CN113784557B - Encoder protection device and encoder device - Google Patents
Encoder protection device and encoder device Download PDFInfo
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- CN113784557B CN113784557B CN202110997047.XA CN202110997047A CN113784557B CN 113784557 B CN113784557 B CN 113784557B CN 202110997047 A CN202110997047 A CN 202110997047A CN 113784557 B CN113784557 B CN 113784557B
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K5/00—Casings, cabinets or drawers for electric apparatus
- H05K5/02—Details
- H05K5/0217—Mechanical details of casings
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a protection device for an encoder and an encoder device, wherein the protection device for the encoder comprises a first shell, a second shell and a connecting piece, wherein a first hole penetrating through the first shell is formed in the outer peripheral surface of the first shell, the first shell is suitable for being connected with a rotary support of a rotary speed reducer so that the rotary speed reducer drives the first shell to rotate, the encoder is suitable for being installed in the second shell, the second shell is arranged in the first shell and is suitable for being connected with an external fixed support, so that the first shell and the second shell can relatively rotate, a second hole penetrating through the second shell is formed in the outer peripheral surface of the second shell, the first hole and the second hole are oppositely arranged in the inner-outer direction, so that a cable of the encoder penetrates through the first hole and the second hole and is connected with external detection equipment, one end of the connecting piece is connected with the first shell, and the other end of the connecting piece is suitable for being connected with a rotating shaft of the encoder. The protection device for the encoder has the advantages of simple structure, good protection performance, high safety performance and the like.
Description
Technical Field
The invention relates to the technical field of protection, in particular to a protection device for an encoder and an encoder device.
Background
The encoder is equipment for compiling and converting signals (such as bit stream) or data into signal forms which can be used for communication, transmission and storage, has the advantages of high precision and good stability, and is widely applied to the field of automatic control and the mechanical arm of an automatic anchor rod drill carriage.
In the related art, the working environment of the mechanical arm of the anchor rod drill carriage is bad, and the encoder is extremely easy to damage and low in reliability in the use process.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, the embodiment of the invention provides the protection device for the encoder, which has the advantages of simple structure, high protection performance and low cost.
The embodiment of the invention provides an encoder device with simple structure and long service life.
The embodiment of the invention provides an encoder device which is simple in structure, low in cost and accurate in detection.
According to an embodiment of the present invention, a guard for an encoder includes: the first shell is suitable for being connected with a rotary support of the rotary speed reducer so that the rotary speed reducer drives the first shell to rotate; the second shell is internally suitable for installing an encoder, the second shell is arranged in the first shell, the second shell is suitable for being connected with an external fixed support so that the first shell and the second shell can rotate relatively, a second hole penetrating through the second shell is formed in the outer peripheral surface of the second shell, and the first hole and the second hole are oppositely arranged in the inner and outer directions so that a cable wire of the encoder penetrates through the first hole and the second hole and is connected with external detection equipment; the connecting piece, the one end of connecting piece with first shell links to each other, the other end of connecting piece is applicable to with the pivot of encoder links to each other, the connecting piece is used for driving when first shell rotates the pivot of encoder rotates.
According to the encoder device provided by the embodiment of the invention, the first shell, the second shell and the connecting piece are arranged, so that the encoder is protected under the condition that the work of the encoder is not influenced, and the service life of the encoder is prolonged.
In some embodiments, a flange is provided on the outer peripheral side of the connector, the flange extends along the circumferential direction of the connector to be closed, the flange is provided in the first shell and is used for being in stop fit with the first shell, a fastener is provided at one end of the connector penetrating out of the first shell, and the fastener and the flange are used for clamping and connecting the first shell with the connector.
In some embodiments, the first shell is provided with a through hole, the through hole is suitable for the connecting piece to pass through, and the inner peripheral wall of the through hole is in anti-rotation fit with the connecting piece.
