CN113043236A - Pipeline is to mouthful takeover and is measured marking off intelligent device - Google Patents
Pipeline is to mouthful takeover and is measured marking off intelligent device Download PDFInfo
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- CN113043236A CN113043236A CN202110333537.XA CN202110333537A CN113043236A CN 113043236 A CN113043236 A CN 113043236A CN 202110333537 A CN202110333537 A CN 202110333537A CN 113043236 A CN113043236 A CN 113043236A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
- B25H7/045—Devices, e.g. scribers, for marking characterised by constructional details of the marking elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an intelligent pipeline butt joint pipe measuring and scribing device which comprises a first pipeline to be connected and a second pipeline to be connected, wherein the first pipeline to be connected is connected with the second pipeline to be connected; the method is characterized in that: a laser position finder transmitting device and a laser position finder receiving device are respectively arranged in the pipe orifices of the first pipe to be connected and the second pipe to be connected; the laser position finder emission equipment comprises a main steel cylinder; a first driving motor is arranged in the main steel cylinder; the output shaft of the first driving motor is in transmission connection with a first steel arm; the top surface of the main steel cylinder is fixedly connected with a high-precision laser ranging module, and the high-precision laser ranging module and the output shaft of the first driving motor are positioned on the same axis; one end of the first steel arm is fixedly connected with a first motor scribing module; one side of the high-precision laser ranging module is fixedly connected with a Hall angle sensor; the bottom of the main steel cylinder is fixedly connected with a fixed module; the method has the advantages of realization, simple operation, high precision and low requirement on operation site conditions; high efficiency, reduced material consumption and effective help for the construction operation of the connecting pipe.
Description
Technical Field
The invention relates to the technical field of long-distance pipeline construction, in particular to an intelligent pipeline butt joint pipe measuring and marking device.
Background
In recent years, with the rapid development of the petroleum and natural gas industry, oil pipelines are distributed all over the country, and the development of national economy is greatly promoted. However, in the pipe connection construction, the connection pipe is a problem which has to be taken into consideration. In the long-distance pipeline operation for many years, the pipelines need to be reconnected due to the removal and diversion of the pipelines and the like caused by the construction of new pipelines, geological disasters, engineering construction, pipeline corrosion and the like. In order to solve this problem, the relative spatial positions of the two pipe sections to be connected, the cutting amount and the required shape and size of the pipe section must be determined. At present, the existing long-distance pipeline connecting pipe technology at home and abroad utilizes a tape measure or a steel rule to carry out manual measurement, and determines the size of the connecting pipe according to construction experience, and the method has low measurement precision and large error.
Disclosure of Invention
The invention aims to provide an intelligent pipeline butt joint pipe measuring and scribing device, which solves the problems in the prior art, can be realized, and has the advantages of simple operation, high precision and low requirement on operation site conditions; high efficiency, reduced material consumption and effective help for the construction operation of the connecting pipe.
In order to achieve the purpose, the invention provides the following scheme: the invention provides an intelligent pipeline butt joint pipe measuring and scribing device which comprises a first pipeline to be connected and a second pipeline to be connected, wherein the first pipeline to be connected is connected with the second pipeline to be connected; the method is characterized in that: a laser position finder transmitting device and a laser position finder receiving device are respectively arranged in the pipe orifices of the first pipe to be connected and the second pipe to be connected;
the laser position finder emission equipment comprises a main steel cylinder; a first driving motor is arranged in the main steel cylinder; the output shaft of the first driving motor is in transmission connection with a first steel arm; the top surface of the main steel cylinder is fixedly connected with a high-precision laser ranging module, and the high-precision laser ranging module and the output shaft of the first driving motor are positioned on the same axis; one end of the first steel arm is fixedly connected with a first motor scribing module; one side of the high-precision laser ranging module is fixedly connected with a Hall angle sensor; and the bottom of the main steel cylinder is fixedly connected with a fixing module.
Preferably, the laser position finder transmitting device fixed at one end of the pipe joint to be connected emits laser to a specified position on the laser position finder receiving device by adjusting the laser distance measuring module, the device automatically calculates and obtains the space relative position, the cutting amount and the shape and the size of the required pipe joint section by establishing a three-dimensional model based on the distance data measured by the laser distance measuring module and the angle data measured by the hall angle sensor, and sends the cutting amount to the laser position finder transmitting device and the laser position finder receiving device, and the scribing part of the two devices automatically scribes a cutting track on the pipe joint to be connected.
