CN109027214B - Clutch-free synchronizer-free mechanical automatic gearbox gear shifting system and method - Google Patents
Clutch-free synchronizer-free mechanical automatic gearbox gear shifting system and method Download PDFInfo
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- CN109027214B CN109027214B CN201810940913.XA CN201810940913A CN109027214B CN 109027214 B CN109027214 B CN 109027214B CN 201810940913 A CN201810940913 A CN 201810940913A CN 109027214 B CN109027214 B CN 109027214B
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- 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
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
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- 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
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
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- 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
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/3069—Interrelationship between two or more final output mechanisms
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- 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
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H2059/026—Details or special features of the selector casing or lever support
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- 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
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H2063/3093—Final output elements, i.e. the final elements to establish gear ratio, e.g. dog clutches or other means establishing coupling to shaft
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mechanical Operated Clutches (AREA)
- Structure Of Transmissions (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a clutch-free synchronizer-free mechanical automatic gearbox gear shifting system and a method in the field of vehicle transmission device parts, wherein the system comprises a gear combination part and a transmission shaft combination part which are matched, the gear combination part and the transmission shaft combination part are coaxial, the gear combination part is integrally formed by a left straight gear part and a right narrow groove combination part, and a plurality of combination wide teeth and a plurality of combination narrow teeth are uniformly distributed on the outer end surface of a cylindrical narrow groove combination part and the outer edge of one end surface of the transmission shaft combination part along the circumferential direction. In the method, when the transmission shaft and the gear are combined, the rotating speed of the transmission shaft and the gear is close to synchronization, and the combination of the gear and the transmission shaft does not bring shifting impact. The method of the invention has low requirement on the precision of the optimal combination position of the gear combination part and the transmission shaft combination part with the rotation speed difference reduced to zero, thereby reducing the control precision of the gear and transmission shaft position synchronization process.
Description
Technical Field
The invention relates to the technical field of vehicle transmission device parts, in particular to a clutch-free synchronizer-free mechanical automatic gearbox gear shifting system and method.
Background
For an electric vehicle, the dynamic property of the vehicle can be further improved by adding a gearbox with multiple gears in a transmission system. Meanwhile, the motor is ensured to work in a high-efficiency region to the maximum extent, so that the energy utilization rate of the electric vehicle is effectively improved. Because the motor has the rapid speed regulation performance, the gear shifting of the gearbox can be realized by utilizing the method of actively synchronizing the differential rotation speed of the motor without needing a clutch and a synchronizer in the traditional mechanical automatic gearbox. However, the use of a motor to actively synchronize the relative positions of the gear ring and the synchronizing sleeve of a gearbox requires very precise control over the synchronization process.
Therefore, a new gear shifting mode of the gearbox is urgently needed at present, the gear shifting of the gearbox is realized by utilizing a method of actively synchronizing the rotating speed difference of the motor, and the gear and the transmission shaft can not bring gear shifting impact when the gear and the transmission shaft are combined.
Disclosure of Invention
The invention discloses a clutch-free synchronizer-free mechanical automatic gearbox gear shifting system, which is characterized by comprising a gear combination part and a transmission shaft combination part which are matched, wherein the gear combination part and the transmission shaft combination part are coaxial, the gear combination part is integrally formed by a left straight gear part and a right narrow groove combination part, a plurality of combination wide teeth are uniformly distributed on the outer end surface of the cylindrical narrow groove combination part along the circumferential direction, and a plurality of combination narrow teeth are uniformly distributed on the outer end surface of one end surface of the transmission shaft combination part along the circumferential direction.
The gear combination part and the transmission shaft combination part are respectively provided with a position and speed sensor connected with the gear shifting execution system; the gear shifting execution system is connected with the gear shifting execution mechanism; the distance between the gear joint and the transmission shaft joint is controlled by the gear shifting actuating mechanism.
The combined wide teeth are fan-shaped, the tooth width of the combined wide teeth is three times of that of the tooth grooves of the combined wide teeth, the tooth ends of the combined wide teeth are provided with chamfers, and the tooth directions of the combined wide teeth are parallel to the axial direction.
