CN107264661A - A kind of adjustable foot of gait carries out formula walking mechanism - Google Patents
A kind of adjustable foot of gait carries out formula walking mechanism Download PDFInfo
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- CN107264661A CN107264661A CN201710298785.9A CN201710298785A CN107264661A CN 107264661 A CN107264661 A CN 107264661A CN 201710298785 A CN201710298785 A CN 201710298785A CN 107264661 A CN107264661 A CN 107264661A
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- 230000005021 gait Effects 0.000 title claims abstract description 74
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000035939 shock Effects 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000005183 dynamical system Methods 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 235000003283 Pachira macrocarpa Nutrition 0.000 claims 1
- 241001083492 Trapa Species 0.000 claims 1
- 235000014364 Trapa natans Nutrition 0.000 claims 1
- 235000009165 saligot Nutrition 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
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Abstract
Formula walking mechanism is carried out the invention discloses a kind of adjustable foot of gait, including foot carries out system, driving power system and gait dynamics system；Sufficient shoe system includes driving wheel, two tensioning wheels, the crawler belt being wound on driving wheel and tensioning wheel and foot and carries out retainer, and two tensioning wheels are carried out retainer with foot and are fixedly connected；Driving power system includes the driving servomotor, driving reductor and spline shaft being sequentially connected, and spline shaft is fixedly connected with driving wheel；Gait dynamics system includes gait adjustment servomotor, Synchronous Transmission pair and the gait reductor being sequentially connected, and the output end and foot of gait reductor are carried out retainer and be fixedly connected.The present invention takes into account wheeled and crawler type type of drive advantage, wheeled and crawler type type of drive free switching is realized by gait dynamics system, so as to improve ground without the full region traffic capacity for changing original text people's platform.
Description
Technical field
The present invention relates to unmanned ground vehicle technical field, specifically a kind of adjustable foot of gait carries out formula walking mechanism.
Background technology
Along with the fast development of modern science and technology, the development level of unmanned ground vehicle is maked rapid progress, no matter in military neck
Domain also commercial market, mobility height that unmanned ground vehicle is all possessed by it, strong adaptability, the low advantage of personnel risk are obtained
Application extensively and profoundly.For unmanned ground vehicle, good landform adaptability is one of its most important performance, especially
Under country during operation, good is more indispensable by performance.The driving side of the unmanned ground vehicle of current main-stream
Formula mainly has wheeled, crawler type and wheel-track combined three kinds of modes.Wheeled construction is simple, fast in paved road travel speed, machine
Dynamic property by force, but because wheeled grounding pressure is big, easily occurs skidding, sunk in miriness, under the conditions of the rough topography such as sand ground and snowfield
The phenomenon such as sunken, it is poor by property, and be difficult to overcome the terrain obstructions such as trench, step, received in the wild in environmental applications larger
Limitation.And crawler type type of drive has the advantages that grounding pressure is low, tractive force is big, climbing capacity is strong, have under country
Have higher by property, but have that mobility is poor, travel speed is slow, the destructive big, steering behaviour of road pavement is poor, energy consumption is larger
Deng deficiency.The wheel-track combined type of drive of tradition wishes to take into account the high pass of the high maneuverability of in-wheel driving and crawler type driving
The characteristics of property, but be due to complicated, poor reliability, larger limitation is received in practical application.
The content of the invention
Formula walking mechanism is carried out the technical problem to be solved in the present invention is to provide a kind of adjustable foot of gait, wheeled and crawler belt is taken into account
The advantage of formula type of drive, realizes wheeled and crawler type type of drive free switching, so as to improve by gait dynamics system
The full region traffic capacity of unmanned ground vehicle.
The technical scheme is that：
Foot carries out formula walking mechanism that a kind of gait is adjustable, including foot carry out system, driving foot carry out system walking driving power system and
Adjustment foot carries out the gait dynamics system of system gait；Described sufficient shoe system includes driving wheel, two tensioning wheels, is wound in driving
Crawler belt and foot on wheel and tensioning wheel carry out retainer, and two described tensioning wheels are located at the both sides of driving wheel, and crawler belt respectively
Winding be shaped as rhombus, top, the bottom of two obtuse angle flex points of rhombus respectively with driving wheel are contacted, two acute angle flex points of rhombus
Contacted respectively with two tensioning wheels, and two described tensioning wheels are carried out retainer with foot and are fixedly connected；Described driving power
System includes the driving servomotor, driving reductor and spline shaft, described spline shaft and driving being sequentially connected
Wheel is fixedly connected；Described gait dynamics system includes gait adjustment servomotor, Synchronous Transmission pair and the gait being sequentially connected
Reductor, output end and the foot of gait reductor are carried out retainer and are fixedly connected.
