CN112967861B - Automatic multi-pole magnetizing equipment for magnet magnetizing - Google Patents
Automatic multi-pole magnetizing equipment for magnet magnetizing Download PDFInfo
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- CN112967861B CN112967861B CN202110229141.0A CN202110229141A CN112967861B CN 112967861 B CN112967861 B CN 112967861B CN 202110229141 A CN202110229141 A CN 202110229141A CN 112967861 B CN112967861 B CN 112967861B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F13/00—Apparatus or processes for magnetising or demagnetising
- H01F13/003—Methods and devices for magnetising permanent magnets
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Abstract
The invention relates to the technical field of multipole magnetization, in particular to automatic multipole magnetization equipment for magnet magnetization, which comprises a machine body, a pickup mechanism and a magnetization mechanism, wherein the pickup mechanism and the magnetization mechanism are arranged on the machine body; the magnetizing pieces on the two sliding seats are arranged in a one-to-one opposite mode, and the magnetizing pieces are provided with electromagnetic pieces. According to the invention, through the arrangement of the driving assembly, the magnetizing piece is driven to move back and forth by the sliding seat, so that the magnetizing piece can slide out of the side wall of the shell and then contact with the magnet to be magnetized, and the magnetizing piece is movable, so that the magnets of different specifications can be adaptively adjusted, and the universality is improved.
Description
Technical Field
The invention relates to the technical field of multi-pole magnetization, in particular to automatic multi-pole magnetization equipment for magnet magnetization.
Background
Multipolar magnetization is a process for changing the magnetic field distribution of a magnet by manufacturing a plurality of different polarities at one end of the magnet, thereby realizing certain special effects. The existing multi-pole magnetizing equipment is mostly in direct contact with a multi-pole magnetizing structure after a magnet is placed in the equipment, so that the magnetizing can be realized after the magnetizing structure is electrified, the mode undoubtedly can lead to limitation on the specification of the magnet capable of magnetizing, the equipment is single in application, and the cost is not reduced.
Disclosure of Invention
The invention provides automatic multi-pole magnetizing equipment for magnetizing magnets, aiming at the problems in the prior art, and the automatic multi-pole magnetizing equipment can magnetize magnets with various specifications so as to improve the general usability.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides automatic multi-pole magnetizing equipment for magnetizing a magnet, which comprises a machine body, a pickup mechanism and a magnetizing mechanism, wherein the pickup mechanism and the magnetizing mechanism are arranged on the machine body, the pickup mechanism is used for picking and placing the magnet to be magnetized into the magnetizing mechanism, the magnetizing mechanism comprises a shell, a driving assembly and a power supply unit, the shell is provided with a magnetizing hole with an opening at the top, the magnetizing assemblies are respectively arranged on two sides of the magnetizing hole, each magnetizing assembly comprises a sliding seat and a plurality of magnetizing pieces arranged on the sliding seat at intervals, and the driving assembly is used for driving the two sliding seats to slide towards the directions close to or far away from each other; the magnetizing pieces on the two sliding seats are arranged in a one-to-one opposite mode, the magnetizing pieces are provided with electromagnetic pieces used for being connected with the power supply unit, the polarities of the magnetizing pieces which are arranged in an opposite mode are opposite, and the polarities of the magnetizing pieces which are connected with each other are opposite.
Furthermore, the driving assembly comprises a driving motor, a driving gear, a conversion gear and two driven gears, the two sliding seats are respectively provided with a rack, the driving motor is used for driving the driving gear to drive, the driving gear is in transmission connection with one rack through one driven gear, and the driving gear is in transmission connection with the other rack through the conversion gear and the other driven gear.
Furthermore, a speed reducer is arranged between the driving motor and the driving gear.
Furthermore, the electromagnetic element comprises a yoke and a coil, the magnetizing element is arranged in the yoke, the coil is wound between the magnetizing element and the yoke, and the coil is connected with the power supply unit; and a telescopic assembly is arranged between the yoke and the sliding seat and is used for driving the electromagnetic piece and the magnetizing piece to extend out of or retract into the sliding seat.