In some embodiments, the guard for an encoder further comprises a coupling comprising: the device comprises a first annular plate and a second annular plate, wherein the first annular plate and the second annular plate are connected and form a torsion 8-shaped structure, and an included angle is formed between the axial direction of the first annular plate and the axial direction of the second annular plate; the first connecting part is arranged in the first annular plate and is arranged at intervals with the connecting positions of the first annular plate and the second annular plate, the coupler is provided with a first mounting hole, the first mounting hole is arranged in the first connecting part and the first annular plate and extends along the direction from the first annular plate to the second annular plate, and the first mounting hole is suitable for being connected with the connecting piece; the second connecting portion is arranged in the second annular plate and is arranged at a position which is spaced from the connecting position of the first annular plate and the second annular plate, a second mounting hole is formed in the coupler, the second mounting hole is formed in the second connecting portion and the second annular plate and extends along the direction from the second annular plate to the first annular plate, and the second mounting hole is suitable for being connected with a rotating shaft of the encoder.
In some embodiments, a third hole penetrating the first housing is further provided on the first housing, the third hole being opposite to the connection member in an inner and outer direction so as to mount the coupling between the connection member and the rotation shaft of the encoder.
In some embodiments, the first annular plate and the second annular plate are made of elastic metal.
In some embodiments, a first annular groove is formed in the outer peripheral side of the first connecting portion, at least part of the first annular plate is fitted in the first annular groove, a second annular groove is formed in the outer peripheral side of the second connecting portion, and at least part of the second annular plate is fitted in the second annular groove.
In some embodiments, an outer circumferential surface of an end of the first housing remote from the connection member is provided with a flange so that the first housing is connected to a swing support of the swing speed reducer.
In some embodiments, the guard for an encoder further includes a positioning member disposed on the second housing, at least a portion of the positioning member extending into the second housing and in abutting engagement with the encoder, the positioning member being position-adjustable along a height direction of the first housing to adjust a pressing force between the positioning member and the encoder.
An encoder apparatus according to an embodiment of the present invention includes: an encoder; the protector for an encoder according to any one of the above embodiments, wherein the encoder is disposed in the second housing, a rotation shaft of the encoder passes through the second housing of the protector for an encoder and is connected to the connector of the protector for an encoder, and a cable of the encoder passes through the first hole and the second hole of the protector for an encoder and is connected to an external device.
Drawings
Fig. 1 is a perspective view of an encoder apparatus of an embodiment of the present invention.
Fig. 2 is a schematic structural view of an encoder apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a coupling of an encoder apparatus according to an embodiment of the present invention.
Reference numerals:
an encoder device 100;
a first case 1; a first hole 11; a third hole 12;
a second case 2; a second hole 21;
a positioning member 3;
an encoder 4; a rotation shaft 41; a cable 42;
a connecting piece 5; a flange 51; a fastener 52; a coupling 6; a first annular plate 61; a second annular plate 62; a first connection portion 63; a first mounting hole 64; the second connection portion 65.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
A guard for an encoder according to an embodiment of the present invention is described below with reference to fig. 1 to 3.
As shown in fig. 1 to 2, the guard for an encoder according to an embodiment of the present invention includes a first case 1, a second case 2, and a connection member 5.
The first shell 1 is provided with a first hole 11 penetrating the first shell 1 on the outer circumferential surface thereof, and the first shell 1 is adapted to be connected with a slewing support of a slewing reducer so that the slewing reducer drives the first shell 1 to rotate.
The second casing 2 is adapted to mount the encoder 4 therein, the second casing 2 is provided in the first casing 1, the second casing 2 is adapted to be connected to an external fixing support so that the first casing 1 and the second casing 2 can be rotated relatively, the outer circumferential surface of the second casing 2 is provided with a second hole 21 penetrating the second casing 2, and the first hole 11 and the second hole 21 are disposed relatively in the inner and outer directions so that a cable 42 of the encoder 4 passes through the first hole 11 and the second hole 21 and is connected to an external detecting device.
Specifically, as shown in fig. 1 to 2, a first hole 11 is provided on the outer circumferential surface of the first case 1, a second hole 21 is provided in the second case 2, the first hole 11 and the second hole 21 are spaced apart from each other in the inner and outer directions, the inner circumferential surface of the first case 1 and the outer circumferential surface of the second case 2 are spaced apart from each other, the first case 1 is connected to the slewing bearing by a flange, the second case 2 is connected to the fixed mount by a flange, and the encoder 4 is provided in the second case 2, and a cable 42 of the encoder 4 passes through the first hole 11 and the second hole 21 and is connected to an external detection device, thereby measuring the rotation angle of the slewing reducer for the slewing reducer.