Foot is provided with the outside of the described circular end face of driving wheel two and carries out retainer, two described tensioning wheels pass through
Tensioning apparatus is carried out retainer with foot and is fixedly connected.
Described gait is adjustable, and foot carries out formula walking mechanism also including being used for fixed drive dynamical system and gait dynamics system
Suspension system, described suspension system includes cantilever housing, cantilevered pivot, rolling bearing, Pivot joint, drive system and fixes
Pinboard, semiaxis and the shock absorber of ring, annular, described driving servomotor, driving reductor are fixedly installed on cantilever housing
It is interior, a cantilevered pivot is fixedly connected with two relative lateral walls of cantilever housing outer end, each cantilevered pivot passes through rolling
Dynamic bearing is connected with Pivot joint, and Pivot joint is fixedly connected with vehicle body, and driving is passed through on the inner lateral wall of cantilever housing
System retainer ring is fixedly connected with pinboard, and driving reductor reaches part outside cantilever housing and drive system retainer ring is solid
Fixed connection, the inner flange disk of semiaxis is fixedly connected on the inner ring of pinboard, and the inner flange disk of pinboard and semiaxis is fixed
In the fixed shell for being connected to gait reductor, the bottom of described shock absorber is articulated with pinboard, and the top of shock absorber leads to
Cross joint and be articulated with vehicle body.
It is mounted on the power transmission shaft of described driving servomotor, on the power transmission shaft of described gait adjustment servomotor
Sheet electromagnetic brake, wherein, the sheet electromagnetic brake being connected with driving servomotor is fixedly connected on driving and slowed down
On the housing of machine, the sheet electromagnetic brake being connected with gait adjustment servomotor is fixedly connected on pinboard.
Described cantilever housing is arranged at the side that foot carries out system, and driving reductor selects right angle reductor.
Described driving reductor and spline shaft are connected by shaft coupling, and described shaft coupling is located at the hollow of semiaxis
In elongated hole.
Described spline shaft is connected by hub bearing with driving wheel, i.e. the inner ring of spline shaft and hub bearing
It is fixedly connected, driving wheel is fixedly connected with the inner ring flange of hub bearing, inner ring and its inner ring flange of described hub bearing
It is fixedly connected, the described outer flange of semiaxis is fixedly connected with the outer ring of hub bearing.
Described gait adjustment servomotor is located at the top of cantilever housing, and described Synchronous Transmission pair includes active synchronization
Belt wheel, driven synchronous pulley and the timing belt being wound on active synchronization belt wheel and driven synchronous pulley, active synchronization belt wheel
It is fixedly connected with the power transmission shaft of gait adjustment servomotor, driven synchronous pulley is fixedly connected with the input of gait reductor.
The bottom of described shock absorber is articulated with the middle part of pinboard.
Advantages of the present invention：
（1）, crawler belt constitutes the geometry of rhombus under driving wheel and both sides tensioning wheel collective effect in the present invention；Gait dynamics
System carries out retainer by foot and drives tensioning wheel, is rotated so as to adjust crawler belt and tensioning wheel around driving wheel axle center, so as to obtain
Different gaits, change platform road clearance and posture, adapt to Various Complex landform, therefore, it is possible to drastically increase ground without
The landform adaptability of people's platform.
（2）, the present invention sufficient shoe system can adjust the approach angle of crawler belt on a large scale according to demand, possess good obstacle detouring,
Climbing ability.
（3）, the present invention driving power system and gait dynamics system independent operating, can be completed under different speeds walk
The adjustment of state, further improves adaptability of the unmanned ground vehicle to various complicated landform.
（4）, the present invention driving power system be arranged in cantilever housing, compact conformation, space availability ratio is high.
（5）, the present invention gait dynamics system using secondary and gait reductor composition the deceleration device of Synchronous Transmission, have
Speed reducing ratio is big, Jing Yin, shock resistance, reliability high, light weight the advantages of.
Brief description of the drawings
Fig. 1 is the stereogram of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the A-A profiles in Fig. 2.
