CN111864632B - Maintenance device for relieving cable surface layer icing and cable winding - Google Patents
Maintenance device for relieving cable surface layer icing and cable winding Download PDFInfo
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- CN111864632B CN111864632B CN202010859223.9A CN202010859223A CN111864632B CN 111864632 B CN111864632 B CN 111864632B CN 202010859223 A CN202010859223 A CN 202010859223A CN 111864632 B CN111864632 B CN 111864632B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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Abstract
The invention provides a maintenance device aiming at removing cable surface layer icing and winding between cables, belonging to the technical field of cable maintenance and comprising a device shell, a groove, a lateral groove, a turntable, a first gear, a first motor, a second gear, a second motor, a transmission gear and a third motor, the device comprises a deflection column, a support frame, a rotating gear, a lifting frame, a lateral support, a hydraulic rod, a motor four, a rolling wheel, a clamping groove, a card and an auxiliary device, wherein grooves are formed in the front end and the rear end of the surface of the top of a device shell in an embedded mode, lateral grooves are formed in the left side and the right side of the surface of the top of the device shell in an embedded mode, the top of the device shell is connected with a rotary table in a rotating mode, a gear I is connected to the bottom of the inside of the device shell in a rotating mode, a motor I is fixedly connected to one side of the inside of the device shell.
Description
The application has the following application numbers: 2019104785738, the name is: the divisional application of the invention patent application of 'a maintenance device for removing icing on the surface layer of a cable and winding between cables' is the following original application days: year 2019, month 06, day 03.
Technical Field
The invention relates to the technical field of cable maintenance, in particular to the technical field of a maintenance device.
Background
Overhead cables, supported by large overhead poles, are high-voltage power hubs connecting between cities and power plants, the overhead poles are not of uniform height, stand in plain mountains, the distance between the poles sometimes reaches several hundreds of meters, and the cables consist of a plurality of cables, and the erection height depends on the overhead poles, because the overhead poles are high, the existing overhead poles are maintained by manpower, workers need to climb to tens of meters high altitude, then maintain and repair the cables between the overhead poles, etc., wherein the cables are more complicated to perform deicing maintenance work, water molecules on the surfaces of the cables are condensed into ice when the temperature is low, and the ice on the surfaces of the cables is thicker and thicker along with the passage of time, thereby increasing the weight between the cables, if the cables are not processed in time, the cables are broken, and the cables are affected by windage, thereby causing short-circuit power failure, however, artificial deicing of cables and removal of cable winding have great potential safety hazards, and deicing cannot be performed quickly due to low efficiency.
Therefore, the inventor, with his experience of design development and actual manufacturing in the related industry for many years, has studied and improved the existing structure and deficiency, and provides a maintenance device for relieving the icing on the surface layer of the cable and the winding between the cables, so as to achieve the purpose of more practical value.
Disclosure of Invention
The invention aims to provide a maintenance device for removing icing on the surface layer of a cable and winding between cables, and aims to solve the problems that the existing artificial overhead cable deicing and cable winding removing have great potential safety hazards, are low in efficiency and cannot rapidly deice, and the problems are solved in the background technology
The purpose and the effect of the cable maintenance device are achieved by the following specific technical means: a maintenance device aiming at removing icing on the surface layer of a cable and winding between the cables comprises a device shell, a groove, a lateral groove, a rotary table, a first gear, a first motor, a second gear, a second motor, a transmission gear, a third motor, a deflection column, a support frame, a rotating gear, a lifting frame, a lateral support, a hydraulic rod, a fourth motor, a rolling wheel, a clamping groove, a clamping piece and an auxiliary device, wherein the front end and the rear end of the top surface of the device shell are nested with the grooves, the left side and the right side of the top surface of the device shell are nested with the lateral grooves, the top of the device shell is rotationally connected with the rotary table, the bottom inside of the device shell is rotationally connected with the first gear, one side of the inside of the device shell is fixedly connected with the first motor, the middle of the top of the first gear is fixedly, a third motor is fixedly connected with one side inside the shell of the device, the tail end of one side of the third motor is fixedly connected with a deflection column, and the deflection column is positioned outside the device shell which is rotationally connected with a supporting frame through a turntable, the bottom of the tail end of one side of the supporting frame is fixedly connected with a rotating gear, the middle of the supporting frame is fixedly connected with a lifting frame, the front and back ends of the left and right sides of the device shell are rotationally connected with lateral brackets, the left and right sides of the device shell are fixedly connected with hydraulic rods, the tail end of the top of the hydraulic rod is fixedly connected to the bottom of the lateral bracket, one side of the tail end of the lateral bracket is fixedly connected with a motor IV, the tail end of the lateral bracket is rotatably connected with a rolling wheel, the rolling wheel is meshed with the rolling wheel through a transmission structure, a clamping groove is nested on the surface of the rolling wheel, the card is fixedly connected to the surface of the clamping groove, and the device shell is movably connected with an auxiliary device through a supporting frame.