One end of the connecting piece 5 is connected with the first shell 1, the other end of the connecting piece 5 is suitable for being connected with the rotating shaft 41 of the encoder 4, and the connecting piece 5 is used for driving the rotating shaft 41 of the encoder 4 to rotate when the first shell 1 rotates. Specifically, as shown in fig. 1-2, the upper end of the connecting member 5 is connected to the housing, and the lower end of the connecting member 5 is connected to the rotating shaft 41 of the encoder 4, so that the rotating shaft 41 of the connecting member 5 is driven to rotate by the first housing 1, so that the encoder 4 measures the rotation angle of the slewing support.
According to the protection device for the encoder, disclosed by the embodiment of the invention, the encoder 4 is protected through the arrangement of the first shell 1, the second shell 2 and the connecting piece 5, so that the encoder 4 is prevented from being damaged due to severe external environment, the service life of the encoder 4 is prolonged, and the working efficiency of the encoder 4 is ensured.
In some embodiments, the outer peripheral side of the connecting member 5 is provided with a flange 51, the flange 51 extends in the circumferential direction of the connecting member 5 to be closed, the flange 51 is provided in the first housing 1 and is used for abutting engagement with the first housing 1, one end of the connecting member 5 penetrating out of the first housing 1 is provided with a fastener 52, and the fastener 52 and the flange 51 are used for clamping the first housing 1 with the connecting member 5. Specifically, as shown in fig. 1-2, the outer peripheral side of the connector 5 is provided with a flange 51, the flange 51 abuts under the top surface of the first case 1, the upper end of the first case 1 passes through the top surface, and a fastener 52 is provided, and the top surface is clamped by the fastener 52 and the flange 51 in cooperation, so that the first case 1 drives the connector 5 to rotate.
In some embodiments, the first shell 1 is provided with a through hole, through which the connector 5 is adapted to pass, and an inner peripheral wall of the through hole is in rotation-proof fit with the connector 5. Specifically, as shown in fig. 1, the top surface of the first case 1 is provided with a through hole through which the connector 5 passes, and both the inner peripheral surface of the through hole and the outer peripheral surface of the connector 5 are provided with key grooves, and the connector 5 and the first case 1 are connected by keys.
It will be appreciated that the first housing 1 and the connecting member 5 may also be fastened by interference fit, or by screws or the like, and the fastening member 52 may be a nut provided at the upper end of the connecting member 5 by screw fit.
In some embodiments, the guard for the encoder further comprises a coupling 6.
The coupling 6 includes a first annular plate 61, a second annular plate 62, a first connection 63 and a second connection 65.
The first annular plate 61 and the second annular plate 62 are connected and form a twisted 8-shaped structure, and the axial direction of the first annular plate 61 forms an angle with the axial direction of the second annular plate 62. Specifically, as shown in fig. 2 to 3, an included angle between the axial direction of the first annular plate 61 and the axial direction of the second annular plate 62 is 90 °, and the first annular plate 61 and the second annular plate 62 are connected and form a twisted vertical 8-shaped structure.
The first connection portion 63 is provided in the first annular plate 61 and is arranged at a distance from the connection position of the first annular plate 61 and the second annular plate 62, the coupling 6 is provided with a first mounting hole 64, the first mounting hole 64 is provided in the first connection portion 63 and the first annular plate 61 and extends in a direction from the first annular plate 61 to the second annular plate 62, and the first mounting hole 64 is adapted to be connected to the connection member 5.
Specifically, as shown in fig. 2 to 3, the first connection portion 63 is provided on the inner peripheral surface of the first annular plate 61 at the lower end of the first annular plate 61, the first connection portion 63 is provided at the upper end of the first annular plate 61, the first mounting hole 64 penetrates the first annular plate 61 and the first connection portion 63, the rotation shaft 41 of the encoder 4 is penetrated in the first mounting hole 64, and the rotation shaft 41 is fixed to the first connection portion 63 by a screw.
The second connection portion 65 is provided in the second annular plate 62 and is arranged at a distance from the connection position of the first annular plate 61 and the second annular plate 62, and the coupling 6 is provided with a second mounting hole provided in the second connection portion 65 and the second annular plate 62 and extending in a direction from the second annular plate 62 to the first annular plate 61, the second mounting hole being adapted to be connected to the rotary shaft 41 of the encoder 4.