Fig. 4 is the structural representation of suspension system of the present invention.
Fig. 5 is the B-B profiles in Fig. 2 of the present invention.
Fig. 6 is application structure schematic diagram of the present invention under the conditions of paved road.
Fig. 7 is application structure schematic diagram of the present invention under the conditions of soft, muddy road surface.
Fig. 8 be the present invention paddle or earth bulging higher strip part under application structure schematic diagram.
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
Site preparation is described, 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, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
See Fig. 1 and Fig. 2, a kind of adjustable foot of gait carries out formula walking mechanism, including foot carries out system, and driving foot carries out system walking
Driving power system, adjustment foot carries out the gait dynamics system of system gait, and for fixed drive dynamical system and Gait
The suspension system of Force system；
See Fig. 5, sufficient shoe system includes driving wheel 401, two tensioning wheels 402, is wound on driving wheel 401 and tensioning wheel 402
Crawler belt 403 and foot carry out retainer 404, and two tensioning wheels 402 are located at the both sides of driving wheel 401, and the winding of crawler belt 403 respectively
It is shaped as rhombus, top, the bottom of two obtuse angle flex points of rhombus respectively with driving wheel 401 are contacted, two acute angle flex points point of rhombus
Do not contacted with two tensioning wheels 402, foot is provided with the outside of 401 liang of circular end faces of driving wheel and carries out retainer 404, two tensionings
Wheel 402 is carried out retainer 404 by tensioning apparatus 405 and foot and is fixedly connected；
See Fig. 3, driving servomotor 101 that driving power system includes being sequentially connected, right angle reductor 102, shaft coupling 103,
Spline shaft 104 and hub bearing 105, spline shaft 104 are fixedly connected with the inner ring of hub bearing, driving wheel and wheel hub
The inner ring flange of bearing is fixedly connected, and the inner ring of described hub bearing is fixedly connected with its inner ring flange；Gait dynamics system
Including the gait adjustment servomotor 201 being sequentially connected, Synchronous Transmission pair and gait reductor 205, Synchronous Transmission pair includes master
Move synchronous pulley 202, driven synchronous pulley 204 and be wound in same on active synchronization belt wheel 202 and driven synchronous pulley 204
Band 203 is walked, active synchronization belt wheel 202 is fixedly connected with the power transmission shaft of gait adjustment servomotor 201, driven synchronous pulley 204
It is fixedly connected with the input 205b of gait reductor 205, output end 205c and the foot of gait reductor 205 carry out retainer 404
It is fixedly connected；Wherein, it is mounted on the power transmission shaft of driving servomotor 101, on the power transmission shaft of gait adjustment servomotor 201
Sheet electromagnetic brake 106,206, the sheet electromagnetic brake 106 being connected with driving servomotor 101 is fixedly connected on
On the housing for driving reductor 102, the sheet electromagnetic brake 206 being connected with gait adjustment servomotor 201 is fixedly connected
In on pinboard 306；
See Fig. 4, suspension system includes cantilever housing 301, cantilevered pivot 302, rolling bearing 303, Pivot joint 304, drivetrain
System retainer ring 305, pinboard 306, semiaxis 307 and the shock absorber 308 of annular, cantilever housing 301 are arranged at the side of sufficient shoe system 4
Side, driving servomotor 101, right angle reductor 102 are fixedly installed in cantilever housing 301, and the outer end of cantilever housing 301 is relative
A cantilevered pivot 302 is fixedly connected with two lateral walls, each cantilevered pivot 302 passes through rolling bearing 303 and pivot
Shaft coupling 304 is connected, and Pivot joint 304 is fixedly connected with vehicle body, and drivetrain is passed through on the inner lateral wall of cantilever housing 301
System retainer ring 305 is fixedly connected with pinboard 306, and right angle reductor 102 reaches part and drivetrain outside cantilever housing 301
System retainer ring 305 is fixedly connected, and the inner flange disk of semiaxis 307 is arranged at the inner ring of pinboard 306, pinboard 306 and semiaxis
307 inner flange disk is fixedly connected with the fixed shell 205a of gait reductor 205, the outer flange of semiaxis 307 with
The outer ring of hub bearing 105 is fixedly connected, and shaft coupling 103 is located in the hollow elongated hole of semiaxis 307, the bottom hinge of shock absorber 308
On the middle part for being connected to pinboard 306, the top of shock absorber 308 is articulated with vehicle body by joint.