As a further scheme of the invention: the device shell and the auxiliary device are consistent in structure, and the device shell and the auxiliary device are connected through the supporting frame.
As a further scheme of the invention: and the first motor and the second motor are respectively and fixedly connected with pinions through rotating shafts, and are respectively meshed with the first gear and the transmission gear through the pinions.
As a further scheme of the invention: the bottom of the turntable is fixedly connected with a pinion through a shaft column, and the pinion is meshed with the second gear.
As a further scheme of the invention: the rotary gear is 1/4 circles, and the transmission gear front end surface is provided with the pinion, and rotary gear and pinion are the meshing setting, and the support frame passes through rotary gear turned angle and is +/-90.
As a further scheme of the invention: a plurality of cards are distributed, and gaps are arranged among the cards at intervals.
As a further scheme of the invention: and the tail end of one side of the deflection column is connected with the three phases of the motor.
As a further scheme of the invention: the first motor, the second motor, the third motor, the hydraulic rod and the fourth motor are electrically connected with an external control switch through electric wires
The invention provides a maintenance device for relieving cable surface icing and winding between cables, which has the following beneficial effects:
1. the device for removing the icing on the surface layer of the cable and maintaining the winding between the cables is provided with a device shell, the structure of the device shell is consistent with that of an auxiliary device, the device shell is connected with the auxiliary device through a support frame, the device shell and the auxiliary device are moved to the height of the corresponding cable when the device is used, then the device shell and the auxiliary device are respectively clamped into the cable through corresponding rolling wheels, then a lifting frame is contracted to tighten one side of a lateral support frame and one side of the cable, after the lateral support frame and the cable are tightened, the device can be stably clamped on the cable due to the clamping grooves arranged in the rolling wheels, then a motor rotates four times to drive the rolling wheels, so that the device shell and the auxiliary device move on the cable, a plurality of clamping pieces are distributed, gaps are arranged among the clamping pieces, and the clamping pieces can cut off the ice layer on the surface of the cable in the moving process of the device shell, then the third motor rotates reversely to make the deflection columns rotate reversely at the same time, the forces generated by the deflection columns rotating reversely between the third motor counteract each other to form rhythmic shake, so that the chopped ice layer is shaken off, and the ice layer at the position where the device passes through can be shaken off to the maximum extent by the mode.
2. The maintenance device for relieving the icing on the surface layer of the cable and the winding between the cables is provided with a rotary gear, the rotary gear is 1/4 circles, the front end surface of a transmission gear is provided with a pinion, the rotary gear is meshed with the pinion, a support frame is rotated by a rotation angle of plus or minus 90 degrees through the rotary gear, when a shell of the device and an auxiliary device move to a cable node, a hydraulic rod on the auxiliary device extends to open a lateral support upwards and downwards, a motor II on the shell of the device rotates to drive the transmission gear to rotate, then the transmission gear drives the rotary gear to enable the rotary gear and the support frame to rotate upwards by 90 degrees, then the motor rotates to drive a gear I and a gear II to rotate to enable a turntable to rotate horizontally by 180 degrees, then the motor II rotates to enable the rotary gear and the support frame to rotate downwards by 90 degrees, then the auxiliary device resets, and the hydraulic rod, thereby the cable node is crossed in the repeated above-mentioned action of device shell, makes the device can overturn the action through this kind of mode on the cable, and then increases the device and use the coherence to improve work efficiency, and operating personnel can control in long-range when using, thereby safety more.
