CN107184160A - A kind of clean robot - Google Patents
A kind of clean robot Download PDFInfo
- Publication number
- CN107184160A CN107184160A CN201710530852.5A CN201710530852A CN107184160A CN 107184160 A CN107184160 A CN 107184160A CN 201710530852 A CN201710530852 A CN 201710530852A CN 107184160 A CN107184160 A CN 107184160A
- Authority
- CN
- China
- Prior art keywords
- rag
- mopping device
- bar
- legs
- hole
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/294—Floor-scrubbing machines characterised by means for taking-up dirty liquid having reciprocating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
Landscapes
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The present invention relates to robotic technology field, and in particular to a kind of clean robot.Technical scheme is as follows：A kind of clean robot, including main body, the first mopping device, the second mopping device and water supply liquid-supplying system, the main body is provided with chassis, first mopping device is arranged on the centre position on the chassis, second mopping device is arranged on the rear end on the chassis, and the water supply liquid-supplying system is used to provide water and cleaning solution to the first mopping device and the second mopping device.The present invention provides a kind of clean robot, can realize that rag is changed automatically in the course of work, completes the cleaning in short space.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of clean robot.
Background technology
/ mopping robot of the prior art of sweeping the floor, its structure is the extreme end of chassis addition one in normal procedure intelligent dust catcher
Block rag, makes the water in water tank uniformly flow to rag by the aperture on water tank, and rag is dragged when walking and is rubbed with floor generation
Power is wiped, and then reaches the wet purpose dragged.There is following defect in existing machine：On the one hand, robot base only has one piece of rag, and
Can not independently change, when machine operation for a period of time after, rag is dirty, to ground cleaning effect decline；If changing manually, then
Take time and effort, the independence of machine is reduced significantly, great inconvenience is brought to user.On the other hand, because machine sheet
The thickness of body, prevents some short spaces from being swept to reducing the comprehensive of cleaning effect, do not reach household cleaning
The requirement of User Satisfaction, brings to user and greatly bothers.
The content of the invention
The present invention provides a kind of clean robot, can realize that rag is changed automatically in the course of work, completes short space
Cleaning.
Technical scheme is as follows：
A kind of clean robot, including main body, the first mopping device, the second mopping device and water supply liquid-supplying system, it is described
Main body is provided with chassis, and the first mopping device is arranged on the centre position on the chassis, and the second mopping device is arranged on the chassis
Rear end, the water supply liquid-supplying system is used to provide water and cleaning solution to the first mopping device and the second mopping device.
Described clean robot, wherein first mopping device includes rag volume one, support frame one, rag winding
Wheel, swing mechanism and replacing rag mechanism, the swing mechanism include steering wheel, connecting rod, fixed mount one, fixed mount two, bearing pin
First, bearing pin two, swing connecting bar one, swing connecting bar two and torsion spring, the replacing rag mechanism include stepper motor one, belt wheel and same
Walk band；Support frame as described above one is fixedly mounted on the chassis, and the rag volume one is arranged on support frame as described above one；The pendulum
The big end of dynamic connecting rod one is provided with pin-and-hole one and mounting groove one, and the small end of the swing connecting bar one is provided with mounting hole one, described to swing
The big end of connecting rod two is provided with pin-and-hole two, and the small end of the swing connecting bar two is provided with mounting hole two, the fixed mount one and fixed mount
Two are symmetricly set on the chassis, and the fixed mount one is provided with through hole one and mounting groove two, and the fixed mount two is provided with through hole
Two, the swing connecting bar one is arranged on the fixed mount one by the insertion pin-and-hole one of bearing pin one and through hole one, the torsion spring
It is sleeved on the bearing pin one, two legs of the torsion spring are separately mounted in mounting groove one and mounting groove two, the bearing pin
The swing connecting bar two is arranged on the fixed mount two by two insertion pin-and-holes two and through hole two, the two ends of the rag winding wheel
It is separately mounted in the mounting hole one and mounting hole two, the steering wheel is arranged on the chassis, and the steering wheel passes through described
The big end of connecting rod and the swing connecting bar one links together；The belt wheel is fixedly mounted on the rag winding wheel, institute
Stepper motor one is stated on the chassis, the stepper motor one is connected by the timing belt with the belt wheel；It is described
The termination of rag on rag volume one is wrapped on the rag winding wheel.
