional scanner for scanning the special-shaped workpiece three-dimensional data, it is three-dimensional
The data that scanning means generates are transferred to the governor circuit so that driving mechanism drives the polishing relatively described line of symmetry of unit
It is mobile.
As a further improvement, include the motor for detecting the rigidity detection device of workpiece and polishing wheel being driven to rotate,
The motor of polishing wheel is with friction speed described in different hardness data-driven of the governor circuit according to rigidity detection device detection
Rotation.
As a further improvement, when the special-shaped workpiece is metal material, the speed of the polishing wheel is 2000~
3000r/min, when the special-shaped workpiece is plastic material or ceramic material, the speed of the polishing wheel is 1000~2000r/
min。
As a further improvement, the special-shaped workpiece between artificial or manipulator clamping push-in polishing unit by coming in and going out
And rotary motion polishing.
As a further improvement, include the press detection sensor for detecting pressure value when special-shaped workpiece polishes, it is described
The data detected are transmitted to the governor circuit by press detection sensor, and the governor circuit is carried according to press detection sensor
Driving mechanism rotation described in the data-driven of confession drives polishing unit closer or far from the line of symmetry so that polishing unit can be given
Special-shaped workpiece provides the polishing of constant pressure.
As a further improvement, the material of the polishing wheel is sponge, burlap or flannelette.
As a further improvement, the special-shaped workpiece is metal, plastics or ceramics.
As a further improvement, the polishing unit is even number, it is symmetrical arranged centered on the line of symmetry.
A kind of elastic polished method of special-shaped workpiece is applied to above-mentioned elastic polished equipment, includes the following steps：
(1) scanning means scans the three-dimensional data of special-shaped workpiece and is transmitted to governor circuit；
(2) governor circuit drives the driving mechanism adjustment polishing unit relatively described according to the three-dimensional data of special-shaped workpiece
Line of symmetry is moved to adapt to workpiece shapes；
(3) rigidity detection device detects the hardness of special-shaped workpiece and hardness data is transmitted to governor circuit；
(4) hardness of the governor circuit according to special-shaped workpiece, drives the motor of polishing wheel with hard with the special-shaped workpiece
Spend corresponding specific rotation speeds rotation polishing.
As a result of above technical scheme, the present invention has following advantageous effects：
1, the present invention includes that at least four polishes unit, and polishing unit is symmetrically set in pedestal both sides and forms line of symmetry.Cause
Special-shaped workpiece is arranged between polishing unit for this, is polished to special-shaped workpiece when polishing wheel is rolled.Make special-shaped workpiece
Multiple faces can be by uniform polish.Simultaneously the driving mechanism drive under the control of governor circuit polish unit it is close or
Far from line of symmetry to adapt to the different sizes of workpiece different parts.
2, the present invention is by using three-dimensional scanner, for scanning the special-shaped workpiece three-dimensional data, 3-D scanning dress
The data for setting generation are transferred to the governor circuit so that driving mechanism drives polishing unit to be moved relative to the line of symmetry.It is logical
It crosses and uses three-dimensional scanner so that polishing unit can be moved more accurately.
3, the present invention is by adding rigidity detection device and press detection sensor, be respectively used to detection workpiece hardness and
Pressure value when for detecting special-shaped workpiece polishing.The governor circuit drives according to the different hardness data of rigidity detection device detection
The motor for moving the polishing wheel is rotated with friction speed.The data detected are transmitted to the master control by the press detection sensor
Circuit, driving mechanism rotation described in the data-driven that the governor circuit is provided according to press detection sensor drive polishing unit
Closer or far from the line of symmetry so that polishing unit can provide the polishing of constant pressure to special-shaped workpiece.Since polishing wheel can be with
According to detected different hardness and pressure, to set the rotating speed and distance of more rational polishing wheel so that polishing effect
Fruit is more preferably.
Description of the drawings
Attached drawing 1 is a kind of general assembly schematic diagram of embodiment of elastic polished equipment of special-shaped workpiece of the present invention.
Attached drawing 2 is the circuit control block diagram of one embodiment of the present invention.
Attached drawing 3 is the structural schematic diagram of A1 and A4 units in Fig. 1.
Attached drawing 4 is A1 and A4 units work pieces process schematic diagram in Fig. 1.
Attached drawing 5 is the process flow chart of the elastic polished method of special-shaped workpiece of the present invention.