3. This kind of maintain device to removing cable top layer and twining between cable is provided with the deflection post, and deflects post one side end and be connected with the motor three-phase, when the cable takes place to twine, the motor three all is same direction and rotates to make the device produce the moment of torsion to a direction simultaneously, the device can take place to roll when the moment of torsion is a direction, thereby unties winding cable, compares manual operation and carries out cable upset safety more.
To sum up, this kind of to removing the cable top layer and icing and the winding maintenance device between the cable have extensive practicality to there is great potential safety hazard in the deicing of the overhead cable of the current artificial that provides and getting rid of the cable winding in solving above-mentioned background art, and the problem of deicing of the low performance can not be quick has higher spreading value.
Drawings
Fig. 1 is an overall top view of the present invention.
Fig. 2 is a structural diagram of the overall working state of the present invention.
Fig. 3 is a schematic front structure diagram of the deflection column of the present invention.
FIG. 4 is a schematic side sectional view of the device housing of the present invention.
Fig. 5 is a schematic structural diagram of fig. 1 at a according to the present invention.
Fig. 6 is a schematic structural diagram of fig. 4 at B according to the present invention.
Fig. 7 is a schematic view of the rolling wheel structure of the present invention.
In FIGS. 1-7: 1-device shell, 101-groove, 102-lateral groove, 103-rotary table, 104-gear I, 105-motor I, 106-gear II, 107-motor II, 108-transmission gear, 109-motor III, 1091-deflection column, 2-support frame, 201-rotary gear, 202-lifting frame, 3-lateral support, 301-hydraulic rod, 302-motor IV, 303-rolling wheel, 3031-clamping groove, 3032-clamping plate and 4-pair device.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings and described below. While the invention will be described in conjunction with the exemplary embodiments, it will be understood that the description is not intended to limit the invention to the exemplary embodiments. On the contrary, the invention is intended to cover not only the exemplary embodiments, but also various alternative, modified, equivalent and other embodiments, which may be included within the spirit and scope of the invention as defined by the appended claims.
The first embodiment is as follows:
referring to fig. 1 to 7, in the embodiment of the present invention, a maintenance device for removing icing on a surface layer of a cable and winding between cables includes a device housing 1, a groove 101, a lateral groove 102, a turntable 103, a first gear 104, a first motor 105, a second gear 106, a second motor 107, a transmission gear 108, a third motor 109, a deflection column 1091, a support frame 2, a rotating gear 201, a lifting frame 202, a lateral support 3, a hydraulic rod 301, a fourth motor 302, a rolling wheel 303, a clamping slot 3031, a clamping card 3032 and a secondary device 4, the groove 101 is nested at the front and rear ends of the top surface of the device housing 1, the lateral groove 102 is nested at the left and right sides of the top surface of the device housing 1, the turntable 103 is rotatably connected to the top of the device housing 1, the first gear 104 is rotatably connected to the bottom end of the interior of the device housing 1, the first motor 105 is fixedly connected to, the top of the inside of the device shell 1 is fixedly connected with a motor II 107, the middle of the inside of the device shell 1 is rotatably connected with a transmission gear 108, one side of the inside of the device shell 1 is fixedly connected with a motor III 109, the tail end of one side of the motor III 109 is fixedly connected with a deflection column 1091, the deflection column 1091 is positioned at the outer side of the device shell 1, the device shell 1 is rotatably connected with a support frame 2 through a turntable 103, the bottom of the tail end of one side of the support frame 2 is fixedly connected with a rotating gear 201, the middle of the support frame 2 is fixedly connected with a lifting frame 202, the front end and the rear end of the left side and the right side of the device shell 1 are rotatably connected with lateral supports 3, the left side and the right side of the device shell 1 are fixedly connected with hydraulic rods 301, the top ends of the hydraulic rods 301 are fixedly connected with, a clamping groove 3031 is nested on the surface of the rolling wheel 303, a clamping sheet 3032 is fixedly connected to the surface of the clamping groove 3031, and the device shell 1 is movably connected with a secondary device 4 through a supporting frame 2.