The invention also discloses a clutch-free synchronizer-free mechanical automatic gearbox gear shifting method, which is characterized by comprising the following steps:
step 1, the speed sensor receives the relative rotating speed omega of the transmission shaft combining part and the gear combining part,
step 4, continuing to rotate the transmission shaft combining part; the gear shifting actuating mechanism pushes the transmission shaft combining part to the gear combining part, so that the combined narrow teeth are tightly attached to the combined wide teeth, and pre-pressure is applied;
step 5, on the basis of the pre-pressure, applying a combination angular acceleration to the transmission shaft combination part by the gear shifting execution mechanism; and when the combined narrow teeth reach the combined wide tooth grooves, the combined narrow teeth enter the combined wide tooth grooves, and the gear combination process of gear shifting is completed.
In the step 2, the approach of the transmission shaft joint part to the gear joint part is as follows: and rapidly eliminating the position difference by using a mode of keeping the value of the relative rotating speed omega unchanged.
And (3) when the step (2) is finished, an axial safety gap is reserved between the transmission shaft combining part and the gear combining part so as to prevent the gear combining part and the transmission shaft combining part from colliding with each other.
At the end of the step 3, ensuring that S2 is ω 2/(2 α) -S1, wherein S2 is the circumferential distance between the stop position of the combined narrow tooth and the combined wide tooth, and S1 is the circumferential distance between the combined narrow tooth and the tooth slot of the combined wide tooth; α is the relative angular acceleration of the propeller shaft joint.
The end condition of the step 3 is that S1 is more than or equal to omega 2/(2 alpha); wherein S1 is the circumferential distance between the combined narrow teeth and the combined wide tooth slots; α is the relative angular acceleration of the propeller shaft joint.
The termination conditions of the rotating transmission shaft joint in the step 4 are as follows: the combined narrow teeth are spaced from the combined wide tooth slots by a combined narrow tooth distance.
The invention has the beneficial effects that:
in the method, when the transmission shaft and the gear are combined, the rotating speed of the transmission shaft and the gear is close to synchronization, and the combination of the gear and the transmission shaft does not bring shifting impact.
The method of the invention has low requirement on the precision of the optimal combination position of the gear combination part and the transmission shaft combination part with the rotation speed difference reduced to zero, thereby reducing the control precision of the gear and transmission shaft position synchronization process.
Drawings
FIG. 1 is an oblique view of a gear interface of an embodiment of a clutchless, synchronizer-less automatic mechanical transmission shift system and method of the present invention;
FIG. 2 is an oblique view of a joint of a propeller shaft according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a variation in a rotational speed difference between a gear coupling portion and a transmission shaft coupling portion according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a distance variation between a transmission shaft coupling portion and a gear coupling portion according to an embodiment of the present invention.
In the figure: 1-gear joint, 1 a-wide joint, 2-drive shaft joint, 2 a-narrow joint.
Detailed Description
The following further explains the embodiments of the present invention with reference to the drawings;
as shown in fig. 1 and 2, the device used in the embodiment of the present invention includes a gear coupling portion 1 connected to a motor and a transmission shaft coupling portion 2 connected to a transmission shaft, the gear coupling portion 1 and the transmission shaft coupling portion 2 are coaxial, the gear coupling portion 1 is integrally formed by a straight gear portion on the left side and a narrow groove coupling portion on the right side, and the distance between the gear coupling portion 1 and the transmission shaft coupling portion 2 is controlled by a shift actuator;
a plurality of combining wide teeth 1a are uniformly distributed on the outer end surface of the cylindrical narrow groove combining part along the circumferential direction, the tooth width of the fan-shaped combining wide teeth 1a is three times of the tooth space of the combining wide teeth 1a, the tooth end is provided with a chamfer, and the tooth direction is parallel to the axial direction;
a plurality of narrow combining teeth 2a are uniformly distributed on the outer end face of one end face of the transmission shaft combining part 2 along the circumferential direction, tooth grooves of the narrow combining teeth 2a are matched with wide combining teeth 1a, and the tooth ends of the narrow combining teeth 2a are also provided with chamfers;
matching means that the tooth width of the combined narrow tooth 2a is equal to the tooth width of the narrow groove combined part, and the tooth width of the transmission shaft combined part 2 is equal to the tooth width of the narrow groove combined part;
the gear combining part 1 and the transmission shaft combining part 2 are both provided with position and speed sensors connected with a gear shifting execution system; the gear shifting execution system is connected with the gear shifting execution mechanism.
