CN108374945A - A kind of pipeline climbing robot of move mode Suresh Kumar - Google Patents
A kind of pipeline climbing robot of move mode Suresh Kumar Download PDFInfo
- Publication number
- CN108374945A CN108374945A CN201810268343.4A CN201810268343A CN108374945A CN 108374945 A CN108374945 A CN 108374945A CN 201810268343 A CN201810268343 A CN 201810268343A CN 108374945 A CN108374945 A CN 108374945A
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- China
- Prior art keywords
- wheel
- driving device
- disk
- pipe robot
- move mode
- 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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- 230000009194 climbing Effects 0.000 title claims abstract description 12
- 230000003139 buffering effect Effects 0.000 claims description 14
- 239000000523 sample Substances 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- -1 vapour Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of pipeline climbing robots of move mode Suresh Kumar,Including pipe robot ontology and power supply,The power supply is electrically connected the wireless signal transceiver mounted on pipe robot chamber body,The upper surface middle part of the pipe robot ontology is installed with lifting gear,The present invention in the front end of pipe robot ontology by being arranged third driving device,Shaft in third driving device is interted and is fixedly connected with front-wheel fixation rack,Pipe robot ontology and front-wheel are provided separately,It can be very good front-wheel fixation rack seat flip-flop movement using the power of third driving device,Hollow groove is opened up in front-wheel simultaneously,Universal wheel is installed in hollow groove,When front-wheel fixation rack is turned to vertical direction,Pipe robot ontology can be very good cooperation universal wheel and move back and forth,It can be good at adapting to the pipeline that shape differs in this way.
Description
Technical field
The present invention relates to electromechanical integration technology area, specially a kind of pipeline crawling machine of move mode Suresh Kumar
People.
Background technology
With the requirements of one's work such as the development of oil, chemical industry, natural gas and nuclear industry and pipe detection or repair, pipe
Pipeline robot has also obtained more in-depth study and extensive use.For various production equipments conveyance conduit (water, vapour,
Oil etc.) and special installation (pressure piping etc.) safety detection and maintenance, pipe robot in practical applications have it is very heavy
The practical value wanted.
Normally, existing pipe robot mostly uses following several structures：Crawler belt bassinet structure, bottom drive institute using crawler belt
Pipe robot is stated to walk in the pipeline；Supporting bar structure, using folding rod structure of the end with wheel by the pipe
Pipeline robot is supported among the pipeline, then realizes walking movement again；Wheeled construction, using conventional wheel or special construction
Wheel contacted with inner wall of the pipe face, so that the pipe robot is travelled in the pipeline.
The move mode of existing pipe robot is excessively single can not to meet the needs of pipe shape well, be
This, it is proposed that a kind of pipeline climbing robot of move mode Suresh Kumar is for solving the above problems.
Invention content
The purpose of the present invention is to provide a kind of pipeline climbing robots of move mode Suresh Kumar, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the present invention provides the following technical solutions：A kind of pipeline creeper of move mode Suresh Kumar
Device people, including pipe robot ontology and power supply, the power supply are electrically connected mounted on the wireless of pipe robot chamber body
The upper surface middle part of signal transceiver, the pipe robot ontology is installed with lifting gear, and the upper table of lifting gear
Middle face is vertically-mounted fixed link, and the fixed link is installed with mechanical arm by upper end, and is fixedly mounted in fixed link
There are infrared probe, the infrared probe to be electrically connected wireless signal transceiver；
The inner cavity left and right ends of the pipe robot ontology are installed with first driving means and the second driving respectively
The shaft of device, the first driving means and the second driving device is fixedly connected with inter-axle shaft, and the inter-axle shaft passes through
Buffering connector is fixedly connected with trailing wheel and fixes disk, and trailing wheel is fixed on disk and is installed with trailing wheel, the first driving means and
Wireless signal transceiver is electrically connected in second driving device；
The inner cavity front end of the pipe robot ontology is installed with third driving device, the third driving device
Shaft extends the outside of pipe robot ontology, and the shaft upper end of third driving device is installed with front-wheel fixation rack,
The left and right ends of the front-wheel fixation rack are installed with front propeller shaft, and front propeller shaft is fixedly connected by buffering connector
Front-wheel fixes disk, and the front-wheel fixes one end far from buffering connector on disk and is installed with front-wheel, and front-wheel is fixed on disk
Buckling groove is offered close to one end of front-wheel, the position that buckling groove is corresponded on the front-wheel is equipped with pin hole and hollow groove, and universal
Wheel is located in hollow groove, and the position that front propeller shaft is corresponded on the front-wheel fixation rack is installed with electric control lock, and electric control lock
Tapered end is mutually clamped with the limiting slot on front propeller shaft, and wireless signal is electrically connected in the third driving device and electric control lock
Transceiver, the wireless signal transceiver signal connect external remote.