Furthermore, the machine body is further provided with a central control machine, a plurality of telescopic assemblies are in signal connection with the central control machine, a current controller is arranged between the coil and the power supply unit and in signal connection with the central control machine, the central control machine is used for controlling the telescopic assemblies to act respectively, and the central control machine is also used for changing the current in each coil.
Furthermore, the magnetizing part comprises a main body and a collision part, an elastic part is arranged between the tail end of the main body and the yoke, a guide assembly is arranged between the bottom of the main body and the yoke, the collision part is arranged at the front end of the main body and used for colliding with a magnet to be magnetized, and the coil is wound on the collision part.
Furthermore, the picking mechanism comprises a base, a driving part, two linkage assemblies and two clamping pieces, wherein the driving part is arranged on the base, the two linkage assemblies are movably arranged on the base, the two clamping pieces are both rotatably arranged on the base, and the driving part controls the two clamping pieces to rotate through the two linkage assemblies respectively so as to open and clamp the two clamping pieces; a metal piece is arranged at one end of the clamping piece, which is used for abutting against the magnet with the magnetizing function.
Furthermore, pick up the mechanism and still include power supply spare and current detection spare, two metalworks all with power supply spare electricity is connected, current detection spare be used for detecting two metalworks with whether switch on between the power supply spare.
Furthermore, a translation assembly is arranged between the metal piece and the clamping piece, a contact piece is arranged at the tail end of the clamping piece, the metal piece is arranged in the contact piece in a sliding mode, and the translation assembly is used for driving the metal piece to slide in the contact piece.
Furthermore, a detection device, a rotating assembly and a turning assembly are arranged in the shell, the detection device is used for detecting the position and the posture of the magnet to be magnetized, the rotating assembly is used for driving the magnet to be magnetized to horizontally rotate, and the turning assembly is used for driving the magnet to be magnetized to rotate in a vertical plane;
the rotating assembly comprises a rotating table, a driving air cylinder, a rotating shaft and a transmission part, the rotating table is rotatably arranged on the inner bottom wall of the shell and used for supporting a magnet to be magnetized, the rotating table is rotatably arranged at the bottom of the rotating table, one end of the transmission part is installed on the rotating shaft, and the other end of the transmission part is rotatably connected to a piston rod of the driving air cylinder;
the overturning assembly comprises two electric push rods, two fixtures and two rotating cylinders, wherein the two rotating cylinders are arranged in the shell and are right opposite to each other, the two fixtures are arranged on piston rods of the two rotating cylinders respectively, the two fixtures are used for clamping two ends of a magnet to be magnetized respectively, and the two electric push rods are used for driving the two rotating cylinders to move towards directions close to or away from each other respectively.
The invention has the beneficial effects that: according to the invention, through the arrangement of the driving assembly, the magnetizing piece is driven to move back and forth by the sliding seat, so that the magnetizing piece can slide out of the side wall of the shell and then contact with the magnet to be magnetized, and the magnetizing piece is movable, so that the magnets of different specifications can be adaptively adjusted, and the universality is improved.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is an internal schematic view of the housing of the present invention.
Fig. 3 is an electrical schematic of the magnetic charging mechanism of the present invention.
Fig. 4 is a schematic view of the driving assembly of the present invention engaged with two sliding seats.
Fig. 5 is an internal schematic view of the pick-up mechanism of the present invention.
Fig. 6 is an internal schematic view of the clamp of the present invention.
Fig. 7 is a schematic view of a rotating assembly of the present invention.
Fig. 8 is a schematic view of the flip assembly of the present invention.
Reference numerals: 1-body, 2-pickup mechanism, 3-magnetizing mechanism, 4-center control machine, 5-current controller, 21-base, 22-driving member, 23-linkage assembly, 24-clamping member, 25-metal member, 26-power supply member, 27-current detection member, 28-translation assembly, 29-interference member, 31-housing, 32-driving assembly, 33-power supply unit, 34-magnetizing assembly, 311-magnetizing hole, 312-detection device, 313-rotation assembly, 314-flip assembly, 321-driving motor, 322-driving gear, 323-conversion gear, 324-driven gear, 325-speed reducer, 341-sliding seat, 342-magnetizing member, 343-electromagnetic member, 344-rack, 345-yoke, 346-coil, 347-main body, 348-portion, 349-telescopic assembly, 3410-elastic member, 3411-guide assembly, 3131-rotation table, 3132-driving cylinder, 3133-rotation shaft, 3134 transmission element, 3141 electric push rod, 3142 clamp, 3143 rotary cylinder.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention is described in detail below with reference to the attached drawings.