The laser position finder receiving equipment comprises a receiving steel cylinder; a second driving motor is arranged in the receiving steel cylinder; the output shaft of the second driving motor is in transmission connection with a second steel arm; the top surface of the second steel arm is fixedly connected with an extension arm; one end of the second steel arm is fixedly connected with a second motor scribing module; the first motor scribing module and the second motor scribing module have the same structure.
Preferably, the equipment fixing module at the bottommost part of the equipment is connected with the main steel cylinder through a bolt, and the fixing module is of a disc-shaped structure with three fixed telescopic arms; the extension arm is connected with the main body steel cylinder through a bolt.
Preferably, the power box is used for controlling the equipment switch, and the power box contains a Bluetooth module for data acquisition and transmission; the first driving motor is used for driving the first steel arm to rotate; the first scribing motor rotates to drive the scribing pen head to move, and a cutting track is scribed on the pipeline; the hand wheel is rotated above the rotary device to control the fixed telescopic arm, so that the device is fixed at the position of the pipe orifice of the pipe to be connected.
The top surface of the high-precision laser ranging module is provided with a water-drop-shaped hole for emitting laser; and the side surface of the high-precision laser ranging module is provided with a round small hole and a crescent groove.
Preferably, the round small hole is used for being connected with the Hall angle sensor and the main body steel cylinder; the crescent groove is used for limiting the rotation angle of the high-precision laser ranging module.
Preferably, crescent recess is used for restricting laser rangefinder module corner, and behind the jackscrew on high accuracy laser rangefinder module top, the jackscrew can only be at crescent recess internal rotation removal, and it just can not rotate again to go to certain angle, avoids high accuracy laser rangefinder module rotation angle too big, runs into equipment drum, swing arm etc..
A power supply box is fixedly connected to the outer wall of the main steel cylinder; and a Bluetooth module is arranged in the power box.
The first motor scribing module comprises a fixing plate; two fixing plates are arranged; two transmission rods and transmission screw rods are fixedly connected between the two fixing plates; the transmission screw rod is arranged between the two transmission rods; the transmission rod and the transmission screw rod penetrate through the scribing pen point; a marking motor is fixedly connected to the top surface of the fixing plate; and an output shaft of the scribing motor is in transmission connection with the transmission lead screw.
The fixed module comprises a fixed disc and a fixed telescopic arm; a disc inner cavity is formed in the fixed disc; a fixed gear is arranged in the inner cavity of the disc; the fixed gear is provided with internal teeth and external teeth; a rotating hand wheel is arranged on the top surface of the fixed disc; a transmission shaft is fixedly connected to the center of the bottom surface of the rotating hand wheel; one end of the transmission shaft penetrates through the top surface of the fixed disc and is fixedly connected with a transmission gear; the transmission gear is meshed with the inner teeth of the fixed gear; three fixed telescopic arms are arranged and penetrate through the side wall of the fixed disc; the side surface of the fixed telescopic arm is meshed with the outer teeth of the fixed gear; and one end of the fixed telescopic arm is vertically and fixedly connected with a loading plate.
Preferentially, the tail end of the telescopic arm is of an elastic structure, so that the phenomenon that the equipment is not overlapped with the cross section of the pipeline due to the fact that the inner wall of the pipeline to be connected is not smooth (has protrusions or depressions) can be avoided; the telescopic arm is provided with a rack and is pushed to stretch by a gear inside the disc-shaped structure, and the three telescopic arms are fixed on the same gear, so that the telescopic arms are the same in telescopic distance when the gear is driven to rotate by rotating the hand wheel.
The extension arm is fixedly connected with two strip-shaped steel plates at 90 degrees; the center of the fixed connection end of the two strip-shaped steel plates is an O point; and the other ends of the two strip-shaped steel plates are respectively set as a point A and a point B.
Preferably, the laser is aligned with the O point for emission, the distance is obtained by laser ranging, the angle is measured by a Hall angle sensor, the spatial coordinates of the O point relative to the laser emission point can be determined, and the spatial coordinates of the A point and the B point relative to the laser emission point can be determined by the same method, so that the spatial relative positions of the plane where the O, A, B points are located (namely the cross section of the measured pipeline) and the cross section of the measured pipeline can be determined.