Preferably, it is hollow sandwich structure that the trailing wheel, which fixes disk, and pressure sensing is installed between hollow sandwich
Device is installed with velocity sensor on the trailing wheel, and the pressure sensor and velocity sensor are electrically connected wirelessly
Signal transceiver, the first driving means, the second driving device and third driving device pass through power-converting device and nothing
Line signal transceiver is electrically connected, and the power-converting device includes frequency converter and inverter.
Preferably, the front-wheel differs with trailing wheel shape, and the upper and lower ends of front-wheel are disposed as with tube contacts position
Wedge structure, the universal wheel protrusion hollow groove setting.
Preferably, the buffering connector includes two groups of compressed springs and is arranged undertaking in compressed spring left and right ends
Disk, and two groups of clamping disks on front-wheel are separately mounted to front propeller shaft and front-wheel is fixed on disk, two groups be located on trailing wheel
It is clamped disk decibel to be mounted on inter-axle shaft and trailing wheel fixation disk, the distance of stretch out and draw back of the compressed spring is not less than one centimetre.
Preferably, the electric control lock includes relay and tapered end, and the shape of the limiting slot is annular, and limiting slot is close to
Front propeller shaft outer surface is arranged, on the limiting slot size and shape of notch with the size and shape all same of tapered end.
Preferably, the equal fixing sleeve in the outer surface of the front wheels and rear wheels is equipped with rubber friction set.
Preferably, the first driving means, the second driving device and third driving device are servo motor, the liter
Falling unit is electro hydraulic gear.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention in the front end of pipe robot ontology by setting
Third driving device is set, the shaft in third driving device is interted and is fixedly connected with front-wheel fixation rack, by pipe robot ontology
It is provided separately with front-wheel, can be very good front-wheel fixation rack seat flip-flop movement using the power of third driving device, while
Hollow groove is opened up in front-wheel, and universal wheel is installed in hollow groove, when front-wheel fixation rack is turned to vertical direction, pipeline
Robot body can be very good cooperation universal wheel and move back and forth, and can be good at adapting to the pipeline that shape differs in this way.
Simultaneously the buffering connector that is respectively provided in front wheels and rear wheels can be very good to ensure pipe robot and pipeline it
Between distance change, by adjusting buffer connector length can ensure that pipe robot adapts to the pipe of different pipe diameters
Road, total not only increases the move mode diversity of pipe robot, while utilizing the different sensors being arranged thereon
The control of pipe robot is realized with wireless signal transceiver, it is easy to operation.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is fore wheel structure schematic diagram of the present invention；
Fig. 3 is inventive pipeline robot body surface structure schematic diagram；
Fig. 4 is fore wheel structure side view of the present invention.