As shown in fig. 1 to 8, the automatic multi-pole magnetizing apparatus for magnetizing a magnet according to the present invention includes a machine body 1, a pickup mechanism 2, and a magnetizing mechanism 3, where the pickup mechanism 2 and the magnetizing mechanism 3 are both disposed on the machine body 1, the pickup mechanism 2 is configured to pick up a magnet from the magnetizing mechanism 3, the magnetizing mechanism 3 includes a housing 31, a driving component 32, and a power supply unit 33, the housing 31 is provided with a magnetizing hole 311 with an open top, two sides of the magnetizing hole 311 are respectively provided with a magnetizing component 34, the magnetizing component 34 includes a sliding seat 341 and a plurality of magnetizing pieces 342 disposed on the sliding seat 341 at intervals, and the driving component 32 is configured to drive the two sliding seats 341 to slide in a direction approaching to or departing from each other; the magnetizing units 342 on the two sliding seats 341 are arranged opposite to each other, the magnetizing units 342 are provided with electromagnetic units 343 for connecting the power supply unit 33, the opposite magnetizing units 342 have opposite polarities, and the mutually connected magnetizing units 342 have opposite polarities.
When the magnetic charger is used, the picking mechanism 2 picks up a magnet to be magnetized (hereinafter referred to as a magnet) and puts the magnet into the magnetizing hole 311, then the driving assembly 32 drives the sliding seats 341 on the two sides to move towards the direction close to each other until the magnetizing pieces 342 on the two sliding seats 341 are abutted against the magnet, and the power supply unit 33 supplies power to the electromagnetic piece 343, so that the electromagnetic piece 343 is electrified to generate a magnetic field to magnetize the magnetizing piece 342, and the magnetizing piece 342 can charge the magnet; because the opposite magnetizing pieces 342 and the adjacent magnetizing pieces 342 have opposite polarities, the effect of different polarities at each position is generated on the surface of the magnet, so that the magnetic field of the magnet is irregular, and the effect of a Halbach array is achieved.
The magnetic charger is simple in structure, the sliding seat 341 drives the magnetizing piece 342 to move, so that the magnetizing piece 342 can be adjusted in position according to the specification of the magnet, magnets of various specifications can be magnetized, and the universality is improved. In addition, the picking mechanism 2 is arranged, so that the effect of automatically picking and placing the magnets in the whole process is realized, and the problem that the efficiency is reduced or safety accidents are caused due to manual participation is avoided.
In this embodiment, the driving assembly 32 includes a driving motor 321, a driving gear 322, a switching gear 323, and two driven gears 324, the two sliding seats 341 are respectively provided with racks 344, the driving motor 321 is configured to drive the driving gear 322, the driving gear 322 is in transmission connection with one of the racks 344 through one of the driven gears 324, and the driving gear 322 is in transmission connection with the other rack 344 through the switching gear 323 and the other driven gear 324.
During operation, the driving motor 321 is operated to drive the driving gear 322 to rotate, the driven gear 324 directly engaged with the driving gear 322 rotates in a direction opposite to that of the driving gear 322, and the driven gear 324 engaged with the driving gear 322 via the switching gear 323 rotates in the same direction as that of the driving gear 322, so that the two sliding seats 341 are driven to simultaneously approach or separate from each other, and the control is simpler; specifically, a speed reducer 325 is disposed between the driving motor 321 and the driving gear 322, and the speed reducer 325 is used for stabilizing the driving of the driving gear 322 by the driving motor 321, so that the sliding rates of the two sliding seats 341 are more uniform.