The invention discloses the following technical effects: the equipment with the structure is adopted to measure the pipelines to be connected, so that the space relative position and the cutting amount of the sections of the two pipelines to be connected and the shape and the size of a required pipeline section can be directly determined; when the device is used, the device is arranged on two butted pipe orifices, and the laser ranging module is controlled to emit laser, so that the device is simple to operate, high in precision and low in requirement on operation site conditions; the equipment is used for carrying out, the efficiency is high, the material consumption is reduced, and effective help is provided for the construction operation of the connecting pipe.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of the transmitting equipment of the laser position finder of the present invention.
Fig. 2 is a schematic structural diagram of a receiving device of a laser position finder according to the present invention.
Fig. 3 is a side view of a high precision laser ranging module of the present invention.
Fig. 4 is a schematic structural diagram of a high-precision laser ranging module according to the present invention.
Fig. 5 is a schematic structural diagram of the hall angle sensor of the present invention.
Fig. 6 is a schematic structural diagram of the power supply box of the present invention.
Fig. 7 is a schematic structural diagram of a first motor scribing module according to the present invention.
Fig. 8 is a structural view of a fixing module of the present invention.
Fig. 9 is a schematic structural view of an extension arm according to the present invention.
Fig. 10 is a schematic structural diagram of the control system of the present invention.
The device comprises a main body steel cylinder, a 2-first steel arm, a 3-high-precision laser distance measuring module, a 4-Hall angle sensor, a 5-receiving steel cylinder, a 6-second steel arm, a 7-extension arm, an 8-second motor line drawing module, a 9-water drop-shaped hole, a 10-round small hole, an 11-crescent groove, a 12-power box, a 13-transmission rod, a 14-transmission screw rod, a 15-line drawing pen point, a 16-line drawing motor, a 17-fixed disc, a 18-fixed telescopic arm, a 19-rotating hand wheel, a 20-loading plate and a 21-first motor line drawing module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides an intelligent pipeline butt joint pipe measuring and scribing device which comprises a first pipeline to be connected and a second pipeline to be connected, wherein the first pipeline to be connected is connected with the second pipeline to be connected; a laser position finder transmitting device and a laser position finder receiving device are respectively arranged in the pipe orifices of the first pipe to be connected and the second pipe to be connected;
the laser position finder transmitting equipment comprises a main steel cylinder 1; a first driving motor is arranged in the main steel cylinder 1; the output shaft of the first driving motor is in transmission connection with a first steel arm 2; the top surface of the main steel cylinder 1 is fixedly connected with a high-precision laser ranging module 3, and the high-precision laser ranging module 3 and the output shaft of the first driving motor are positioned on the same axis; one end of the first steel arm 2 is fixedly connected with a first motor scribing module 21; one side of the high-precision laser ranging module 3 is fixedly connected with a Hall angle sensor 4; the bottom of the main body steel cylinder 1 is fixedly connected with a fixed module.
The receiving equipment of the laser position finder comprises a receiving steel cylinder 5; a second driving motor is arranged in the receiving steel cylinder 5; the output shaft of the second driving motor is in transmission connection with a second steel arm 6; the top surface of the second steel arm 6 is fixedly connected with an extension arm 7; one end of the second steel arm 6 is fixedly connected with a second motor scribing module 8; the first motor scribing module 21 and the second motor scribing module 8 have the same structure.
The top surface of the high-precision laser ranging module 3 is provided with a water-drop-shaped hole 9 for emitting laser; the side surface of the high-precision laser ranging module 3 is provided with a round small hole 10 and a crescent groove 11.
The round small hole 10 is used for connecting the Hall angle sensor 4 and the main body steel cylinder 1; the crescent-shaped groove 11 is used for limiting the rotation angle of the high-precision laser ranging module 3.
The outer wall of the main body steel cylinder 1 is fixedly connected with a power supply box 12; a bluetooth module is arranged in the power box 12.
The first motor scribing module 21 includes a fixing plate; two fixing plates are arranged; two transmission rods 13 and a transmission screw 14 are fixedly connected between the two fixing plates; the transmission screw 14 is arranged between the two transmission rods 13; the transmission rod 13 and the transmission screw 14 are penetrated with a scribing pen point 15; a marking motor 16 is fixedly connected to the top surface of a fixed plate; an output shaft of the marking motor 16 is in transmission connection with the transmission lead screw 13.