Described clean robot, wherein second mopping device includes rag volume two, support frame two, rag winding
Bar, stepper motor two and telescoping mechanism, the telescoping mechanism include telescope motor, leading screw, screw, sliding block, cross link, slide-bar
And pushing block；Support frame as described above two and rag winding bar are fixedly mounted on the rear end of the main body, and the rag volume two is arranged on institute
State on support frame two, the stepper motor two is installed on the body and linked together with the rag winding bar；It is described
Telescope motor and leading screw are installed on the body, and the telescope motor is used to drive the leading screw to rotate, the screw suit
On the leading screw, the sliding block is fixedly connected with the screw；The pushing block is provided with chute, and the slide-bar is placed on described
In chute；One end of the cross link is provided with a legs and b legs, and the other end is provided with c legs and d legs, and a legs fix peace
On the body, b legs are linked together dress with the sliding block, and c legs are fixedly mounted on the pushing block, d legs and institute
Slide-bar is stated to link together；The rag that the pushing block is provided with groove, the rag volume two is wrapped in institute through the groove
State on pushing block and the termination of rag is wrapped on the rag winding bar.
Described clean robot, wherein the water supply liquid-supplying system includes water supply mechanism, liquid supplying device, flexible pipe and spray
Head, the water supply mechanism includes water tank, water pump one and magnetic valve one, and the liquid supplying device includes cleaning fluid tank, water pump two and electricity
Magnet valve two, the water tank, water pump one, cleaning fluid tank and water pump two are arranged on the top of the main body, and the shower nozzle is arranged on the
The front of one mopping device and the second mopping device, the water pump one and water pump two and the shower nozzle by the soft pipe connection,
The magnetic valve one and magnetic valve two are separately mounted to the exit of the water pump one and water pump two.
Described clean robot, wherein the main body is provided with walking mechanism, the walking mechanism includes three omni-directional wheels
With three direct current generators, the direct current generator is used to drive the omni-directional wheel, realize advance, retreat, turning, transverse moving left and right and tiltedly
To traveling mode.
The operation principle of above-mentioned clean robot is as follows：First mopping device can activity, when not needing the first wiping
During ground device, steering wheel rotation drives swing connecting bar one to be swung up by connecting rod, and rag winding wheel is acted in swing connecting bar one
It is lower to move up, realize that the first mopping device departs from the lift action on ground in the presence of steering wheel with this；When needs first
Mopping device work when, steering wheel is stopped, swing connecting bar one by torsion spring realize above and below constant pressure float, make on rag winding wheel
Rag and surface to be cleaned constant pressure contact；Rag winding rotation is driven in the presence of the timing belt of stepper motor one and belt wheel
Dynamic, clean rag is changed in progress；
The leading screw rotation of second mopping device, the sliding block on screw moves back and forth, promotes cross link to fold, enter
And the stretching and contraction of pushing block are driven, the constantly release rag of rag volume two during stretching, pushing block promotes rag to go ahead, and carries out
The cleaning in short space；Rag volume two and rag winding bar realize the replacing of rag, in the presence of the rotation of rag winding bar,
Clean rag replaces dirty rag；When pushing block is withdrawn, rag winding bar starts to rotate in the presence of stepper motor, will stretch
The rag rollback gone out；
Water supply liquid-supplying system can give described two mopping devices to provide proper amount of clear water and appropriate clear by flexible pipe and shower nozzle
Washing lotion, such robot can realize different wiping ground modes, and such as xerotripsis pattern, clear water wipe pattern, cleaning fluid and wipe pattern,
Clear water or cleaning fluid fountain height can also be selected according to surface clean level to be cleaned；
The direction of travel of clean robot is controlled by adjusting the rotating speed of three direct current generators, because three omni-directional wheels can
To there is different velocity composites, so main body can not only realize the basic walking manner such as advance, retrogressing and turning, can also be real
Existing transverse moving left and right and oblique traveling mode, so carry main body by three omni-directional wheels and realize freer convenient movement.
Beneficial effects of the present invention are：On the one hand, clean robot can independently change clean rag, and this avoid length
Time only improves cleannes using one piece of rag, while the problem of it also avoid artificial frequently replacing rag, cleaning rag.