In this embodiment, the electromagnetic element 343 includes a yoke 345 and a coil 346, the magnetizing element 342 is installed in the yoke 345, the coil 346 is wound between the magnetizing element 342 and the yoke 345, and the coil 346 is connected to the power supply unit 33; a telescopic assembly 349 is arranged between the yoke 345 and the sliding seat 341, and the telescopic assembly 349 is used for driving the electromagnetic piece 343 and the magnetizing piece 342 to extend out of or retract into the sliding seat 341. That is, when the coil 346 is energized to generate a magnetic field, the yoke 345 is magnetized so that the magnetism of the magnetizing unit 342 provided in the yoke 345 is increased, and when the magnetizing unit 342 comes into contact with the magnet, the magnet can be magnetized more efficiently and stably, which is advantageous in enhancing the efficiency and the magnetizing effect.
Specifically, the machine body 1 is further provided with a central control machine 4, the plurality of telescopic assemblies 349 are in signal connection with the central control machine 4, a current controller 5 is arranged between the coil 346 and the power supply unit 33, the plurality of current controllers 5 are in signal connection with the central control machine 4, the central control machine 4 is configured to control the plurality of telescopic assemblies 349 to respectively operate, and the central control machine 4 is further configured to change the current magnitude in each coil 346. That is, the staff can adjust the current passing through each coil 346 through the current controller 5 through the operation central control machine 4 as required, thereby realizing the effect of changing the magnetic field generated by the coil 346, so as to control the magnetism of the magnetizing piece 342 to perform adaptive change, being beneficial to adjusting the magnetic change of the magnet, and achieving the effect of making the magnetic field size of each position of the magnet different.
Specifically, the magnetizing unit 342 includes a main body 347 and an interference unit 348, wherein an elastic member 3410 is disposed between a distal end of the main body 347 and the yoke 345, a guide member 3411 is disposed between a bottom of the main body 347 and the yoke 345, the interference unit 348 is disposed at a front end of the main body 347 for interfering with the magnet, and the coil 346 is wound around the interference unit 348. That is, after the sliding seat 341 drives the magnetizing unit 342 to move and abut against the magnet, the different guiding units 3411 can be controlled to operate as required, so that part of the magnetizing unit 342 does not contact with the magnet, and thus the effect of non-magnetization at part of the positions is achieved. Preferably, the guide assembly 3411 is an electric cylinder.
In this embodiment, the picking mechanism 2 includes a base 21, a driving member 22, two linkage assemblies 23 and two clamping members 24, the driving member 22 is disposed on the base 21, the two linkage assemblies 23 are movably disposed on the base 21, the two clamping members 24 are both rotatably disposed on the base 21, and the driving member 22 controls the two clamping members 24 to rotate through the two linkage assemblies 23 respectively so as to open and clamp; the end of the clamping member 24 that abuts the charged magnet is provided with a metal member 25.
In practical use, the picking mechanism 2 is further provided with a lifting mechanism, a translation mechanism and the like for driving the base 21 to lift and translate, so that the magnet is taken and placed; the lifting mechanism and the translation mechanism are both of conventional structures and are not described in detail herein.
During operation, the base 21 moves to a position right above the magnet, then the driving part 22 acts to drive the clamping part 24 to clamp through the linkage assembly 23, so that the metal part 25 is in contact with the magnet, and the magnet may have certain magnetism, so that the metal part 25 is attracted after being in contact with the magnet, and the clamping is more stable; when the magnet is put down or the magnet after being magnetized is put down, the clamping piece 24 is controlled in a rotating mode because the clamping piece 24 is possibly blocked due to magnetism when the magnet is linearly moved away, and the clamping piece 24 is rotated away from two sides of the magnet, so that the clamping piece 24 is separated from the magnet more easily.
Specifically, the picking mechanism 2 further includes a power supply component 26 and a current detection component 27, the two metal components 25 are electrically connected to the power supply component 26, and the current detection component 27 is configured to detect whether conduction is generated between the two metal components 25 and the power supply component 26. When the metal piece 25 and the magnet are successfully collided, namely the magnet is successfully clamped by the picking mechanism 2, an electric return furnace is formed, so that the current detection piece 27 can successfully detect the passing of the current and judge that the magnet is successfully clamped by the picking mechanism 2, and the picking mechanism 2 can move; in addition, the metal piece 25 and the magnet are provided with electromagnetic fields through the existence of the current, so that the clamping is more stable, and the magnet with insufficient magnetism can be stably clamped.