Reference numeral：
1. polishing wheel；2. bearing；3. holder；4. shaft；5. the first driving wheel；6. spring；7. special-shaped workpiece；8. second passes
Driving wheel；9. transmission belt；11. the elastic polished equipment of special-shaped workpiece；A1-A6. unit is polished.
Specific implementation mode
Further details of elaboration is done to the present invention below in conjunction with attached drawing.
As shown in Figures 1 to 4, the elastic polished equipment 11 of a kind of special-shaped workpiece, including pedestal, have the special-shaped workpiece
Governor circuit, at least four polishing unit and the driving mechanism equal with polishing element number of 7 three-dimensional datas, the polishing list
Member is symmetrically set in pedestal both sides and forms line of symmetry, and the driving mechanism drives polishing unit close under the control of governor circuit
Or far from line of symmetry to adapt to the different sizes of workpiece different parts.The special-shaped workpiece 7 is pushed away by artificial or manipulator clamping
Enter to polish and carries out between unit coming in and going out and rotary motion polishing.The special-shaped workpiece 7 is metal, plastics or ceramics.The polishing is single
Member is even number, is symmetrical arranged centered on the line of symmetry.
Wherein, unit is polished by the way that even number is arranged, and polishes unit and is symmetrically set in pedestal both sides and forms line of symmetry.Cause
This will come in and go out between anisotropic workpiece push-in polishing unit and when rotary motion polishes, and multiple faces of special-shaped workpiece 7 can be by
Uniform polish.Due to each polishing unit be correspondingly provided with a driving mechanism for drive polishing unit.Therefore each polishing
Unit can be controlled and be moved respectively, each polishing unit can conveniently, flexibly be controlled, to adapt to special-shaped workpiece 7
Polishing demand.The driving mechanism drives polishing unit closer or far from line of symmetry to adapt under the control of governor circuit simultaneously
The different-diameter of workpiece different parts.
Polish unit：The polishing unit includes holder 3, polishing wheel 1 and enables the resilient movement on holder 3 of polishing wheel 1
Spring 6, motor connect with holder 3, the movement of 3 relative symmetry line of driving arm.The polishing wheel 1 is set on mandrel 4, described
Mandrel 4 is mounted on holder 3.Bearing 2 is additionally provided between the mandrel 4 and holder 3, the bearing 2 prolongs for protecting mandrel 4
The service life of long mandrel 4.The material of the polishing wheel 1 is sponge, burlap or flannelette.
Driving mechanism：The driving mechanism includes driving rotating mechanism and polishes unit closer or far from right for driving
Claim the driving mobile mechanism of line.The driving rotating mechanism include the first driving wheel 5, the second driving wheel 8, transmission belt 9 and with
The motor of second driving wheel 8 connection.First driving wheel 5 is arranged in one end of the mandrel 4, first driving wheel 5 with
Second driving wheel 8 is formed by transmission belt 9 and is connected, and the motor drives the rotation of the second driving wheel 8, the second driving wheel 8 to pass through biography
Dynamic band 9 drives the rotation of the first driving wheel 5, so that the polishing wheel 1 rotates.
Circuit control：The circuit control includes governor circuit, three-dimensional scanner, rigidity detection device and pressure detecting
Sensor.The movement of the governor circuit control polishing unit and rotation etc..Three-dimensional scanner is for scanning the special-shaped work
7 three-dimensional data of part, the data that three-dimensional scanner generates are transferred to the governor circuit so that driving mechanism drives polishing single
Member is moved relative to the line of symmetry.Rigidity detection device is used to detect the hardness of workpiece, and the governor circuit is according to hardness determination
The motor of polishing wheel 1 described in the different hardness data-driven of device detection is rotated with friction speed.Press detection sensor is used for
Pressure value when special-shaped workpiece 7 polishes is detected, the data detected are transmitted to the governor circuit, institute by the press detection sensor
State governor circuit according to press detection sensor provide data-driven described in driving mechanism rotation drive polishing unit it is close or
Far from the line of symmetry so that polishing unit can give the polishing that special-shaped workpiece 7 provides constant pressure.
Preferably, when the special-shaped workpiece 7 is metal material, the speed of the polishing wheel 1 is 2000~3000r/min,
When the special-shaped workpiece 7 is plastic material or ceramic material, the speed of the polishing wheel 1 is 1000~2000r/min.
Wherein, by using three-dimensional scanner so that polishing unit can be moved more accurately.By adding hardness inspection
Device and press detection sensor are surveyed, is respectively used to the hardness of detection workpiece and for detecting pressure value when special-shaped workpiece 7 polishes.