Further: the device shell 1 and the auxiliary device 4 are consistent in structure, and the device shell 1 and the auxiliary device 4 are connected through the support frame 2.
Further: pinion gears are respectively and fixedly connected to one sides of the first motor 105 and one side of the second motor 107 through rotating shafts, and the first motor 105 and the second motor 107 are respectively meshed with the first gear 104 and the transmission gear 108 through the pinion gears.
Further: the bottom of the rotary table 103 is fixedly connected with a pinion through a shaft column, and the pinion is meshed with the second gear 106.
Further: the first motor 105, the second motor 107, the third motor 109, the hydraulic rod 301 and the fourth motor 302 are electrically connected with an external control switch through wires
Further: the structure of the device shell 1 is consistent with that of the auxiliary device 4, the device shell 1 is connected with the auxiliary device 4 through the support frame 2, when in use, the device shell 1 and the auxiliary device 4 are moved to the height of corresponding cables, then the device shell 1 and the auxiliary device 4 are respectively clamped into the cables through the corresponding rolling wheels 303, then the lifting frame 202 contracts to tighten one side of the lateral support 3 phase cable, after tightening, the device can be stably clamped on the cables due to the clamping grooves 3031 arranged in the rolling wheels 303, then the motor four 302 rotates to drive the rolling wheels 303 to enable the device shell 1 and the auxiliary device 4 to move on the cables, as a plurality of the clamping pieces 3032 are distributed, gaps are arranged among the clamping pieces 3032, the clamping pieces 3032 can cut off the ice layer on the surfaces of the cables in the moving process of the device shell 1 and the auxiliary device 4, so that the ice attached to the surfaces of the cables is more easy to fall off, then the motor three 109 rotates reversely to enable the deflection columns 1091 to rotate, the torque forces generated by the deflecting columns 1091 rotating in opposite directions cancel each other out and form rhythmical shaking, so that the chopped ice layer is shaken off, and in this way, the ice layer at the position where the device passes can be shaken off to the maximum extent.
Further: the rotating gear 201 is 1/4 round, the front end surface of the transmission gear 108 is provided with a pinion, the rotating gear 201 and the pinion are meshed, the support frame 2 rotates by plus or minus 90 degrees through the rotating gear 201, when the device shell 1 and the auxiliary device 4 move to a cable node, firstly, the hydraulic rod 301 on the auxiliary device 4 extends to open the lateral support 3 to the upper and lower sides, then the second motor 107 on the device shell 1 rotates to drive the transmission gear 108 to rotate, then the transmission gear 108 drives the rotating gear 201 to enable the rotating gear 201 and the support frame 2 to rotate upwards by 90 degrees, then the first motor 105 rotates to drive the first gear 104 and the second gear 106 to rotate to enable the turntable 103 to rotate horizontally by 180 degrees, then the second motor 107 rotates to enable the rotating gear 201 and the support frame 2 to rotate downwards by 90 degrees, the auxiliary device 4 resets, and then the hydraulic rod 301 contracts to enable the rolling wheel 303 to clamp the cable newly, thereby device shell 1 repeats above-mentioned action and crosses the cable node, makes the device can overturn the action on the cable through this kind of mode, and then increases the device and uses the coherence to improve work efficiency, and operating personnel can control in long-range when using, thereby safety more.
Further: the end of column 1091 one side is connected with three 109 motors, and when the cable took place to twine, three 109 motors all were same direction and rotated to make the device produce the moment of torsion to a direction simultaneously, the device can take place to roll when the moment of torsion was a direction, thereby untie winding cable, compare manual operation and carry out cable upset safety more.