Specifically, a translation assembly 28 is arranged between the metal member 25 and the clamping member 24, a contact member 29 is arranged at the end of the clamping member 24, the metal member 25 is slidably arranged in the contact member 29, and the translation assembly 28 is used for driving the metal member 25 to slide in the contact member 29. That is, when the magnet is lowered, the translation assembly 28 controls the metal member 25 to retract into the abutting member 29 after the rotating clamp member 24 is separated from the magnet, so as to prevent the metal member 25 from interfering with the position of the magnet.
In this embodiment, a detection device 312, a rotating assembly 313 and a flipping assembly 314 are disposed in the housing 31, the detection device 312 is used for detecting the position and the posture of the magnet, the rotating assembly 313 is used for driving the magnet to rotate horizontally, and the flipping assembly 314 is used for driving the magnet to rotate in a vertical plane.
The detecting device 312 is preferably a camera or other device for recognizing the shape, specification, position, posture and other actions of the magnet before magnetizing, so that the rotating component 313 and the overturning component 314 cooperate to change the posture thereof according to actual conditions, so as to ensure that the surface to be magnetized is opposite to the magnetizing piece 342, and ensure the magnetizing effect.
Specifically, the rotating assembly 313 includes a rotating table 3131, a driving cylinder 3132, a rotating shaft 3133 and a driving element 3134, the rotating table 3131 is rotatably disposed on an inner bottom wall of the housing 31 and is used for supporting the magnet, the rotating table 3131 is rotatably disposed at the bottom of the rotating table 3131, one end of the driving element 3134 is mounted on the rotating shaft 3133, and the other end of the driving element 3134 is rotatably connected to a piston rod of the driving cylinder 3132. When the magnet needs to be controlled to horizontally rotate, the piston rod of the driving cylinder 3132 extends forward to drive the driving element 3134 to rotate only by the action of the driving cylinder 3132, so that the driving force is transmitted to the driving rotating shaft 3133 to rotate the rotating table 3131, and thus the effect of horizontal rotation is achieved.
Specifically, the flipping module 314 includes two electric push rods 3141, two clamps 3142 and two rotating cylinders 3143, the two rotating cylinders 3143 are disposed in the housing 31 and face each other, the two clamps 3142 are disposed on piston rods of the two rotating cylinders 3143, the two clamps 3142 are used for clamping two ends of a magnet, and the two electric push rods 3141 are used for driving the two rotating cylinders 3143 to move toward or away from each other. When the device needs to be turned over, the two clamps 3142 are driven by the electric push rod 3141 to extend out and contact with two ends of the magnet, and the clamps 3142 are preferably parts with limiting positions; then the rotating cylinder 3143 acts to control the clamp 3142 to turn over, so that the magnet turns over to be vertical, and the effect of adjusting the posture of the magnet is achieved.
Although the present invention has been described with reference to the above preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An automatic multipole magnetizing apparatus for magnetizing a magnet, characterized in that: the magnetizing device comprises a machine body, a picking mechanism and a magnetizing mechanism, wherein the picking mechanism and the magnetizing mechanism are arranged on the machine body, the picking mechanism is used for picking and placing magnets to be magnetized into the magnetizing mechanism, the magnetizing mechanism comprises a shell, a driving assembly and a power supply unit, the shell is provided with a magnetizing hole with an opening at the top, magnetizing assemblies are respectively arranged on two sides of the magnetizing hole, each magnetizing assembly comprises a sliding seat and a plurality of magnetizing pieces arranged on the sliding seat at intervals, and the driving assembly is used for driving the two sliding seats to slide towards directions close to or away from each other; the magnetizing pieces on the two sliding seats are arranged in a one-to-one opposite mode, the magnetizing pieces are provided with electromagnetic pieces used for being connected with the power supply unit, the polarities of the magnetizing pieces which are opposite to each other are opposite, and the polarities of the magnetizing pieces which are connected with each other are opposite;
the electromagnetic part comprises a yoke and a coil, the magnetizing part is arranged in the yoke, the coil is wound between the magnetizing part and the yoke, and the coil is connected with the power supply unit; a telescopic assembly is arranged between the yoke and the sliding seat and is used for driving the electromagnetic piece and the magnetizing piece to extend out of or retract into the sliding seat;
the magnetizing piece comprises a main body and a collision part, an elastic piece is arranged between the tail end of the main body and the yoke, a guide assembly is arranged between the bottom of the main body and the yoke, the collision part is arranged at the front end of the main body and used for colliding with a magnet to be magnetized, and the coil is wound on the collision part.