In figure：1 pipe robot ontology, 2 first driving means, 3 second driving devices, 4 third driving devices, 5 front-wheels
Fixed frame, 6 inter-axle shafts, 7 front propeller shafts, 8 trailing wheels fix disk, 9 front-wheels fix disk, 91 buckling grooves, 10 trailing wheels, 11 front-wheels, 111
Hollow groove, 112 pin holes, 12 electric control locks, 13 pressure sensors, 14 velocity sensors, 15 wireless signal transceivers, 16 buffering connections
Part, 17 universal wheels, 18 lifting gears, 19 fixed links, 20 infrared probes, 21 mechanical arms, 22 limiting slots.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of pipeline crawling machine of move mode Suresh Kumar
People, including pipe robot ontology 1 and power supply, the power supply are electrically connected mounted on the wireless of 1 inner cavity of pipe robot ontology
The upper surface middle part of signal transceiver 15, the pipe robot ontology 1 is installed with lifting gear 18, and lifting gear 18
Upper surface middle part it is vertically-mounted have a fixed link 19, the fixed link 19 is installed with mechanical arm 21 by upper end, and fixed
Infrared probe 20 is installed on bar 19, the infrared probe 20 is electrically connected wireless signal transceiver 15；
The inner cavity left and right ends of the pipe robot ontology 1 are installed with the drive of first driving means 2 and second respectively
The shaft of dynamic device 3, the first driving means 2 and the second driving device 3 is fixedly connected with inter-axle shaft 6, is driven after described
Axis 6 is fixedly connected with trailing wheel by buffering connector 16 and fixes disk 8, and trailing wheel is fixed on disk 8 and is installed with trailing wheel 10, and described the
Wireless signal transceiver 15 is electrically connected in one driving device 2 and the second driving device 3, and it is hollow that the trailing wheel, which fixes disk 8,
Sandwich, and pressure sensor 13 is installed between hollow sandwich, it is installed with velocity pick-up on the trailing wheel 10
Wireless signal transceiver 15, first driving is electrically connected in device 14, the pressure sensor 13 and velocity sensor 14
Device 2, the second driving device 3 and third driving device 4 are electrically connected by power-converting device and wireless signal transceiver 15
It connects, the power-converting device includes frequency converter and inverter；
The inner cavity front end of the pipe robot ontology 1 is installed with third driving device 4, the third driving device
4 shaft extends the outside of pipe robot ontology 1, and the shaft upper end of third driving device 4 is installed with front-wheel and consolidates
Determine frame 5, the left and right ends of the front-wheel fixation rack 5 are installed with front propeller shaft 7, and front propeller shaft 7 is connected by buffering
Part 16 is fixedly connected with front-wheel and fixes disk 9, and the front-wheel fixes one end far from buffering connector 16 on disk 9 and is installed with front-wheel
11, and front-wheel is fixed on disk 9 and offers buckling groove 91 close to one end of front-wheel 11, and the position of buckling groove 91 is corresponded on the front-wheel 11
Pin hole 112 and hollow groove 111 are installed, and universal wheel 17 is located in hollow groove 111, and forward pass is corresponded on the front-wheel fixation rack 5
The position of moving axis 7 is installed with electric control lock 12, and the tapered end of electric control lock 12 mutually blocks with the limiting slot 22 on front propeller shaft 7
It closes, wireless signal transceiver 15, the wireless signal transceiver is electrically connected in the third driving device 4 and electric control lock 12
15 signals connect external remote, and the front-wheel 11 differs with 10 shape of trailing wheel, and the upper and lower ends and tube contacts of front-wheel 11
Position is disposed as wedge structure, and the universal wheel 17 protrudes hollow groove 111 and is arranged, and the buffering connector 16 includes two groups of pressures
Contracting spring and tray in compressed spring left and right ends is set, and two groups of clamping disks on front-wheel 11 are separately mounted to
Front propeller shaft 7 and front-wheel are fixed on disk 9, and two groups of clamping disk decibels being located on trailing wheel 10 are solid mounted on inter-axle shaft 6 and trailing wheel
On price fixing 8, the equal fixing sleeve in outer surface of the front-wheel 11 and trailing wheel 10 is equipped with rubber friction set, the telescopic distance of the compressed spring
From not less than one centimetre, the electric control lock 12 includes relay and tapered end, and the shape of the limiting slot 22 is annular, and limiting slot
22 are close to the setting of 7 outer surface of front propeller shaft, on the limiting slot 22 size and shape of notch with the size and shape of tapered end
All same, the first driving means 2, the second driving device 3 and third driving device 4 are servo motor, the lifting dress
It is electro hydraulic gear to set 18.