Specifically, as shown in fig. 2 to 3, the second connection portion 65 is provided on the inner peripheral surface of the second annular plate 62 at the upper end of the second annular plate 62, the second connection portion 65 is provided at the lower end of the second annular plate 62, the second mounting hole penetrates through the second annular plate 62 and the second connection portion 65, the connection member 5 is penetrated in the second mounting hole, and the connection member 5 is fixed to the second connection portion 65 by a screw.
In some embodiments, a third hole 12 penetrating the first housing 1 is further provided in the first housing 1, the third hole 12 being opposite to the connection member 5 in the inner and outer directions, so that the coupling 6 is installed between the connection member 5 and the rotation shaft 41 of the encoder 4. Specifically, as shown in fig. 1, the third hole 12 is located above the first hole 11, and the third hole 12 and the first hole 11 are located on the same side of the first housing 1, and the third hole 12 and the coupling 6 are opposite in the inside-outside direction, thereby facilitating the installation of the coupling 6.
In some embodiments, the outer circumferential surface of the end of the first housing 1 remote from the connection piece 5 is provided with a flange, so that the first housing 1 is connected to the slewing bearing of the slewing gear. Specifically, as shown in fig. 1, the outer peripheral surface of the lower end of the first casing 1 is provided with a flange, which is fixed to the swing support of the swing speed reducer by bolts or screws, thereby fixing the first casing 1 to the swing support of the swing speed reducer.
In some embodiments, the first connection 63 has a first annular groove on its outer peripheral side, into which at least part of the first annular plate 61 fits, and the second connection 65 has a second annular groove on its outer peripheral side, into which at least part of the second annular plate 62 fits.
Specifically, the lower end portion of the first connection portion 63 is provided with a first annular groove in which the first annular plate 61 is snapable, thereby fixing the first connection portion 63 in the first annular groove, and the upper end portion of the second connection portion 65 is provided with a second annular groove in which the second annular plate 62 is snapable, thereby fixing the second connection portion 65 in the second annular groove.
It is to be understood that the coupling of the protection device for an encoder according to the embodiment of the present invention is not limited thereto, and for example, any one of a GRC bellows coupling, a single-diaphragm coupling, an oldham coupling, and the like may be used as the coupling of the present invention.
In some embodiments, the width dimension of the first aperture 11 is greater than the width dimension of the second aperture 21. Thus, the smaller size of the second hole 21 can make the external environment where the encoder 4 is exposed smaller, and protect the encoder 4, and the larger size of the first hole 11 can prevent the cable 42 of the encoder 4 from affecting the rotation of the first housing 1 when the first housing 1 rotates.
In some embodiments, the protection device for the encoder further comprises a positioning member 3, wherein the positioning member 3 is disposed on the second shell 2, and at least part of the positioning member 3 extends into the second shell 2 and is in stop fit with the encoder 4, and the position of the positioning member 3 along the height direction (up-down direction as shown in fig. 1) of the first shell 1 is adjustable so as to adjust the pressing force between the positioning member 3 and the encoder 4.
Specifically, as shown in fig. 1-2, the positioning member 3 is disposed on the top surface of the second shell 2 in a penetrating manner, and the positioning member 3 passes through the second shell 2 to be in stop fit with the encoder 4, and the top pressing force between the positioning member 3 and the encoder 4 is adjusted by adjusting the upper and lower positioning members 3, so that the encoder 4 is fixed in the second shell 2, and the encoder 4 is prevented from shaking in the second shell 2.
An encoder apparatus 100 according to an embodiment of the present invention as shown in fig. 1-2 includes an encoder 4 and a guard for the encoder.
The encoder protector is any one of the above-described embodiments, the encoder 4 is provided in the second housing 2, the rotation shaft 41 of the encoder 4 is connected to the connector 5 of the encoder protector through the second housing 2 of the encoder protector, and the cable 42 of the encoder 4 is connected to the external device through the first hole 11 and the second hole 21 of the encoder protector.
Specifically, the first housing 1 of the guard device for the encoder may be connected to a mechanical arm of an automatic rock-bolt rig, so that the swing angle of the mechanical arm is measured by the encoder 4, so that the drilling of the rock-bolt rig is more accurate.
