CN108296643A - A kind of IC detachments mark overlay film robot and its method - Google Patents
A kind of IC detachments mark overlay film robot and its method Download PDFInfo
- Publication number
- CN108296643A CN108296643A CN201810083405.4A CN201810083405A CN108296643A CN 108296643 A CN108296643 A CN 108296643A CN 201810083405 A CN201810083405 A CN 201810083405A CN 108296643 A CN108296643 A CN 108296643A
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- Prior art keywords
- wheel
- cover strip
- material strip
- detachments
- strip
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/361—Removing material for deburring or mechanical trimming
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention relates to IC detachment mark overlay films robots, including machine table, attaching mechanism, sealing mechanism, laminating mechanism and rolling-up mechanism that material strip unreeling structure, detachment mechanism, the laser cleared up old label and print new label, new upper cover strip are pasted to material strip are disposed in machine table；The vision system coordinated with laser is provided in machine table；IC detachment mark overlay films robot further includes controller；Material strip unreeling structure, detachment mechanism, laser, sealing mechanism, laminating mechanism and rolling-up mechanism are electrically connected with the controller and are controlled by it；After material strip unreeling structure unreels IC chip material strip, upper cover strip on material strip is removed by detachment mechanism, under the positioning of the track of vision system, after clearing up mark again into row label by laser, attaches mechanism and attach new upper cover strip to material strip, sealing mechanism carries out heating sealing, after laminating mechanism pressing, it is wound by rolling-up mechanism, substantially increases processing efficiency, reduce cost of labor.
Description
Technical field
The present invention relates to IC processing technique fields, more specifically to a kind of IC detachments mark overlay film robot and its
Method.
Background technology
IC chip needs to carry out mark to its surface in processing, when the error of the position of mark or information error or incompleteness
It is not full-time, the mark information in IC chip can only be carried out after removing manually again by upper cover strip of manually being torn manually
It carries out mark and attaches upper cover strip, production efficiency is low, high labor cost.
Invention content
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, provides a kind of IC detachments mark
Overlay film robot；
Additionally provide a kind of IC detachment mark film covering methods of the application IC detachment mark overlay films robot.
The technical solution adopted by the present invention to solve the technical problems is：
Construct a kind of IC detachments mark overlay film robot, including machine table；Wherein, it is disposed with material in the machine table
With the detachment mechanism of old upper cover strip on unreeling structure, dismounting material strip, the old label of cleaning and the laser, new for printing new label
Upper cover strip is pasted to sealing mechanism, laminating mechanism and the rolling-up mechanism of the attaching mechanism of material strip, new upper cover strip and material strip sealing；
The vision system coordinated with the laser is provided in the machine table；IC detachments mark overlay film robot further includes control
Device processed；The material strip unreeling structure, the detachment mechanism, the laser, the sealing mechanism, the laminating mechanism and described
Rolling-up mechanism is electrically connected and is controlled by it with the controller.
IC detachments mark overlay film of the present invention robot, wherein the detachment mechanism includes tight with material strip upper surface
The door tape spool of patch, the mistake cover strip wheel right over the door tape spool, the receipts cover strip wheel to dismantling upper cover strip winding, and
Cover strip wheel and the tensioning wheel received between cover strip wheel are crossed positioned at described.
IC detachments mark overlay film of the present invention robot, wherein the detachment mechanism further includes and the workbench
Fixed detachment holder；The door tape spool, cover strip wheel, the receipts cover strip wheel and the tensioning wheel crossed are installed in institute
It states on detachment holder；Limited block is detachably provided in the machine table, the limited block lower surface is provided with and the door
The cambered surface type groove of tape spool cooperation.
IC detachments mark overlay film of the present invention robot, wherein the laminating mechanism include traction pinwheel, with it is described
Draw the pinch roller of pinwheel cooperation, and the main drive motor of the driving traction pinwheel；The rolling-up mechanism and the cover strip excessively
Wheel is driven by the main drive motor；The cover strip wheel of crossing is driven with the receipts cover strip wheel by synchronous band connection.