The present invention, will be in third driving device 4 by the way that third driving device 4 is arranged in the front end of pipe robot ontology 1
Shaft it is interspersed be fixedly connected with front-wheel fixation rack 5, pipe robot ontology 1 and front-wheel 11 are provided separately, driven using third
The power of device 4 can be very good 5 flip-flop movements of front-wheel fixation rack, while hollow groove 111 is opened up in front-wheel 11, in
Universal wheel 17 is installed in empty slot 111, when front-wheel fixation rack 5 is turned to vertical direction, pipe robot ontology 1 can be with
Cooperation universal wheel 17 moves back and forth well, can be good at adapting to the pipeline that shape differs in this way.
Simultaneously the buffering connector 16 that is respectively provided on front-wheel 11 and trailing wheel 10 can be very good to ensure pipe robot with
The distance between pipeline changes, and the length of connector 16 is buffered by adjusting and can ensure that the different pipelines of pipe robot adaptation are straight
The pipeline of diameter, total not only increases the move mode diversity of pipe robot, while utilizing the difference being arranged thereon
Sensor and wireless signal transceiver 15 realize the control of pipe robot, easy to operation.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of pipeline climbing robot of move mode Suresh Kumar, including pipe robot ontology (1) and power supply, the power supply
It is electrically connected the wireless signal transceiver (15) mounted on pipe robot ontology (1) inner cavity, it is characterised in that：The pipe machine
The upper surface middle part of device human body (1) is installed with lifting gear (18), and the upper surface middle part of lifting gear (18) is vertical
Fixed link (19) is installed, the fixed link (19) is installed with mechanical arm (21) by upper end, and solid in fixed link (19)
Dingan County is equipped with infrared probe (20), and the infrared probe (20) is electrically connected wireless signal transceiver (15)；
The inner cavity left and right ends of the pipe robot ontology (1) are installed with first driving means (2) and second and drive respectively
The shaft of dynamic device (3), the first driving means (2) and the second driving device (3) is fixedly connected with inter-axle shaft (6), institute
It states inter-axle shaft (6) and is fixedly connected with trailing wheel fixation disk (8) by buffering connector (16), and trailing wheel fixes fixed peace on disk (8)
Equipped with trailing wheel (10), wireless signal transceiver is electrically connected in the first driving means (2) and the second driving device (3)
(15)；
The inner cavity front end of the pipe robot ontology (1) is installed with third driving device (4), the third driving device
(4) shaft extends the outside of pipe robot ontology (1), and the shaft upper end of third driving device (4) is installed with
The left and right ends of front-wheel fixation rack (5), the front-wheel fixation rack (5) are installed with front propeller shaft (7), and front propeller shaft
(7) it is fixedly connected with front-wheel fixation disk (9) by buffering connector (16), the front-wheel is fixed on disk (9) far from buffering connector
(16) one end is installed with front-wheel (11), and one end that front-wheel is fixed on disk (9) close to front-wheel (11) offers buckling groove
(91), the position that buckling groove (91) is corresponded on the front-wheel (11) is equipped with pin hole (112) and hollow groove (111), and universal wheel
(17) be located at hollow groove (111) in, corresponded on the front-wheel fixation rack (5) front propeller shaft (7) position be installed with it is automatically controlled
It locks (12), and the tapered end of electric control lock (12) is mutually clamped with the limiting slot (22) on front propeller shaft (7), the third driving device
(4) and wireless signal transceiver (15), wireless signal transceiver (15) the signal connection is electrically connected in electric control lock (12)
External remote.
2. a kind of pipeline climbing robot of move mode Suresh Kumar according to claim 1, it is characterised in that：After described
The fixed disk (8) of wheel is hollow sandwich structure, and pressure sensor (13) is installed between hollow sandwich, the trailing wheel (10)
On be installed with velocity sensor (14), the pressure sensor (13) and velocity sensor (14) are electrically connected wirelessly
Signal transceiver (15), the first driving means (2), the second driving device (3) and third driving device (4) pass through electric power
Converting means is electrically connected with wireless signal transceiver (15), and the power-converting device includes frequency converter and inverter.