The motor of polishing wheel 1 is with friction speed described in different hardness data-driven of the governor circuit according to rigidity detection device detection
Rotation.Driving mechanism rotation described in the data-driven that the governor circuit is provided according to press detection sensor drives polishing unit
Closer or far from the line of symmetry so that polishing unit can give the polishing that special-shaped workpiece 7 provides constant pressure.Since polishing wheel 1 can
With according to detected different hardness and pressure, to set the rotating speed and distance of more rational polishing wheel 1 so that polishing
It is better.
As shown in figure 5, being applied to above-mentioned elastic polished equipment, the polishing process includes the following steps：
1. the three-dimensional data of scanning means scanning special-shaped workpiece 7 is simultaneously transmitted to governor circuit；
2. governor circuit drives the driving mechanism adjustment polishing unit relatively described according to the three-dimensional data of special-shaped workpiece 7
Line of symmetry is moved to adapt to workpiece shapes.
3. hardness data is simultaneously transmitted to governor circuit by the hardness of rigidity detection device detection special-shaped workpiece 7；
4. the hardness of the governor circuit according to special-shaped workpiece 7, drive the motor of polishing wheel 1 with the special-shaped workpiece 7
The corresponding specific rotation speeds rotation polishing of hardness.
5. the governor circuit exports control information to driving mechanism according to detection data, driving mechanisms control polishes unit
Mobile or rotation.
6. the special-shaped workpiece 7 between artificial or manipulator clamping push-in polishing unit by carrying out discrepancy and rotary motion throwing
Light.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (8)
1. a kind of elastic polished equipment of special-shaped workpiece, including pedestal, have the special-shaped workpiece three-dimensional data governor circuit,
At least four polishes unit and the driving motor equal with polishing element number, which is characterized in that the polishing unit is symmetrically set in
Pedestal both sides simultaneously form line of symmetry, and the driving motor drives polishing unit closer or far from symmetrical under the control of governor circuit
Line is to adapt to the different sizes of workpiece different parts；The polishing unit includes holder, polishing wheel and enables polishing wheel in holder
The spring of upper resilient movement, driving motor are connect with holder, the movement of driving arm relative symmetry line；Further include for detecting workpiece
Rigidity detection device and driving polishing wheel rotation motor, the governor circuit is hard according to the difference of rigidity detection device detection
Degrees of data drives the motor of the polishing wheel to be rotated with friction speed.
2. elastic polished equipment according to claim 1, which is characterized in that further include for scanning the special-shaped workpiece three
The three-dimensional scanner of dimension data, the data that three-dimensional scanner generates are transferred to the governor circuit so that driving motor band
Dynamic polishing unit is moved relative to the line of symmetry.
3. elastic polished equipment according to claim 2, which is characterized in that the special-shaped workpiece is by artificial or manipulator
Between clamping push-in polishing unit come in and go out and rotary motion polishes.
4. the elastic polished equipment according to claim 2 to 3 any one, which is characterized in that including being used to detect abnormity
The data detected are transmitted to the master control by the press detection sensor of pressure value, the press detection sensor when workpiece polishes
Circuit, driving motor rotation described in the data-driven that the governor circuit is provided according to press detection sensor drive polishing unit
Closer or far from the line of symmetry so that polishing unit can provide the polishing of constant pressure to special-shaped workpiece.
5. elastic polished equipment according to claim 1, which is characterized in that the material of the polishing wheel is sponge, burlap
Or flannelette.
6. elastic polished equipment according to claim 1, which is characterized in that the special-shaped workpiece is metal, plastics or pottery
Porcelain.
7. elastic polished equipment according to claim 5 or 6, which is characterized in that the polishing unit is even number, with institute
It states and is symmetrical arranged centered on line of symmetry.