When the maintenance device for relieving the icing on the surface layer of the cable and the winding between the cables is used, firstly, the device shell 1 and the auxiliary device 4 are moved to the height of the corresponding cable when in use, then the device shell 1 and the auxiliary device 4 are respectively clamped into the cable through the corresponding rolling wheels 303, then the lifting frame 202 contracts to tighten one side of the side bracket 3 phase cable, after the tightening, the device can be stably clamped on the cable because the clamping grooves 3031 are arranged in the rolling wheels 303, then the motor IV 302 rotates to drive the rolling wheels 303 to enable the device shell 1 and the auxiliary device 4 to move on the cable, the clamping sheet 3032 can cut off the ice layer on the surface of the cable in the moving process of the device shell 1 and the auxiliary device 4, so that the ice attached on the surface of the cable is more easy to fall off, then the motor III 109 rotates reversely to enable the deflection column 1091 to simultaneously rotate reversely, and torque forces generated by the deflection column 1091 rotating reversely are mutually counteracted, but forming rhythmical shake to shake off the chopped ice layer, when the cable is wound, the three motors 109 rotate in the same direction, so that the device generates torque in one direction at the same time, when the torque is in one direction, the device rolls, so that the wound cable is unwound, when the device shell 1 and the secondary device 4 move to the cable node, firstly, the hydraulic rod 301 on the secondary device 4 extends to open the lateral brackets 3 towards the upper and lower sides, then the second motor 107 on the device shell 1 rotates to drive the transmission gear 108 to rotate, then the transmission gear 108 drives the rotating gear 201 to rotate the rotating gear 201 and the support frame 2 upwards by 90 degrees, then the first motor 105 rotates to drive the first gear 104 and the second gear 106 to rotate to horizontally rotate the turntable 103 by 180 degrees, then the second motor 107 rotates to reset the secondary device 4 when the rotating gear 201 and the support frame 2 downwards rotate by 90 degrees, hydraulic lever 301 is then retracted causing roller wheel 303 to snap the cable from its new position and device housing 1 repeats the above described action to clear the cable node.
In summary, although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments or equivalent substitutions for some technical features, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A maintenance device for relieving cable surface icing and winding between cables comprises a device shell (1), grooves (101), lateral grooves (102), a rotary table (103), a first gear (104), a first motor (105), a second gear (106), a second motor (107), a transmission gear (108), a third motor (109), a deflection column (1091), a support frame (2), a rotating gear (201), a lifting frame (202), a lateral support (3), a hydraulic rod (301), a fourth motor (302), a rolling wheel (303), a clamping groove (3031), a clamping card (3032) and a secondary device (4), and is characterized in that the grooves (101) are arranged in a nesting mode at the front end and the rear end of the top surface of the device shell (1), the lateral grooves (102) are arranged in a nesting mode at the left side and the right side of the top surface of the device shell (1), and the rotary table (103) is rotatably connected to the top of, the device comprises a device shell (1), wherein a first gear (104) is rotatably connected to the bottom end in the device shell (1), a first motor (105) is fixedly connected to one side in the device shell (1), a second gear (106) is fixedly connected to the middle of the top of the first gear (104), a second motor (107) is fixedly connected to the top in the device shell (1), a transmission gear (108) is rotatably connected to the middle in the device shell (1), a third motor (109) is fixedly connected to one side in the device shell (1), a deflection column (1091) is fixedly connected to one end of one side of the third motor (109), the deflection column (1091) is located on the outer side of the device shell (1), the device shell (1) is rotatably connected with a support frame (2) through a turntable (103), a rotating gear (201) is fixedly connected to the bottom of one side of the support frame (2), and a, the front end and the rear end of the left side and the rear end of the right side of the device shell (1) are rotatably connected with lateral supports (3), the left side and the right side of the device shell (1) are fixedly connected with hydraulic rods (301), the tail end of the top of each hydraulic rod (301) is fixedly connected to the bottom of each lateral support (3), one side of the tail end of each lateral support (3) is fixedly connected with a motor IV (302), the tail end of each lateral support (3) is rotatably connected with a rolling wheel (303), each rolling wheel (303) is meshed with the corresponding rolling wheel (303) through a transmission structure, clamping grooves (3031) are formed in the surfaces of the rolling wheels (303) in a nested mode, clamping pieces (3032) are fixedly connected to the surfaces of the clamping grooves (3031), and the device;
one side of the first motor (105) and one side of the second motor (107) are respectively and fixedly connected with pinions through rotating shafts, the first motor (105) and the second motor (107) are respectively meshed with the first gear (104) and the transmission gear (108) through the pinions, the bottom of the rotary table (103) is fixedly connected with the pinions through shaft columns, and the pinions are meshed with the second gear (106).