IC detachments mark overlay film of the present invention robot, wherein the laminating mechanism further includes mounting plate, the peace
The swing arm for being provided with and installing the pinch roller is detachably connected in loading board；The shell of the main drive motor passes through more fixed links
It is fixedly connected with the mounting plate；The first synchronizing wheel for driving the rolling-up mechanism is arranged on the main drive motor movable end
With drive second synchronizing wheel for crossing cover strip wheel；Gap is more than first synchronizing wheel and institute between the adjacent fixed link
State the second synchronizing wheel outer diameter.
IC detachments mark overlay film of the present invention robot, wherein the traction pinwheel side surface is provided with multiple senses
Answer piece；Optoelectronic switch corresponding with the sensing chip is provided on mounting plate, the optoelectronic switch is electrically connected with the controller.
IC detachments mark overlay film of the present invention robot, wherein the mechanism that attaches includes loading new upper cover strip
Upper cover belt wheel and the installation riser of the upper cover belt wheel is installed；Multiple upper cover strip unreeling shafts are provided in the installation riser,
And attach block；Rotation setting attaches axis on the attaching block；The fixed inverted L shape for attaching block is provided in the machine table
Latch segment.
IC detachments mark overlay film of the present invention robot, wherein the sealing mechanism includes heat block, described in installation
Mounting base, drive shaft and the driving motor for driving the drive shaft movement of heat block；Two guiding are provided in the mounting base
Axis；Axle sleeve corresponding with the guiding axis is provided in the machine table；The guiding axis lower end is fixed by cross bar, lower end end
Portion is provided with spring retainer screw, and position is arranged with the first spring between the cross bar and the spring retainer screw；Institute
State the cam and induction wheel for being arranged in drive shaft and coordinating with the cross bar；It is provided with magnet on the induction wheel；The processing
The inductive switch for incuding the magnet is provided on platform；The mounting base lower end is fixed between two guiding axis
Resetting shaft is arranged with second spring on the resetting shaft；Blind hole corresponding with the resetting shaft is provided on the axle sleeve；It is described
Heat block includes heating iron and copper tool；The mounting base is connect by heat insulation with the heat block.
IC detachments mark overlay film of the present invention robot, wherein the material strip unreeling structure includes unreeling disk and putting
Reel mounting bracket；It is provided in the machine table and unreels mounting rod, the punishment in advance with material strip cooperation that disk mounting bracket is connect with described
Slot and making unreel rear material strip along it is described cross hopper operation unreel binder axis.
A kind of IC detachments mark film covering method, using above-mentioned IC detachment mark overlay films robot, its implementation is as follows：
After material strip unreeling structure unreels IC chip material strip, the upper cover strip on material strip is removed by detachment mechanism, in the track of vision system
Under positioning, cleared up again after mark into row label by laser, attach mechanism and attach new upper cover strip to material strip, sealing mechanism into
Row heating sealing is wound after laminating mechanism pressing by rolling-up mechanism.
The beneficial effects of the present invention are：After material strip unreeling structure unreels IC chip material strip, is removed and expected by detachment mechanism
The upper cover strip taken after clearing up mark again into row label by laser, attaches mechanism patch under the positioning of the track of vision system
To material strip, sealing mechanism carries out heating sealing and is wound by rolling-up mechanism, greatly after laminating mechanism pressing attached new upper cover strip
It is big to improve processing efficiency, reduce cost of labor；Laser can be carried out cleaning and mark work by single laser head, can also be set
It sets multiple laser heads and carries out cleaning and mark work respectively.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below in conjunction with attached drawing and reality
Applying example, the invention will be further described, and the accompanying drawings in the following description is only the section Example of the present invention, for this field
For those of ordinary skill, without creative efforts, other accompanying drawings are can also be obtained according to these attached drawings：
Fig. 1 is the IC detachment mark overlay films robot structural schematic diagram of present pre-ferred embodiments；
Fig. 2 is that the IC detachment mark overlay films robot of present pre-ferred embodiments attaches mechanism structural schematic diagram；
Fig. 3 is the IC detachment mark overlay films robot rear view of present pre-ferred embodiments；
Fig. 4 is the IC detachment mark overlay films robot laminating mechanism structural schematic diagram of present pre-ferred embodiments；
Fig. 5 is the IC detachment mark overlay films robot sealing mechanism structural schematic diagram of present pre-ferred embodiments；
Fig. 6 is that the IC detachment mark overlay films robot of present pre-ferred embodiments attaches mechanism structural schematic diagram.