The operation principle of the present invention：
（1）, gait adjustment：Gait adjustment servomotor 201 starts, and gait adjustment servomotor 201 passes through Synchronous Transmission subband
Dynamic gait reductor 205 is moved, and gait reductor 205 is carried out retainer 404 with action spot and rotated along the axle center of driving wheel 401, so as to change
Become the gait that foot carries out system；
（2）, foot carry out system walking：Driving servomotor 101 drives right angle reductor 102 to rotate, and right angle reductor 102 passes through connection
Axle device 103 drives spline shaft 104 to rotate, and spline shaft 104 drives driving wheel 401 to rotate, so that being wound in driving
The rotational band action spot of crawler belt 403 on wheel 401 carries out system walking.
See Fig. 6, only driving wheel 401 contacts to earth, and this walking mechanism is equivalent to Conventional drum walking mechanism, with contact area of ground
Reduce, grounding pressure increase, so that the frictional resistance with ground is reduced, so as to the fast reserve on paved road；See figure
7, under the conditions of soft, muddy road surface, a line of crawler belt 403 is contacted to earth, i.e., driving wheel 401 and side tensioning wheel 402 and both
Between crawler belt 403 bear landing load jointly, the area that contacts to earth is maximum, grounding pressure reduction, so as to improve unmanned ground vehicle
By property；See Fig. 8, paddle or earth bulging it is higher under conditions of, foot carry out system major axis perpendicular to ground, only rely on one
Side tensioning wheel 402 transmits landing load, and driving wheel 401 is only provided in the case of the driving force of crawler belt 403, the present embodiment, can be by ground
The road clearance of the unmanned platform in face maximizes, so as to greatly improve the landform adaptability of platform.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of adjustable foot of gait carries out formula walking mechanism, it is characterised in that：System is carried out including foot, driving foot carries out the drive of system walking
Dynamic dynamical system and adjustment foot carry out the gait dynamics system of system gait；Described sufficient shoe system includes driving wheel, two tensionings
The crawler belt and foot take turns, being wound on driving wheel and tensioning wheel carry out retainer, and two described tensioning wheels are located at driving wheel respectively
Both sides, and the winding of crawler belt is shaped as rhombus, and top, the bottom of two obtuse angle flex points of rhombus respectively with driving wheel are contacted, water chestnut
Two acute angle flex points of shape are contacted with two tensioning wheels respectively, and two described tensioning wheels are carried out retainer with foot and are fixedly connected；
Described driving power system includes the driving servomotor, driving reductor and spline shaft being sequentially connected, described flower
Key power transmission shaft is fixedly connected with driving wheel；It is gait adjustment servomotor that described gait dynamics system includes being sequentially connected, same
Transmission and gait reductor are walked, output end and the foot of gait reductor are carried out retainer and be fixedly connected.
2. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that：Described driving wheel two
Foot is provided with the outside of circular end face and carries out retainer, two described tensioning wheels are carried out retainer by tensioning apparatus and foot and consolidated
Fixed connection.
3. the adjustable foot of a kind of gait according to claim 1 carries out formula walking mechanism, it is characterised in that：Described gait is adjustable
Foot, which carries out formula walking mechanism, also includes the suspension system for fixed drive dynamical system and gait dynamics system, described suspension system
System include cantilever housing, cantilevered pivot, rolling bearing, Pivot joint, drive system retainer ring, annular pinboard, semiaxis and
Shock absorber, described driving servomotor, driving reductor are fixedly installed in cantilever housing, cantilever housing outer end it is relative two
A cantilevered pivot is fixedly connected with individual lateral wall, each cantilevered pivot is connected by rolling bearing with Pivot joint, pivot
Shaft coupling is fixedly connected with vehicle body, is fixed and connected by drive system retainer ring and pinboard on the inner lateral wall of cantilever housing
Connect, the part that driving reductor is reached outside cantilever housing is fixedly connected with drive system retainer ring, the inner flange disk of semiaxis
It is fixedly connected on the inner ring of pinboard, the inner flange disk of pinboard and semiaxis is fixedly connected with the set casing of gait reductor
On body, the bottom of described shock absorber is articulated with pinboard, and the top of shock absorber is articulated with vehicle body by joint.