The shifting process of the present embodiment is divided into the following steps:
step 1, initial state
The pair of separated gear joint parts 1 and transmission shaft joint parts 2 in the gearbox need to be combined, and at the moment, the transmission shaft joint part 2 has a relative rotating speed omega relative to the gear joint part 1;
The transmission shaft combining part 2 approaches to the gear combining part 1;
when approaching, the position difference is rapidly eliminated in a mode of keeping the value of the relative rotation speed omega unchanged, and S3 is made to be S2; where S3 is the position difference between the predicted engaged narrow tooth 2a stop position and the theoretical optimum rotational speed synchronization time position, and S2 is the circumferential distance of the predicted engaged narrow tooth 2a stop position from the tooth groove of the engaged wide tooth 1 a.
After approaching, an axial safety gap is reserved between the transmission shaft joint part 2 and the gear joint part 1 so as to prevent the gear joint part 1 and the transmission shaft joint part 2 from colliding with each other;
The transmission shaft combining part 2 reduces the torque T output by the motor by the relative rotation speed omega, and realizes the rotation speed synchronization of the gear combining part 1 and the transmission shaft combining part 2;
obtaining the relative angular acceleration alpha of the transmission shaft joint part 2 and the circumferential distance S1 between the joint narrow tooth 2a and the tooth slot of the joint wide tooth 1a at the moment through a speed sensor; when the condition S1 ≧ ω 2/(2 α) is satisfied, that is, it is expected that the engaging narrow tooth 2a will be at or before the next tooth slot for engaging the wide tooth 1a, the rotational speeds of the gear engaging portion 1 and the propeller shaft engaging portion 2 are synchronized;
after the rotation speed is synchronized, S2 is omega 2/(2 alpha) -S1;
step 4, prepressing
Continuing to slowly rotate the transmission shaft joint part 2 until the joint narrow tooth 2a is spaced from the tooth groove of the joint wide tooth 1a by a distance of the joint narrow tooth 2 a;
meanwhile, the gear shifting actuating mechanism pushes the transmission shaft joint part 2 to the gear joint part 1, so that the joint narrow teeth 2a are tightly attached to the joint wide teeth 1a, and certain pre-pressure is applied.
Step 5, aligning and combining
In addition to the preload, the shift actuator applies a coupling angular acceleration β to the propeller shaft coupling portion 2.
Under the thrust of the gear shifting actuating mechanism, when the combined narrow teeth 2a reach the tooth grooves of the combined wide teeth 1a, the combined narrow teeth 2a enter the tooth grooves of the combined wide teeth 1a, and the gear shifting gear combining process is completed;
the gear shifting execution system controls the combination angular acceleration beta of the transmission shaft combination part 2 at the moment by controlling the output torque of the motor and the pre-pressure acting on the transmission shaft combination part 2;
in the present embodiment, the value of the combined angular acceleration β should not be too large to cause shift shock.
In the present embodiment, the expected engaged narrow tooth 2a stop position is the stop position of the expected engaged narrow tooth 2a in the shift execution system at the end of the present step.
As shown in fig. 3, in the shifting process of the present embodiment, the adjustment of the difference in the rotational speeds of the gear joint 1 and the propeller shaft joint 2 is excessively performed in three stages of 0 to t2, t2 to t3, and t 5.
From time 0 to T2, steps 1 to 2, the motor output torque T decreases by the relative rotation speed ω.
From time t2 to time t3, steps 3 to 4 are performed, and the operation is performed at a constant rotational speed difference, so that the difference between the estimated position of the propeller shaft relative to the gear at the standstill time and the optimal synchronization time is eliminated S2.
And a time t5 is step 5, the combined narrow tooth 2a is aligned with the tooth groove of the combined wide tooth 1a, the combined narrow tooth 2a quickly enters the tooth groove of the combined wide tooth 1a under the action of pre-pressure applied by the gear shifting motor, and the rotating speed difference between the gear and the transmission shaft is reduced to zero.
As shown in fig. 4, during the shifting process of the present embodiment, the distance of the propeller shaft coupling 2 in the axial direction from the gear coupling 1 is divided into several stages, 0 to t1, t1 to t4, and t4 to t 5.
From time 0 to t1, steps 1 to 2, the propeller shaft joint 2 is driven by the shift actuator to move toward the gear joint 1 and keep a safe distance from the gear joint 1.
At time t4, step 3, the gear coupling 1 position differs from the optimum synchronization time position by one gear coupling 1 lobe.
Then, the process proceeds to step 4, and the transmission shaft joint 2 is pressed against the gear joint 1 under the driving of the shift actuator, and the joint narrow teeth 2a are tightly jointed with the wide teeth 1 a.