The encoder device 100 according to the embodiment of the invention has the advantages of simple structure, long service life, accurate detection result and the like.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "connection 5", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
1. A guard for an encoder, comprising:
the first shell is suitable for being connected with a rotary support of the rotary speed reducer so that the rotary speed reducer drives the first shell to rotate;
the second shell is internally suitable for installing an encoder, the second shell is arranged in the first shell, the second shell is suitable for being connected with an external fixed support so that the first shell and the second shell can rotate relatively, a second hole penetrating through the second shell is formed in the outer peripheral surface of the second shell, and the first hole and the second hole are oppositely arranged in the inner and outer directions so that a cable wire of the encoder penetrates through the first hole and the second hole and is connected with external detection equipment;
the connecting piece is used for driving the rotating shaft of the encoder to rotate when the first shell rotates;
still include the shaft coupling, the shaft coupling includes:
the device comprises a first annular plate and a second annular plate, wherein the first annular plate and the second annular plate are connected and form a torsion 8-shaped structure, and an included angle is formed between the axial direction of the first annular plate and the axial direction of the second annular plate;
the first connecting part is arranged in the first annular plate and is arranged at intervals with the connecting positions of the first annular plate and the second annular plate, the coupler is provided with a first mounting hole, the first mounting hole is arranged in the first connecting part and the first annular plate and extends along the direction from the first annular plate to the second annular plate, and the first mounting hole is suitable for being connected with the connecting piece;
the second connecting part is arranged in the second annular plate and is arranged at intervals with the connecting positions of the first annular plate and the second annular plate, the coupler is provided with a second mounting hole, the second mounting hole is arranged in the second connecting part and the second annular plate and extends along the direction from the second annular plate to the first annular plate, and the second mounting hole is suitable for being connected with a rotating shaft of the encoder;
the first shell is also provided with a third hole penetrating through the first shell, and the third hole is opposite to the connecting piece in the inner-outer direction so as to install the coupler between the connecting piece and the rotating shaft of the encoder.
2. The guard for an encoder according to claim 1, wherein a flange is provided on an outer peripheral side of the connecting member, the flange being provided in the first housing and adapted to be in stop-fit with the first housing, a fastener is provided at an end of the connecting member penetrating the first housing, and the fastener and the flange are adapted to clamp-connect the first housing with the connecting member.
3. The protector for an encoder according to claim 2, wherein a through hole is provided in the first case, the through hole being adapted to pass through the connecting member, and an inner peripheral wall of the through hole and the connecting member are in rotation-preventing fit.
4. The protector for an encoder according to claim 1, wherein a first annular groove is provided on an outer peripheral side of the first connecting portion, at least a part of the first annular plate is fitted in the first annular groove, a second annular groove is provided on an outer peripheral side of the second connecting portion, and at least a part of the second annular plate is fitted in the second annular groove.
5. The guard for an encoder according to claim 1, wherein an outer peripheral surface of an end of the first housing remote from the connection member is provided with a flange so that the first housing is connected to a swing support of the swing speed reducer.
6. The guard for an encoder of claim 1, wherein the first aperture has a width dimension that is greater than a width dimension of the second aperture.
7. The guard for an encoder of any one of claims 1-6, further comprising a positioning member provided on the second housing, at least a portion of the positioning member extending into the second housing and being in stop engagement with the encoder, the positioning member being positionally adjustable in a height direction of the first housing to adjust a pressing force between the positioning member and the encoder.
8. An encoder apparatus, comprising:
an encoder;
an encoder protector according to any one of claims 1 to 6, wherein the encoder is disposed in the second housing, a rotation shaft of the encoder is connected to the connector of the encoder protector through the second housing of the encoder protector, and a cable of the encoder is connected to an external device through the first hole and the second hole of the encoder protector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110997047.XA CN113784557B (en) | 2021-08-27 | 2021-08-27 | Encoder protection device and encoder device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110997047.XA CN113784557B (en) | 2021-08-27 | 2021-08-27 | Encoder protection device and encoder device |
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| CN113784557A CN113784557A (en) | 2021-12-10 |
| CN113784557B true CN113784557B (en) | 2023-06-16 |
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