8. a kind of elastic polished method of special-shaped workpiece, set applied to elastic polished as described in claim 2 to 4 any one
It is standby, it is characterised in that include the following steps：
1. the three-dimensional data of scanning means scanning special-shaped workpiece is simultaneously transmitted to governor circuit；
2. governor circuit drives the driving motor adjustment polishing unit relatively described symmetrical according to the three-dimensional data of special-shaped workpiece
Line is moved to adapt to workpiece shapes；
3. hardness data is simultaneously transmitted to governor circuit by the hardness of rigidity detection device detection special-shaped workpiece；
4. hardness of the governor circuit according to special-shaped workpiece, drives the motor of polishing wheel with opposite with the special-shaped workpiece hardness
The specific rotation speeds rotation polishing answered.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420947.2A CN104942690B (en) | 2015-07-17 | 2015-07-17 | A kind of elastic polished equipment and method of special-shaped workpiece |
| CN201710940408.0A CN107498446B (en) | 2015-07-17 | 2015-07-17 | A kind of elastic polished equipment and method of special-shaped workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420947.2A CN104942690B (en) | 2015-07-17 | 2015-07-17 | A kind of elastic polished equipment and method of special-shaped workpiece |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710940408.0A Division CN107498446B (en) | 2015-07-17 | 2015-07-17 | A kind of elastic polished equipment and method of special-shaped workpiece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104942690A CN104942690A (en) | 2015-09-30 |
| CN104942690B true CN104942690B (en) | 2018-10-12 |
Family
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710940408.0A Expired - Fee Related CN107498446B (en) | 2015-07-17 | 2015-07-17 | A kind of elastic polished equipment and method of special-shaped workpiece |
| CN201510420947.2A Expired - Fee Related CN104942690B (en) | 2015-07-17 | 2015-07-17 | A kind of elastic polished equipment and method of special-shaped workpiece |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710940408.0A Expired - Fee Related CN107498446B (en) | 2015-07-17 | 2015-07-17 | A kind of elastic polished equipment and method of special-shaped workpiece |
Country Status (1)
| Country | Link |
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| CN (2) | CN107498446B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437039A (en) * | 2015-11-11 | 2016-03-30 | 太仓市伦文机械有限公司 | Automatic polishing device |
| CN108145586B (en) * | 2018-01-03 | 2019-10-11 | 京东方科技集团股份有限公司 | Polissoir and polishing method |
| CN108857792B (en) * | 2018-07-24 | 2020-09-01 | 芜湖鑫沃汽车零部件有限公司 | Automatic deburring device for cover plate decorative strip |
| CN109333167B (en) * | 2018-10-13 | 2020-09-15 | 宁波慈北医疗器械有限公司 | 3D laser printing cranio-maxillofacial bone polishing device |
| CN114833724B (en) * | 2022-05-26 | 2022-11-08 | 江阴嘉欧新材料有限公司 | Plastic polishing machinery driving system |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100473496C (en) * | 2005-11-24 | 2009-04-01 | 上海华虹Nec电子有限公司 | Automatic pressure regulating method |
| DE102006017664A1 (en) * | 2006-04-12 | 2007-10-18 | Volkswagen Ag | CAD/CAM process to fabricate master press tool for automotive body panel finished by spring-applied polishing tool and diamond paste |
| CN200967166Y (en) * | 2006-08-03 | 2007-10-31 | 刘小辉 | Polishers |
| CN101502946A (en) * | 2009-03-05 | 2009-08-12 | 刘永钦 | Method and device for finishing special-shaped porcelain brick or stone |
| CN201483338U (en) * | 2009-09-08 | 2010-05-26 | 郑辉章 | Novel stone polisher |
| US20110081839A1 (en) * | 2009-10-06 | 2011-04-07 | Apple Inc. | Method and apparatus for polishing a curved edge |
| CN102950529A (en) * | 2011-08-17 | 2013-03-06 | 上海点派企业形象策划有限公司 | Equipment and method for cutting and polishing acrylic special-shaped cured surfaces |
| CN103846769A (en) * | 2012-12-06 | 2014-06-11 | 青岛海尔模具有限公司 | Robot-assisted automatic self-adaptive curved surface polishing system |
| CN204123227U (en) * | 2014-04-17 | 2015-01-28 | 尹浩志 | A kind of rectilinear curve glass double side edge grinder |
| CN204382048U (en) * | 2014-12-10 | 2015-06-10 | 无锡市福曼科技有限公司 | A kind of automatic polishing machine |
| CN205009015U (en) * | 2015-07-17 | 2016-02-03 | 厦门理工学院 | Optical equipment is thrown to special -shaped workpiece's elasticity |
-
2015
- 2015-07-17 CN CN201710940408.0A patent/CN107498446B/en not_active Expired - Fee Related
- 2015-07-17 CN CN201510420947.2A patent/CN104942690B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104942690A (en) | 2015-09-30 |
| CN107498446A (en) | 2017-12-22 |
| CN107498446B (en) | 2019-07-30 |
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