2. The maintenance device for deicing the surface of cables and winding between cables as set forth in claim 1, wherein: the device shell (1) and the auxiliary device (4) are consistent in structure, and the device shell (1) and the auxiliary device (4) are connected through the support frame (2).
3. The maintenance device for deicing the surface of cables and winding between cables as set forth in claim 1, wherein: the rotary gear (201) is 1/4 circles, a pinion is arranged on the front end surface of the transmission gear (108), and the rotary gear (201) and the pinion are arranged in a meshed mode.
4. The maintenance device for deicing the surface of cables and winding between cables as set forth in claim 1, wherein: a plurality of cards (3032) are distributed, and gaps are arranged among the cards (3032).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010859223.9A CN111864632B (en) | 2019-06-03 | 2019-06-03 | Maintenance device for relieving cable surface layer icing and cable winding |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910478573.8A CN110198010B (en) | 2019-06-03 | 2019-06-03 | Maintenance device for relieving cable surface layer icing and cable winding |
| CN202010859223.9A CN111864632B (en) | 2019-06-03 | 2019-06-03 | Maintenance device for relieving cable surface layer icing and cable winding |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910478573.8A Division CN110198010B (en) | 2019-06-03 | 2019-06-03 | Maintenance device for relieving cable surface layer icing and cable winding |
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| Publication Number | Publication Date |
|---|---|
| CN111864632A CN111864632A (en) | 2020-10-30 |
| CN111864632B true CN111864632B (en) | 2021-05-28 |
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| CN201910478573.8A Active CN110198010B (en) | 2019-06-03 | 2019-06-03 | Maintenance device for relieving cable surface layer icing and cable winding |
| CN202010859223.9A Active CN111864632B (en) | 2019-06-03 | 2019-06-03 | Maintenance device for relieving cable surface layer icing and cable winding |
| CN202010859242.1A Active CN111864633B (en) | 2019-06-03 | 2019-06-03 | Maintenance device for relieving cable surface layer icing and cable winding |
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| CN203800538U (en) * | 2014-03-05 | 2014-08-27 | 黄俊文 | High-voltage wire ice removing machine |
| JP2017169395A (en) * | 2016-03-17 | 2017-09-21 | 株式会社空撮技研 | Striped body feeding device for unmanned flying object |
| CN108808577A (en) * | 2017-05-05 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of broken strand of power transmission line repair tool |
| CN208046181U (en) * | 2017-12-31 | 2018-11-02 | 江苏万德力电缆有限公司 | A kind of power construction cable de-icing device |
| CN107994504A (en) * | 2018-01-10 | 2018-05-04 | 国家电网公司 | A kind of power transmission line debris sweeping robot |
| CN109347040A (en) * | 2018-11-12 | 2019-02-15 | 河北工业大学 | Overhead transmission line automatic deicer |
| CN109346993A (en) * | 2018-12-07 | 2019-02-15 | 江苏迪伦智能科技有限公司 | A kind of overhead transmission line circuit scanning test robot obstacle crossing device and obstacle-detouring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110198010B (en) | 2020-11-13 |
| CN111864632A (en) | 2020-10-30 |
| CN111864633A (en) | 2020-10-30 |
| CN110198010A (en) | 2019-09-03 |
| CN111864633B (en) | 2021-05-28 |
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