At time t5, step 5, the bonded narrow tooth 2a is gullet aligned with the bonded wide tooth 1 a. And after the time t5, under the action of pre-pressure applied by the gear shifting motor, the combined narrow teeth 2a quickly enter the tooth grooves of the combined wide teeth 1a, and the gear shifting process is completed.
Claims (9)
1. A clutch-free synchronizer-free mechanical automatic gearbox gear shifting system is characterized by comprising a gear combination part (1) and a transmission shaft combination part (2) which are matched, wherein the gear combination part (1) and the transmission shaft combination part (2) are coaxial, the gear combination part (1) is integrally formed by a left straight gear part and a right narrow groove combination part, a plurality of combination wide teeth (1 a) are uniformly distributed on the outer end surface of the cylindrical narrow groove combination part along the circumferential direction, and a plurality of combination narrow teeth (2 a) are uniformly distributed on the outer end surface of one end surface of the transmission shaft combination part (2) along the circumferential direction; the tooth width of the combined wide tooth (1 a) is three times of the tooth space width of the combined wide tooth (1 a);
firstly, the rotation speed synchronization of the gear combination part (1) and the transmission shaft combination part (2) is realized; then, the transmission shaft combining part (2) continues to rotate, the gear shifting actuating mechanism pushes the transmission shaft combining part (2) to the gear combining part (1), so that the combining narrow teeth (2 a) are tightly attached to the combining wide teeth (1 a), and pre-pressure is applied; finally, on the basis of the pre-pressure, the gear shifting actuating mechanism applies a combination angular acceleration to the transmission shaft combination part (2); and when the combined narrow teeth (2 a) reach the tooth grooves of the combined wide teeth (1 a), the combined narrow teeth (2 a) enter the tooth grooves of the combined wide teeth (1 a), and the gear combination process of gear shifting is completed.
2. The clutch-less synchronizer-less mechanical automatic transmission gear shifting system according to claim 1, wherein the gear joint (1) and the transmission shaft joint (2) are provided with position and speed sensors connected with a gear shifting execution system; the gear shifting execution system is connected with the gear shifting execution mechanism; the distance between the gear joint part (1) and the transmission shaft joint part (2) is controlled by a gear shifting actuating mechanism.
3. The clutchless synchronizer-less mechanical automatic transmission shifting system of claim 1, wherein the engaging wide teeth (1 a) are fan-shaped, the tooth end of the engaging wide teeth (1 a) is provided with a chamfer, and the tooth direction of the engaging wide teeth (1 a) is parallel to the axial direction.
4. A clutch-less synchronizer-less mechanical automatic transmission gear shifting method based on the clutch-less synchronizer-less mechanical automatic transmission gear shifting system according to claim 1, characterized by comprising the steps of:
step 1, the speed sensor receives the relative rotating speed omega of the transmission shaft combining part (2) relative to the gear combining part (1),
step 2, the transmission shaft combining part (2) approaches to the gear combining part (1);
step 3, the transmission shaft combining part (2) reduces the torque T output by the motor by a relative rotating speed omega, and the rotating speed synchronization of the gear combining part (1) and the transmission shaft combining part (2) is realized;
step 4, continuing to rotate the transmission shaft combining part (2); the gear shifting actuating mechanism pushes the transmission shaft combining part (2) to the gear combining part (1), so that the combining narrow teeth (2 a) are tightly attached to the combining wide teeth (1 a), and pre-pressure is applied;
step 5, on the basis of the pre-pressure, the gear shifting actuating mechanism applies a combination angular acceleration to the transmission shaft combination part (2); and when the combined narrow teeth (2 a) reach the tooth grooves of the combined wide teeth (1 a), the combined narrow teeth (2 a) enter the tooth grooves of the combined wide teeth (1 a), and the gear combination process of gear shifting is completed.
5. The method for shifting a clutchless synchronizer-less mechanical automatic transmission according to claim 4, wherein the approach of the propeller shaft joint (2) to the gear joint (1) in step 2 is: and rapidly eliminating the position difference by using a mode of keeping the value of the relative rotating speed omega unchanged.
6. The method for shifting a clutchless synchronizer-less automatic mechanical transmission according to claim 4, wherein an axial safety clearance is reserved between the transmission shaft joint (2) and the gear joint (1) at the end of step 2 to prevent the gear joint (1) and the transmission shaft joint (2) from colliding with each other.