Specific implementation mode
In order to keep the purpose, technical scheme and advantage of the embodiment of the present invention clearer, implement below in conjunction with the present invention
Technical solution in example carries out clear, complete description, it is clear that and described embodiment is the section Example of the present invention, and
It is not all of embodiment.Based on the embodiment of the present invention, those of ordinary skill in the art are not before making the creative labor
The every other embodiment obtained is put, protection scope of the present invention is belonged to.
The IC detachments mark overlay film robots of present pre-ferred embodiments as shown in Figure 1, simultaneously refering to Fig. 2-Fig. 6, including
Machine table 1, be disposed in machine table 1 material strip unreeling structure 10, on dismounting material strip 2 old upper cover strip 20 detachment mechanism
11, clear up old label and print the laser 12 of new label, new upper cover strip 3 is pasted to the attachings mechanism 13 of material strip 2, newly upper
Sealing mechanism 14, laminating mechanism 15 and the rolling-up mechanism 16 that cover strip 3 is sealed with material strip 2；It is provided in machine table 1 and laser 12
The vision system 17 of cooperation；IC detachment mark overlay films robot further includes controller 18；Material strip unreeling structure 10, detachment mechanism
11, laser 12, sealing mechanism 14, laminating mechanism 15 and rolling-up mechanism 16 are electrically connected and are controlled by it with controller 18；Material
After band unreeling structure 10 unreels IC chip material strip 2, the upper cover strip on material strip 2 is removed by detachment mechanism 11, in vision system 17
Track positioning under, cleared up again after mark into row label by laser 12, attach mechanism 13 and attach new upper cover strip 3 to material strip
2, sealing mechanism 14 carries out heating sealing and is wound by rolling-up mechanism 16 after laminating mechanism 15 presses, substantially increase processing
Efficiency reduces cost of labor；Laser 12 can be carried out cleaning and mark work by single laser head, may also set up multiple laser
Head carries out cleaning and mark work respectively.
As shown in Figure 1, Figure 2 and Figure 3, detachment mechanism 11 includes the door tape spool 110 being close to 2 upper surface of material strip, is located at
Mistake cover strip wheel 111 right over door tape spool 110, the receipts cover strip wheel 112 to dismantling upper cover strip winding, and it was located at cover strip wheel
Tensioning wheel 113 between 111 and receipts cover strip wheel 112；When material strip 2 is by door tape spool 110, old upper cover strip 20 is stripped, and
Around cover strip wheel 111 and tensioning wheel 113, wound by receipts cover strip wheel 112, peeling effect is good.