The fixed module comprises a fixed disc 17 and a fixed telescopic arm 18; a disc inner cavity is arranged in the fixed disc 17; a fixed gear is arranged in the inner cavity of the disc; the fixed gear is provided with internal teeth and external teeth; the top surface of the fixed disc is provided with a rotating hand wheel 19; a transmission shaft is fixedly connected to the center of the bottom surface of the rotating hand wheel 19; one end of the transmission shaft penetrates through the top surface of the fixed disc 17 and is fixedly connected with a transmission gear; the transmission gear is meshed with the internal teeth of the fixed gear; three fixed telescopic arms 18 are arranged and penetrate through the side wall of the fixed disc 17; the side surface of the fixed telescopic arm 18 is meshed with the external teeth of the fixed gear; one end of the fixed telescopic arm 18 is vertically fixedly connected with a loading plate 20.
The extension arm 7 is fixedly connected with two strip-shaped steel plates at 90 degrees; the center of the fixed connection end of the two strip-shaped steel plates is an O point; the other ends of the two strip-shaped steel plates are respectively set as a point A and a point B.
In one embodiment of the invention, after the laser position finder transmitting equipment and the laser position finder receiving equipment are assembled, the laser position finder transmitting equipment is placed in a pipe, so that a pipe orifice is just contacted with the first steel arm 2, the axis of a fixed disc 17 of an equipment fixing module is ensured to be coincided with the axis of the pipe, a rotating hand wheel 19 is rotated to control a fixed telescopic arm 18, the equipment is fixed, and the operation is stopped; the receiving device is mounted on the pipeline in the same way. Turning on a power supply, starting the equipment, adjusting a high-precision laser ranging module 3 of the transmitting equipment of the laser position finder to enable laser to be aligned to a central point O of an extension arm 7 of the receiving equipment, and clicking a ranging button to acquire data; and (3) aligning the laser to the point A and the point B of the extension arm 7 in sequence according to the same mode, measuring the distance and collecting data. The self-programming program obtains a space position equation of two pipe orifices through calculation and processing according to three groups of collected data, establishes a three-dimensional model, determines the space relative position and the cutting amount of the section of two pipes to be connected and the shape and the size of a required pipe connecting section, sends the cutting amount to the laser position finder transmitting equipment and the laser position finder receiving equipment, and the scribing part of the two equipment automatically scribes a cutting track on the outer pipe wall of the pipe connecting section to be connected so as to finish the operation.
In another embodiment of the invention, the computer sends the measurement instruction to the single chip microcomputer through Bluetooth, the single chip microcomputer controls the distance measurement module and the angle measurement module to collect data after receiving the instruction, each group collects data of one distance and two angles, the collected data are sent to the computer program through Bluetooth, and after four groups of data of four designated positions are respectively collected, the program automatically corrects the data of O2 and A, B based on the initial position data; the program calculates and obtains the axis included angle and the pipe connection length of two pipelines to be connected according to the acquired data, the program automatically judges whether straight pipe connection or bent pipe connection is needed according to the axis included angle of the two pipelines, a recommended pipe connection mode is given, the straight pipe connection is adopted when the axis included angle of the pipelines is smaller than 6 degrees, and the bent pipe connection is adopted when the axis of the pipelines is larger than 6 degrees; the cutting distance, the azimuth angle of the tangent plane and the cutting amount corresponding to each angle of the pipeline to be connected between the upstream and the downstream are automatically calculated by a program, the calculated data can be corrected according to the actual situation of the site by inputting the cutting compensation amount, and the cutting and blanking of constructors are facilitated; signals are transmitted to the single chip microcomputer through the Bluetooth, the master motor and the slave motor are controlled to move according to the designated angle, and the master motor and the slave motor can be controlled to move to the preset initial position by clicking the reset button.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (7)
1. An intelligent pipeline butt joint pipe measuring and scribing device comprises a first pipeline to be connected and a second pipeline to be connected; the method is characterized in that: a laser position finder transmitting device and a laser position finder receiving device are respectively arranged in the pipe orifices of the first pipe to be connected and the second pipe to be connected;
the laser position finder emission equipment comprises a main steel cylinder (1); a first driving motor is arranged in the main steel cylinder (1); the output shaft of the first driving motor is in transmission connection with a first steel arm (2); the top surface of the main steel cylinder (1) is fixedly connected with a high-precision laser ranging module (3), and the high-precision laser ranging module (3) and the output shaft of the first driving motor are positioned on the same axis; one end of the first steel arm (2) is fixedly connected with a first motor scribing module (21); one side of the high-precision laser ranging module (3) is fixedly connected with a Hall angle sensor (4); the bottom of the main body steel cylinder (1) is fixedly connected with a fixing module.