On the other hand, wiping ground is carried out using two kinds of mopping devices, when water supply liquid-supplying system does not work, the first mopping device can be realized
Xerotripsis, while the second mopping device is stopped, saves clean rag usage amount；When water supply liquid-supplying system works, first wipes ground
Device can realize preliminary wet rubbing, and the second mopping device can realize xerotripsis, be realized with this clear by the first mopping device
The cleannes and aridity on clean surface.First mopping device can realize constant pressure lifting and lift action, and constant pressure lifting action can
So that rag is fitted with ground all the time, make cleaning effect more preferable；With ground when lift action can make the first mopping device not work
Emaciated face is from effectively prevent and such as timber floor is contacted for a long time and the phenomenon on floor is damaged under wet rubbing pattern.
Brief description of the drawings
Fig. 1 is clean robot upward view；
Fig. 2 the first mopping device structural representations；
Fig. 3 is clean robot stereogram；
Fig. 4 is clean robot internal structure schematic diagram；
Fig. 5 is that the mopping device of clean robot second stretches out view；
Fig. 6 is the structural representation of swing connecting bar one.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made other own
Embodiment, belongs to the scope of protection of the invention.
As shown in figures 1 to 6, a kind of clean robot, including main body, the first mopping device, the second mopping device and confession of supplying water
Liquid system, the main body is provided with chassis 1, and the first mopping device is arranged on the centre position on the chassis 1, and the second mopping device is set
Put the rear end on the chassis 1, the water supply liquid-supplying system be used for the first mopping device and the second mopping device provide water and
Cleaning solution.
First mopping device includes rag volume 1, support frame one, rag winding wheel 5, swing mechanism and changes rag
Mechanism, the swing mechanism includes steering wheel 2, connecting rod 3, fixed mount 1, fixed mount two, bearing pin one, bearing pin two, swing connecting bar
One 4, swing connecting bar two and torsion spring, the replacing rag mechanism include stepper motor 1, belt wheel and timing belt 8；Support frame as described above
One is fixedly mounted on the chassis 1, and the rag volume 1 is arranged on support frame as described above one；The swing connecting bar 1 it is big
End is provided with pin-and-hole 1 and mounting groove 1, and the small end of the swing connecting bar 1 is provided with mounting hole 1, the swing connecting bar two
Big end be provided with pin-and-hole two, the small end of the swing connecting bar two is provided with mounting hole two, two pairs of the fixed mount 1 and fixed mount
Title is arranged on the chassis 1, and the fixed mount one is provided with through hole one and mounting groove two, and the fixed mount two is provided with through hole two,
The swing connecting bar 1 is arranged on the fixed mount 1 by the insertion pin-and-hole 1 of bearing pin one and through hole one, described to turn round
Spring is sleeved on the bearing pin one, and two legs of the torsion spring are separately mounted in mounting groove 1 and mounting groove two, described
Bearing pin two inserts pin-and-hole two and through hole two and the swing connecting bar two is arranged on the fixed mount two, the rag winding wheel 5
Two ends be separately mounted in the mounting hole 1 and mounting hole two, the steering wheel 2 be arranged on the chassis 1 on, the rudder
Machine 2 is linked together by the big end of the connecting rod 3 and the swing connecting bar 1；The belt wheel is fixedly mounted on described smear
On cloth winding wheel 5, the stepper motor 1 be arranged on the chassis 1 on, the stepper motor 1 by the timing belt 8 with
The belt wheel connection；The termination of rag on the rag volume 1 is wrapped on the rag winding wheel 5.
Second mopping device includes rag volume 2 15, support frame two, rag winding bar 16, stepper motor two and stretched
Mechanism, the telescoping mechanism includes telescope motor, leading screw, screw, sliding block, cross link 11, slide-bar and pushing block 10；The support
Frame two and rag winding bar 16 are fixedly mounted on the rear end of the main body, and the rag volume 2 15 is arranged on support frame as described above two
On, the stepper motor two is installed on the body and linked together with the rag winding bar 16；The telescope motor
Installed on the body with leading screw, the telescope motor is used to drive the leading screw to rotate, and the nut sleeve is mounted in the silk
On thick stick, the sliding block is fixedly connected with the screw；The pushing block 10 is provided with chute, and the slide-bar is placed on the chute
It is interior；One end of the cross link 11 is provided with a legs and b legs, and the other end is provided with c legs and d legs, and a legs are fixedly mounted
On the body, b legs are linked together with the sliding block, and c legs are fixedly mounted on the pushing block, d legs with it is described
Slide-bar links together；The rag that the pushing block 10 is provided with groove, the rag volume 2 15 is wrapped in through the groove
On the pushing block 10 and termination of rag is wrapped on the rag winding bar 16.