3. a kind of pipeline climbing robot of move mode Suresh Kumar according to claim 1, it is characterised in that：Before described
Wheel (11) differs with trailing wheel (10) shape, and the upper and lower ends of front-wheel (11) are disposed as wedge structure with tube contacts position,
Universal wheel (17) the protrusion hollow groove (111) is arranged.
4. a kind of pipeline climbing robot of move mode Suresh Kumar according to claim 1, it is characterised in that：It is described slow
It rushes connector (16) to include two groups of compressed springs and tray in compressed spring left and right ends is arranged, and is located at front-wheel (11)
On two groups of clamping disks be separately mounted to front propeller shaft (7) and front-wheel and fix on disk (9), two groups of clampings being located on trailing wheel (10)
Disk decibel is mounted on inter-axle shaft (6) and trailing wheel is fixed on disk (8), and the distance of stretch out and draw back of the compressed spring is not less than one centimetre.
5. a kind of pipeline climbing robot of move mode Suresh Kumar according to claim 1, it is characterised in that：The electricity
Control lock (12) includes relay and tapered end, and the shape of the limiting slot (22) is annular, and limiting slot (22) is close to front propeller shaft
(7) outer surface is arranged, on the limiting slot (22) size and shape of notch with the size and shape all same of tapered end.
6. a kind of pipeline climbing robot of move mode Suresh Kumar according to claim 1, it is characterised in that：Before described
The equal fixing sleeve in outer surface for taking turns (11) and trailing wheel (10) is equipped with rubber friction set.
7. a kind of pipeline climbing robot of move mode Suresh Kumar according to claim 1, it is characterised in that：Described
One driving device (2), the second driving device (3) and third driving device (4) are servo motor, and the lifting gear (18) is
Electro hydraulic gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810268343.4A CN108374945B (en) | 2018-03-29 | 2018-03-29 | A kind of pipeline climbing robot of move mode Suresh Kumar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810268343.4A CN108374945B (en) | 2018-03-29 | 2018-03-29 | A kind of pipeline climbing robot of move mode Suresh Kumar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108374945A true CN108374945A (en) | 2018-08-07 |
| CN108374945B CN108374945B (en) | 2019-10-08 |
Family
ID=63031816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810268343.4A Expired - Fee Related CN108374945B (en) | 2018-03-29 | 2018-03-29 | A kind of pipeline climbing robot of move mode Suresh Kumar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108374945B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030014502A (en) * | 2001-08-11 | 2003-02-19 | 최혁렬 | Robot for internal inspection of pipe |
| CN204717232U (en) * | 2015-04-10 | 2015-10-21 | 浙江水利水电学院 | Pipeline robot drive unit and pipeline robot |
| WO2016062662A1 (en) * | 2014-10-19 | 2016-04-28 | National Grid Gas Plc | Robot drive assembly for moving a robot within a pipeline |
| CN206234551U (en) * | 2016-12-07 | 2017-06-09 | 中国计量大学 | A kind of pipe robot of self adaptation caliber |
| CN206487989U (en) * | 2016-09-08 | 2017-09-12 | 中国石油大学(华东) | A kind of spiral type pipeline robot of speed self-regulation |
-
2018
- 2018-03-29 CN CN201810268343.4A patent/CN108374945B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030014502A (en) * | 2001-08-11 | 2003-02-19 | 최혁렬 | Robot for internal inspection of pipe |
| WO2016062662A1 (en) * | 2014-10-19 | 2016-04-28 | National Grid Gas Plc | Robot drive assembly for moving a robot within a pipeline |
| CN204717232U (en) * | 2015-04-10 | 2015-10-21 | 浙江水利水电学院 | Pipeline robot drive unit and pipeline robot |
| CN206487989U (en) * | 2016-09-08 | 2017-09-12 | 中国石油大学(华东) | A kind of spiral type pipeline robot of speed self-regulation |
| CN206234551U (en) * | 2016-12-07 | 2017-06-09 | 中国计量大学 | A kind of pipe robot of self adaptation caliber |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108374945B (en) | 2019-10-08 |
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