2. The automatic multipole charging apparatus for charging a magnet of claim 1, wherein: the driving assembly comprises a driving motor, a driving gear, a conversion gear and two driven gears, racks are respectively arranged on the two sliding seats, the driving motor is used for driving the driving gear to drive, the driving gear is in transmission connection with one rack through one driven gear, and the driving gear is in transmission connection with the other rack through the conversion gear and the other driven gear.
3. The automatic multipole charging apparatus for charging a magnet of claim 2, wherein: and a speed reducer is arranged between the driving motor and the driving gear.
4. An automatic multipole charging apparatus for charging a magnet according to claim 1, characterized in that: the machine body is further provided with a central control machine, a plurality of telescopic assemblies are in signal connection with the central control machine, a current controller is arranged between the coil and the power supply unit and in signal connection with the central control machine, the central control machine is used for controlling the telescopic assemblies to act respectively, and the central control machine is also used for changing the current in each coil.
5. The automatic multipole charging apparatus for charging a magnet of claim 1, wherein: the picking mechanism comprises a base, a driving part, two linkage assemblies and two clamping pieces, wherein the driving part is arranged on the base, the two linkage assemblies are movably arranged on the base, the two clamping pieces are rotatably arranged on the base, and the driving part controls the two clamping pieces to rotate through the two linkage assemblies respectively so as to enable the two clamping pieces to be opened and clamped; a metal piece is arranged at one end of the clamping piece, which is used for abutting against the magnet with the magnetizing function.
6. An automatic multipole magnet charging apparatus for charging a magnet according to claim 5, wherein: the picking mechanism further comprises a power supply part and a current detection part, the two metal parts are electrically connected with the power supply part, and the current detection part is used for detecting whether the two metal parts are conducted with the power supply part or not.
7. An automatic multipole magnet charging apparatus for charging a magnet according to claim 5, wherein: the metal piece is arranged in the contact piece in a sliding mode, and the translation assembly is used for driving the metal piece to slide in the contact piece.
8. The automatic multipole charging apparatus for charging a magnet of claim 1, wherein: the device comprises a shell, a detection device, a rotating assembly and a turning assembly, wherein the detection device is used for detecting the position and the posture of a magnet to be magnetized;
the rotating assembly comprises a rotating table, a driving air cylinder, a rotating shaft and a transmission part, the rotating table is rotatably arranged on the inner bottom wall of the shell and used for supporting a magnet to be magnetized, the rotating table is rotatably arranged at the bottom of the rotating table, one end of the transmission part is installed on the rotating shaft, and the other end of the transmission part is rotatably connected to a piston rod of the driving air cylinder;
the overturning assembly comprises two electric push rods, two fixtures and two rotating cylinders, wherein the two rotating cylinders are arranged in the shell and are right opposite to each other, the two fixtures are arranged on piston rods of the two rotating cylinders respectively, the two fixtures are used for clamping two ends of a magnet to be magnetized respectively, and the two electric push rods are used for driving the two rotating cylinders to move towards directions close to or away from each other respectively.
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| CN202110229141.0A CN112967861B (en) | 2021-03-02 | 2021-03-02 | Automatic multi-pole magnetizing equipment for magnet magnetizing |
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| CN202110229141.0A CN112967861B (en) | 2021-03-02 | 2021-03-02 | Automatic multi-pole magnetizing equipment for magnet magnetizing |
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| CN112967861B true CN112967861B (en) | 2022-09-16 |
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| CN114334349A (en) * | 2022-01-09 | 2022-04-12 | 麦格昆磁磁性材料(滁州)有限公司 | Uniform magnetizing device for rare earth permanent magnet material |
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| CN109786065A (en) * | 2019-03-08 | 2019-05-21 | 东莞金坤新材料股份有限公司 | A kind of magnet charger that the performance that magnetizes is stable |
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| CN112967861A (en) | 2021-06-15 |
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