2. The intelligent pipeline butt-joint pipe measuring and marking device according to claim 1, wherein: the laser position finder receiving equipment comprises a receiving steel cylinder (5); a second driving motor is arranged in the receiving steel cylinder (5); the output shaft of the second driving motor is in transmission connection with a second steel arm (6); the top surface of the second steel arm (6) is fixedly connected with an extension arm (7); one end of the second steel arm (6) is fixedly connected with a second motor scribing module (8); the first motor scribing module (21) and the second motor scribing module (8) are identical in structure.
3. The intelligent pipeline butt-joint pipe measuring and marking device according to claim 1, wherein: the top surface of the high-precision laser ranging module (3) is provided with a water-drop-shaped hole (9) for emitting laser; circular aperture (10) and crescent recess (11) have been seted up to high accuracy laser rangefinder module (3) side.
4. The intelligent pipeline butt-joint pipe measuring and marking device according to claim 1, wherein: the outer wall of the main body steel cylinder (1) is fixedly connected with a power supply box (12); and a Bluetooth module is arranged in the power box (12).
5. The intelligent pipeline butt-joint pipe measuring and marking device according to claim 1, wherein: the first motor scribing module (21) comprises a fixing plate; two fixing plates are arranged; two transmission rods (13) and transmission screw rods (14) are fixedly connected between the two fixing plates; the transmission screw rod (14) is arranged between the two transmission rods (13); the transmission rod (13) and the transmission screw rod (14) penetrate through the scribing pen point (15); a marking motor (16) is fixedly connected to the top surface of the fixing plate; and an output shaft of the scribing motor (16) is in transmission connection with the transmission lead screw (13).
6. The intelligent pipeline butt-joint pipe measuring and marking device according to claim 1, wherein: the fixed module comprises a fixed disc (17) and a fixed telescopic arm (18); a disc inner cavity is formed in the fixed disc (17); a fixed gear is arranged in the inner cavity of the disc; the fixed gear is provided with internal teeth and external teeth; a rotating hand wheel (19) is arranged on the top surface of the fixed disc; a transmission shaft is fixedly connected to the center of the bottom surface of the rotating hand wheel (19); one end of the transmission shaft penetrates through the top surface of the fixed disc (17) and is fixedly connected with a transmission gear; the transmission gear is meshed with the inner teeth of the fixed gear; three fixed telescopic arms (18) are arranged and penetrate through the side wall of the fixed disc (17); the side surface of the fixed telescopic arm (18) is meshed with the external teeth of the fixed gear; one end of the fixed telescopic arm (18) is vertically and fixedly connected with a loading plate (20).
7. The intelligent pipeline butt-joint pipe measuring and marking device according to claim 2, wherein: the extension arm (7) is fixedly connected with two strip-shaped steel plates at 90 degrees; the center of the fixed connection end of the two strip-shaped steel plates is an O point; and the other ends of the two strip-shaped steel plates are respectively set as a point A and a point B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110333537.XA CN113043236B (en) | 2021-03-29 | 2021-03-29 | Pipeline is to mouthful takeover and is measured marking off intelligent device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110333537.XA CN113043236B (en) | 2021-03-29 | 2021-03-29 | Pipeline is to mouthful takeover and is measured marking off intelligent device |
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| CN113043236A true CN113043236A (en) | 2021-06-29 |
| CN113043236B CN113043236B (en) | 2022-04-08 |
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| CN114683234A (en) * | 2022-05-09 | 2022-07-01 | 中国石油大学(华东) | Pipeline fire-running head quick measurement drawing automation device |
| CN116442186A (en) * | 2023-03-13 | 2023-07-18 | 营口阿部配线有限公司 | Full-automatic dynamic number format double-station corrugated pipe line drawing machine and using method thereof |
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| CN116442186A (en) * | 2023-03-13 | 2023-07-18 | 营口阿部配线有限公司 | Full-automatic dynamic number format double-station corrugated pipe line drawing machine and using method thereof |
| CN116442186B (en) * | 2023-03-13 | 2024-02-06 | 营口阿部配线有限公司 | Full-automatic digital format double-station corrugated pipe line drawing machine and using method thereof |
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| CN113043236B (en) | 2022-04-08 |
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