The water supply liquid-supplying system includes water supply mechanism, liquid supplying device, flexible pipe and shower nozzle, and the water supply mechanism includes water tank
12nd, water pump 1 and magnetic valve one, the liquid supplying device include cleaning fluid tank 13, water pump two and magnetic valve two, the water tank 12,
Water pump 1, cleaning fluid tank 13 and water pump two be arranged on the main body top, the shower nozzle be arranged on the first mopping device and
The front of second mopping device, the water pump 1 and water pump two pass through the soft pipe connection, the magnetic valve with the shower nozzle
One and magnetic valve two be separately mounted to the exit of the water pump one and water pump two.
The main body is provided with walking mechanism, and the walking mechanism includes three omni-directional wheels 9 and three direct current generators, described straight
Flowing motor is used to drive the omni-directional wheel 9, realizes advance, retrogressing, turning, transverse moving left and right and oblique traveling mode.
The rag of the rag volume 1 and rag volume 2 15 is the natural plant fibre non-woven fabrics of Wet-dry.
Claims (5)
1. a kind of clean robot, it is characterised in that including main body, the first mopping device, the second mopping device and water supply feed flow
System, the main body is provided with chassis, and the first mopping device is arranged on the centre position on the chassis, and the second mopping device is arranged on
The rear end on the chassis, the water supply liquid-supplying system is used to provide water and cleaning to the first mopping device and the second mopping device
Liquid.
2. clean robot according to claim 1, it is characterised in that first mopping device include rag volume one,
Support frame one, rag winding wheel, swing mechanism and replacing rag mechanism, the swing mechanism include steering wheel, connecting rod, fixed mount
First, fixed mount two, bearing pin one, bearing pin two, swing connecting bar one, swing connecting bar two and torsion spring, the replacing rag mechanism include step
Stepper motor one, belt wheel and timing belt；Support frame as described above one is fixedly mounted on the chassis, and the rag volume one is arranged on described
On support frame one；The big end of the swing connecting bar one is provided with pin-and-hole one and mounting groove one, and the small end of the swing connecting bar one is provided with
Mounting hole one, the big end of the swing connecting bar two is provided with pin-and-hole two, and the small end of the swing connecting bar two is provided with mounting hole two, described
Fixed mount one and fixed mount two are symmetricly set on the chassis, and the fixed mount one is provided with through hole one and mounting groove two, described
Fixed mount two is provided with through hole two, and the swing connecting bar one is arranged on the fixation by the insertion pin-and-hole one of bearing pin one and through hole one
On frame one, the torsion spring set is on the bearing pin one, and two legs of the torsion spring are separately mounted to mounting groove one and installation
In groove two, the swing connecting bar two is arranged on the fixed mount two by the insertion pin-and-hole two of bearing pin two and through hole two, described
The two ends of rag winding wheel are separately mounted in the mounting hole one and mounting hole two, and the steering wheel is arranged on the chassis,
The steering wheel is linked together by the big end of the connecting rod and the swing connecting bar one；The belt wheel is fixedly mounted on described
On rag winding wheel, the stepper motor one is arranged on the chassis, and the stepper motor one passes through the timing belt and institute
State belt wheel connection；The termination of rag on the rag volume one is wrapped on the rag winding wheel.
3. clean robot according to claim 1, it is characterised in that second mopping device include rag volume two,
Support frame two, rag winding bar, stepper motor two and telescoping mechanism, the telescoping mechanism include telescope motor, leading screw, screw,
Sliding block, cross link, slide-bar and pushing block；Support frame as described above two and rag winding bar are fixedly mounted on the rear end of the main body, institute
State rag volume two to be arranged on support frame as described above two, the stepper motor two is installed on the body and wound with the rag
Bar links together；The telescope motor and leading screw are installed on the body, and the telescope motor is used to drive the leading screw
Rotation, the nut sleeve is on the leading screw, and the sliding block is fixedly connected with the screw；The pushing block is provided with chute,
The slide-bar is placed in the chute；One end of the cross link is provided with a legs and b legs, the other end provided with c legs and
D legs, a legs are fixedly mounted on the body, and b legs link together with the sliding block, and c legs are fixedly mounted on described
On pushing block, d legs link together with the slide-bar；The rag that the pushing block is provided with groove, the rag volume two is passed through
The groove is wrapped on the pushing block and the termination of rag is wrapped on the rag winding bar.