As shown in Figure 1, Figure 2 and Figure 3, detachment mechanism 11 further includes and 1 fixed detachment holder 114 of workbench；Door band
Axis 110, excessively cover strip wheel 111, receipts cover strip wheel 112 and tensioning wheel 113 are installed on detachment holder 114；It is removable in machine table 1
It unloads and is provided with limited block 4,4 lower surface of limited block is provided with the cambered surface type groove 40 coordinated with door tape spool 110；It is reasonable for structure tight
It gathers, it is easy to disassemble, and remove old upper cover strip 20 and stablize.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, laminating mechanism 15 includes traction pinwheel 150, coordinates with traction pinwheel 150
The main drive motor 152 of pinwheel 150 is drawn in pinch roller 151, and driving；Rolling-up mechanism 16 and cover strip wheel 111 excessively are by main driving
Motor 152 drives；It crosses cover strip wheel 111 and transmission is connect by synchronous belt 115 with cover strip wheel 112 is received；It is driven by main drive motor 152
While dynamic traction pinwheel 150 movement pressing, drove cover strip wheel 111 and rolling-up mechanism 16 to move and carry out removing old upper cover strip
20 and finished product winding action, energy saving, synchronization action consistency is good, and convenient for control to adjust.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, laminating mechanism 15 further includes mounting plate 153, is detachably connected on mounting plate 153
Connect the swing arm 154 for being provided with installation pinch roller 151；The shell of main drive motor 152 passes through more fixed links 155 and mounting plate
153 are fixedly connected；It is arranged with the first synchronizing wheel 156 for driving rolling-up mechanism 16 on 152 movable end of main drive motor and drove
Second synchronizing wheel 157 of cover strip wheel 111；Gap is more than the first synchronizing wheel 156 and the second synchronizing wheel between adjacent fixed link 155
157 outer diameters；Good integrity, it is easy to disassemble；151 height of pinch roller can be adjusted according to product thickness by swing arm 154, be applicable in
Property is good.
As shown in figure 4,150 side surface of traction pinwheel is provided with multiple sensing chips 158；It is provided with and feels on mounting plate 153
158 corresponding optoelectronic switch 159 of piece, optoelectronic switch 159 is answered to be electrically connected with the controller；It is convenient for the counting of chip.
As shown in figures 1 to 6, it includes loading the upper cover belt wheel 130 of new upper cover strip 3 and installing cover strip to attach mechanism 13
The installation riser 131 of wheel 130；It is provided with multiple upper cover strip unreeling shafts 132 in installation riser 131, and attaches block 133；It attaches
Rotation setting attaches axis 134 on block 133；The fixed inverted L shape latch segment 5 for attaching block 133 is provided in machine table 1；Pass through upper cover
New upper cover strip 3 more smoothness can be attached at tape surface with unreeling shaft 132, attaching process can guarantee by latch segment 5
Stability；Structural integrity is good, and dismounting is extremely convenient.
As shown in Figure 1 and Figure 5, sealing mechanism 14 includes heat block 140, the mounting base 141 for installing heat block 140, driving
Axis 142 and the driving motor 143 for driving drive shaft 142 to move；Two guiding axis 144 are provided in mounting base 141；In machine table 1
It is provided with axle sleeve corresponding with guiding axis 144 6；144 lower end of guiding axis is fixed by cross bar 145, and lower end is provided with spring
Limited screw 146, position is arranged with the first spring 147 between cross bar 145 and spring retainer screw 146；In drive shaft 142
It is arranged with the cam 148 coordinated with cross bar 145 and induction wheel 149；Magnet 160 is provided on induction wheel 149；It is set in machine table 1
It is equipped with the inductive switch 7 of induced magnet 160；141 lower end of mounting base is fixed with the resetting shaft between two guiding axis 144
161, second spring 162 is arranged on resetting shaft 161；Blind hole corresponding with resetting shaft 161 is provided on axle sleeve 6；Heat block 140
Including heating iron 163 and copper tool 164；Mounting base 141 is connect by heat insulation 165 with heat block 140；Pass through driving motor
143 drive drive shaft 142 to rotate, and then are rotated with moving cam 148 and induction wheel 149, magnet 160 and induction on induction wheel 149
Induction information is sent to controller 18 by inductive switch 7 after the cooperation induction of switch 7, and driving motor 143 is controlled by controller 18
Action, and then reach and accurately control the rotation purpose of cam 148；Cross bar 145 is squeezed when cam 148 rotates so that mounting base 141 is complete
At up and down motion, and then the longitudinal movement of heat block 163 is driven to seal material strip 2, there is no noises；Pass through the first bullet
Spring 147 resets cross bar 145, and second spring 162 resets axle sleeve 6, ensures to be less prone to situation of trembling when movement, heat-sealing is stablized
Property is good；In addition, by designing cam face or magnet quantity, cam rotation direction and frequency can be accurately controlled, reaches essence
Really heat-sealing effect.