4. the adjustable foot of a kind of gait according to claim 3 carries out formula walking mechanism, it is characterised in that：Described driving servo
Sheet electromagnetic brake is mounted on the power transmission shaft of motor, on the power transmission shaft of described gait adjustment servomotor, wherein,
The sheet electromagnetic brake being connected with driving servomotor is fixedly connected on the housing of driving reductor, is watched with gait adjustment
The sheet electromagnetic brake for taking motor connection is fixedly connected on pinboard.
5. the adjustable foot of a kind of gait according to claim 3 carries out formula walking mechanism, it is characterised in that：Described cantilever housing
The side that foot carries out system is arranged at, driving reductor selects right angle reductor.
6. the adjustable foot of a kind of gait according to claim 3 carries out formula walking mechanism, it is characterised in that：Described driving is slowed down
Machine and spline shaft are connected by shaft coupling, and described shaft coupling is located in the hollow elongated hole of semiaxis.
7. the adjustable foot of a kind of gait according to claim 3 carries out formula walking mechanism, it is characterised in that：Described spline drived
Axle is connected by hub bearing with driving wheel, i.e., spline shaft is fixedly connected with the inner ring of hub bearing, driving wheel and wheel hub
The inner ring flange of bearing is fixedly connected, and the inner ring of described hub bearing is fixedly connected with its inner ring flange, described semiaxis
Outer flange is fixedly connected with the outer ring of hub bearing.
8. the adjustable foot of a kind of gait according to claim 3 carries out formula walking mechanism, it is characterised in that：Described gait adjustment
Servomotor is located at the top of cantilever housing, described Synchronous Transmission pair include active synchronization belt wheel, driven synchronous pulley and
It is wound in the timing belt on active synchronization belt wheel and driven synchronous pulley, the biography of active synchronization belt wheel and gait adjustment servomotor
Moving axis is fixedly connected, and driven synchronous pulley is fixedly connected with the input of gait reductor.
9. the adjustable foot of a kind of gait according to claim 3 carries out formula walking mechanism, it is characterised in that：Described shock absorber
Bottom is articulated with the middle part of pinboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298785.9A CN107264661B (en) | 2017-04-30 | 2017-04-30 | A kind of adjustable foot shoe formula walking mechanism of gait |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298785.9A CN107264661B (en) | 2017-04-30 | 2017-04-30 | A kind of adjustable foot shoe formula walking mechanism of gait |
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| Publication Number | Publication Date |
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| CN107264661A true CN107264661A (en) | 2017-10-20 |
| CN107264661B CN107264661B (en) | 2019-05-28 |
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| CN201710298785.9A Expired - Fee Related CN107264661B (en) | 2017-04-30 | 2017-04-30 | A kind of adjustable foot shoe formula walking mechanism of gait |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055941A (en) * | 2020-01-02 | 2020-04-24 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
| CN111055936A (en) * | 2019-12-24 | 2020-04-24 | 中国科学院合肥物质科学研究院 | Gait-adjustable wheel-track conversion walking mechanism |
| CN111114637A (en) * | 2019-12-24 | 2020-05-08 | 中国科学院合肥物质科学研究院 | Land robot walking mechanism facing global terrain |
| CN112977655A (en) * | 2021-03-31 | 2021-06-18 | 中国科学院合肥物质科学研究院 | Platform action mechanism facing alpine region |
| CN114954712A (en) * | 2022-06-02 | 2022-08-30 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
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| CN1546289A (en) * | 2003-12-04 | 2004-11-17 | 北京航空航天大学 | Variant structure leg wheeled exploration robot |
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| CN104460672A (en) * | 2014-11-17 | 2015-03-25 | 哈尔滨理工大学 | Bionic hexapod robot control system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111055936A (en) * | 2019-12-24 | 2020-04-24 | 中国科学院合肥物质科学研究院 | Gait-adjustable wheel-track conversion walking mechanism |
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| CN112977655A (en) * | 2021-03-31 | 2021-06-18 | 中国科学院合肥物质科学研究院 | Platform action mechanism facing alpine region |
| CN112977655B (en) * | 2021-03-31 | 2022-07-05 | 中国科学院合肥物质科学研究院 | Platform action mechanism facing alpine region |
| CN114954712A (en) * | 2022-06-02 | 2022-08-30 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
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| Publication number | Publication date |
|---|---|
| CN107264661B (en) | 2019-05-28 |
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