4. clean robot according to claim 1, it is characterised in that the water supply liquid-supplying system include water supply mechanism,
Liquid supplying device, flexible pipe and shower nozzle, the water supply mechanism include water tank, water pump one and magnetic valve one, and the liquid supplying device includes clear
Washing lotion case, water pump two and magnetic valve two, the water tank, water pump one, cleaning fluid tank and water pump two are arranged on the top of the main body,
The shower nozzle is arranged on the front of the first mopping device and the second mopping device, and the water pump one and water pump two lead to the shower nozzle
The soft pipe connection is crossed, the magnetic valve one and magnetic valve two are separately mounted to the exit of the water pump one and water pump two.
5. clean robot according to claim 1, it is characterised in that the main body is provided with walking mechanism, the walking
Mechanism includes three omni-directional wheels and three direct current generators, and the direct current generator is used to drive the omni-directional wheel, realize advance, after
Move back, turn, transverse moving left and right and oblique traveling mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710530852.5A CN107184160B (en) | 2017-07-03 | 2017-07-03 | A kind of clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710530852.5A CN107184160B (en) | 2017-07-03 | 2017-07-03 | A kind of clean robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107184160A true CN107184160A (en) | 2017-09-22 |
| CN107184160B CN107184160B (en) | 2019-08-02 |
Family
ID=59880612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710530852.5A Active CN107184160B (en) | 2017-07-03 | 2017-07-03 | A kind of clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107184160B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854055A (en) * | 2017-11-08 | 2018-03-30 | 安嘉琦 | The intelligent floor-sweeping of automatically replaceable rubbing head wipes ground integrated device for cleaning |
| CN107960955A (en) * | 2017-12-15 | 2018-04-27 | 孙鹏程 | A kind of housekeeping floor-mopping robot |
| WO2022134850A1 (en) * | 2020-12-22 | 2022-06-30 | 广东美的白色家电技术创新中心有限公司 | Cleaning robot and cleaning system |
| WO2022198695A1 (en) * | 2021-03-25 | 2022-09-29 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method therefor |
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| CN102860792A (en) * | 2011-12-30 | 2013-01-09 | 苏州韩京姬科技有限公司 | Base assembly for floor cleaner |
| CN103417165A (en) * | 2012-05-14 | 2013-12-04 | 苏州市洁宝王电器有限公司 | Electric cleaning device |
| CN205181254U (en) * | 2015-11-04 | 2016-04-27 | 东莞市智科智能科技有限公司 | Cleaning robot |
| CN205458464U (en) * | 2015-12-31 | 2016-08-17 | 科沃斯机器人有限公司 | Water tank and cleaning machines people thereof |
| CN106175609A (en) * | 2016-08-31 | 2016-12-07 | 洛阳圣瑞智能机器人有限公司 | A kind of water injection system of automatic mop |
-
2017
- 2017-07-03 CN CN201710530852.5A patent/CN107184160B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102860792A (en) * | 2011-12-30 | 2013-01-09 | 苏州韩京姬科技有限公司 | Base assembly for floor cleaner |
| CN103417165A (en) * | 2012-05-14 | 2013-12-04 | 苏州市洁宝王电器有限公司 | Electric cleaning device |
| CN205181254U (en) * | 2015-11-04 | 2016-04-27 | 东莞市智科智能科技有限公司 | Cleaning robot |
| CN205458464U (en) * | 2015-12-31 | 2016-08-17 | 科沃斯机器人有限公司 | Water tank and cleaning machines people thereof |
| CN106175609A (en) * | 2016-08-31 | 2016-12-07 | 洛阳圣瑞智能机器人有限公司 | A kind of water injection system of automatic mop |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854055A (en) * | 2017-11-08 | 2018-03-30 | 安嘉琦 | The intelligent floor-sweeping of automatically replaceable rubbing head wipes ground integrated device for cleaning |
| CN107960955A (en) * | 2017-12-15 | 2018-04-27 | 孙鹏程 | A kind of housekeeping floor-mopping robot |
| CN107960955B (en) * | 2017-12-15 | 2020-07-17 | 嘉兴市品信电器有限公司 | Housekeeping mopping robot |
| WO2022134850A1 (en) * | 2020-12-22 | 2022-06-30 | 广东美的白色家电技术创新中心有限公司 | Cleaning robot and cleaning system |
| WO2022198695A1 (en) * | 2021-03-25 | 2022-09-29 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107184160B (en) | 2019-08-02 |
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