As shown in Figure 1, material strip unreeling structure 10 includes unreeling disk 100 and unreeling disk mounting bracket 101；It is arranged in machine table 1
There is and unreel the mounting rod 8 of the connection of disk mounting bracket 101, unreel rear material strip along crossing hopper 9 with the hopper 9 and making crossed that material strip 2 coordinates
Operation unreels binder axis 80；It carries out that material strip was imported hopper 9 by unreeling binder axis 80 after unreeling, guarantee unreels stabilization
Property, it is simple in structure, it is at low cost.
A kind of IC detachments mark film covering method, as shown in Figure 1, using above-mentioned IC detachment mark overlay films robot, in fact
Existing method is as follows：After material strip unreeling structure 10 unreels IC chip material strip 2, the upper cover strip on material strip 2 is removed by detachment mechanism 11,
Under the positioning of the track of vision system 17, after clearing up mark again into row label by laser 12, attaching mechanism 13 attaches new
To material strip 2, sealing mechanism 14 carries out heating sealing and is wound by rolling-up mechanism 16 after laminating mechanism 15 presses upper cover strip 3,
Processing efficiency is substantially increased, cost of labor is reduced；Laser 12 can be carried out cleaning and mark work by single laser head,
Multiple laser heads can be set and carry out cleaning and mark work respectively.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of IC detachments mark overlay film robot, including machine table；It is characterized in that, being disposed with material in the machine table
With the detachment mechanism of old upper cover strip on unreeling structure, dismounting material strip, the old label of cleaning and the laser, new for printing new label
Upper cover strip is pasted to sealing mechanism, laminating mechanism and the rolling-up mechanism of the attaching mechanism of material strip, new upper cover strip and material strip sealing；
The vision system coordinated with the laser is provided in the machine table；IC detachments mark overlay film robot further includes control
Device processed；The material strip unreeling structure, the detachment mechanism, the laser, the sealing mechanism, the laminating mechanism and described
Rolling-up mechanism is electrically connected and is controlled by it with the controller.
2. IC detachments mark overlay film according to claim 1 robot, which is characterized in that the detachment mechanism includes and material
The door tape spool being close to upper surface, the mistake cover strip wheel right over the door tape spool, the receipts to dismantling upper cover strip winding
Cover strip wheel, and cross cover strip wheel and the tensioning wheel received between cover strip wheel positioned at described.
3. IC detachments mark overlay film according to claim 2 robot, which is characterized in that the detachment mechanism further include with
The fixed detachment holder of workbench；The door tape spool, cover strip wheel, the receipts cover strip wheel and the tensioning wheel excessively
It is installed on the detachment holder；Limited block is detachably provided in the machine table, the limited block lower surface is provided with
With the cambered surface type groove of door tape spool cooperation.
4. IC detachments mark overlay film according to claim 2 or 3 robot, which is characterized in that the laminating mechanism includes
Draw pinwheel, the pinch roller with the traction pinwheel cooperation, and the main drive motor of the driving traction pinwheel；The winder
Structure and the cover strip wheel of crossing are driven by the main drive motor；The cover strip wheel of crossing is connected with the receipts cover strip wheel by synchronous belt
Connect transmission.