7. A clutchless synchronizer-less mechanical automatic transmission shifting method according to claim 4, wherein at the end of step 3, it is ensured that S2= ω 2/(2 α) -S1, where S2 is the circumferential distance of the stop position of the intended engaged narrow tooth (2 a) with respect to the engaged wide tooth (1 a), and S1 is the circumferential distance of the engaged narrow tooth (2 a) with respect to the tooth slot of the engaged wide tooth (1 a); alpha is the relative angular acceleration of the propeller shaft joint (2).
8. The method for shifting a clutchless synchronizer-less mechanical automatic transmission according to claim 4, wherein the end condition of step 3 is S1 ≧ ω 2/(2 α); wherein S1 is the circumferential distance between the combination narrow tooth (2 a) and the combination wide tooth (1 a) tooth slot; alpha is the relative angular acceleration of the propeller shaft joint (2).
9. The method for shifting a clutchless synchronizer-less mechanical automatic transmission according to claim 4, wherein the end condition of the rotating propeller shaft engaging portion (2) in step 4 is: the combined narrow teeth (2 a) are at a distance of the combined narrow teeth (2 a) from the tooth grooves of the combined wide teeth (1 a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940913.XA CN109027214B (en) | 2018-08-17 | 2018-08-17 | Clutch-free synchronizer-free mechanical automatic gearbox gear shifting system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940913.XA CN109027214B (en) | 2018-08-17 | 2018-08-17 | Clutch-free synchronizer-free mechanical automatic gearbox gear shifting system and method |
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| Publication Number | Publication Date |
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| CN109027214A CN109027214A (en) | 2018-12-18 |
| CN109027214B true CN109027214B (en) | 2020-09-08 |
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| CN111368422B (en) * | 2020-03-03 | 2021-08-13 | 凯博易控车辆科技(苏州)股份有限公司 | Dog-tooth type clutch tooth feeding control method |
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| CN102840281A (en) * | 2012-09-18 | 2012-12-26 | 清华大学 | Synchronizer-free gear shifting system for input shaft speed regulation for electric automobile |
| CN104728460A (en) * | 2013-12-18 | 2015-06-24 | 现代自动车株式会社 | Power transmission apparatus for vehicle |
| CN105042067A (en) * | 2014-04-16 | 2015-11-11 | 通用汽车环球科技运作有限责任公司 | Method of controlling a synchronizer actuator fork of a transmission |
| CN105402395A (en) * | 2015-12-24 | 2016-03-16 | 闫永革 | Novel automatic transmission without clutch and synchronizer and speed change method thereof |
| CN105972199A (en) * | 2016-07-13 | 2016-09-28 | 北京理工华创电动车技术有限公司 | Clutch-free AMT control system and method |
| CN106246902A (en) * | 2016-08-09 | 2016-12-21 | 王大方 | Short distance pure electric automobile no-clutch is without lock unit AMT shift control method |
| CN206845872U (en) * | 2017-05-05 | 2018-01-05 | 冯崇伟 | A kind of electric automobile automatic gear-shifting two-stage gear engaging device |
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2018
- 2018-08-17 CN CN201810940913.XA patent/CN109027214B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102840281A (en) * | 2012-09-18 | 2012-12-26 | 清华大学 | Synchronizer-free gear shifting system for input shaft speed regulation for electric automobile |
| CN104728460A (en) * | 2013-12-18 | 2015-06-24 | 现代自动车株式会社 | Power transmission apparatus for vehicle |
| CN105042067A (en) * | 2014-04-16 | 2015-11-11 | 通用汽车环球科技运作有限责任公司 | Method of controlling a synchronizer actuator fork of a transmission |
| CN105402395A (en) * | 2015-12-24 | 2016-03-16 | 闫永革 | Novel automatic transmission without clutch and synchronizer and speed change method thereof |
| CN105972199A (en) * | 2016-07-13 | 2016-09-28 | 北京理工华创电动车技术有限公司 | Clutch-free AMT control system and method |
| CN106246902A (en) * | 2016-08-09 | 2016-12-21 | 王大方 | Short distance pure electric automobile no-clutch is without lock unit AMT shift control method |
| CN206845872U (en) * | 2017-05-05 | 2018-01-05 | 冯崇伟 | A kind of electric automobile automatic gear-shifting two-stage gear engaging device |
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| CN109027214A (en) | 2018-12-18 |
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