5. IC detachments mark overlay film according to claim 4 robot, which is characterized in that the laminating mechanism further includes peace
Loading board is detachably connected the swing arm for being provided with and installing the pinch roller on the mounting plate；The shell of the main drive motor is logical
Excessive root fixed link is fixedly connected with the mounting plate；It is arranged on the main drive motor movable end and drives the rolling-up mechanism
The first synchronizing wheel and drive it is described cross cover strip wheel the second synchronizing wheel；Gap is more than described first between the adjacent fixed link
Synchronizing wheel and the second synchronizing wheel outer diameter.
6. IC detachments mark overlay film according to claim 5 robot, which is characterized in that the traction pinwheel side surface is set
It is equipped with multiple sensing chips；Optoelectronic switch corresponding with the sensing chip, the optoelectronic switch and the control are provided on mounting plate
Device electrical connection processed.
7. IC detachments mark overlay film according to claim 1 robot, which is characterized in that the attaching mechanism includes loading
The upper cover belt wheel of new upper cover strip and the installation riser for installing the upper cover belt wheel；Multiple upper covers are provided in the installation riser
Band unreeling shaft, and attach block；Rotation setting attaches axis on the attaching block；The fixed attaching is provided in the machine table
The inverted L shape latch segment of block.
8. IC detachments mark overlay film according to claim 1 robot, which is characterized in that the sealing mechanism includes heating
Block, the mounting base of the installation heat block, drive shaft and the driving motor for driving the drive shaft movement；It is set in the mounting base
It is equipped with two guiding axis；Axle sleeve corresponding with the guiding axis is provided in the machine table；The guiding axis lower end passes through cross bar
Fixed, lower end is provided with spring retainer screw, and position is arranged between the cross bar and the spring retainer screw
First spring；The cam and induction wheel coordinated with the cross bar is arranged in the drive shaft；It is provided with magnetic on the induction wheel
Iron；The inductive switch for incuding the magnet is provided in the machine table；The mounting base lower end is fixed with positioned at described in two
Resetting shaft between guiding axis is arranged with second spring on the resetting shaft；It is provided on the axle sleeve and the resetting shaft pair
The blind hole answered；The heat block includes heating iron and copper tool；The mounting base is connect by heat insulation with the heat block.
9. IC detachments mark overlay film according to claim 1 robot, which is characterized in that the material strip unreeling structure includes
It unreels disk and unreels disk mounting bracket；It is provided in the machine table and unreels the mounting rod and material strip that disk mounting bracket is connect with described
Cooperation cross hopper and making unreel rear material strip along it is described cross hopper operation unreel binder axis.
10. a kind of IC detachments mark film covering method, using any IC detachment mark overlay films robots of claim 1-9,
It is characterized in that, implementation method is as follows：After material strip unreeling structure unreels IC chip material strip, removed on material strip by detachment mechanism
Upper cover strip after clearing up mark again into row label by laser, attaches mechanism and attaches newly under the positioning of the track of vision system
To material strip, sealing mechanism carries out heating sealing and is wound by rolling-up mechanism after laminating mechanism pressing upper cover strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810083405.4A CN108296643B (en) | 2018-01-29 | 2018-01-29 | IC tape-detaching, marking and film-covering robot and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810083405.4A CN108296643B (en) | 2018-01-29 | 2018-01-29 | IC tape-detaching, marking and film-covering robot and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108296643A true CN108296643A (en) | 2018-07-20 |
| CN108296643B CN108296643B (en) | 2020-01-14 |
Family
ID=62866945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810083405.4A Active CN108296643B (en) | 2018-01-29 | 2018-01-29 | IC tape-detaching, marking and film-covering robot and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108296643B (en) |
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| CN113955558A (en) * | 2021-12-22 | 2022-01-21 | 广东码清激光智能装备有限公司 | Winding fast-assembling module and quick installation label winding's marking machine |
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| CN113955558B (en) * | 2021-12-22 | 2022-03-11 | 广东码清激光智能装备有限公司 | Winding fast-assembling module and quick installation label winding's marking machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108296643B (en) | 2020-01-14 |
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