CN117087439A - Power control system and method for electric wheel dumper - Google Patents
Power control system and method for electric wheel dumper Download PDFInfo
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- CN117087439A CN117087439A CN202310932800.6A CN202310932800A CN117087439A CN 117087439 A CN117087439 A CN 117087439A CN 202310932800 A CN202310932800 A CN 202310932800A CN 117087439 A CN117087439 A CN 117087439A
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- converter
- braking
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- electric wheel
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000006243 chemical reaction Methods 0.000 claims abstract description 19
- 239000003990 capacitor Substances 0.000 claims description 23
- 230000008569 process Effects 0.000 description 15
- 238000011084 recovery Methods 0.000 description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 9
- 229910052799 carbon Inorganic materials 0.000 description 9
- 238000007599 discharging Methods 0.000 description 8
- 238000005065 mining Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/007—Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a power control system and a method for an electric wheel dumper, wherein the power control system comprises a first converter, a second converter and a third converter, wherein the input end of the first converter is electrically connected with external electric energy conversion equipment; the first input end of the second converter is connected with the first output end of the first converter, and the second input end of the second converter is connected with the second output end of the first converter; the first input end of the third converter is electrically connected with the positive electrode of the external power supply, the first output end of the third converter is electrically connected with a first bus which is connected between the first output end of the first converter and the first input end of the second converter, the second input end of the third converter is electrically connected with the negative electrode of the external power supply, and the second output end of the third converter is electrically connected with a second bus which is connected with the second output end of the first converter and the second input end of the second converter; one end of the brake resistor is connected to the connecting bus of the second output end of the first converter and the second input end of the second converter, and the other end of the brake resistor is connected to the second converter.
Description
Technical Field
The invention relates to the technical field of mining vehicles, in particular to a power control system and method of an electric wheel dumper.
Background
The mining electric wheel dumper is transportation equipment applied to a large-scale strip mine, and typical working conditions mainly comprise high-speed running (full load), climbing (full load), slow running and the like, so that the energy consumption is very large.
When the traditional mining electric wheel dump truck brakes in running, the electric braking is adopted preferentially to reduce the speed of the vehicle to 5km/h, and then the working braking is put into operation. The electric braking transmits a large amount of electric energy to the braking resistor to consume in a heat energy form, and the general hybrid vehicle adopts lithium iron phosphate as a power to supplement a battery, so that the battery has limited charging and discharging power, the braking power uncertainty leads to lower recovery rate of braking energy, the available energy is correspondingly smaller, and the high-power discharging requirement of large-scale mining dump truck in braking and discharging is difficult to meet.
Disclosure of Invention
In order to solve part or all of the technical problems in the prior art, the invention provides a power control system and a power control method for an electric wheel dumper, which can improve the energy recovery and utilization efficiency of the electric wheel dumper.
The technical scheme of the invention is as follows:
in a first aspect, the present invention provides a power control system for an electric wheel dump truck, comprising:
the input end of the first converter is electrically connected with external electric energy conversion equipment;
the first input end of the second converter is connected with the first output end of the first converter, the second input end of the second converter is connected with the second output end of the first converter, and the output end of the second converter is connected with an external power unit;
the first input end of the third converter is electrically connected with the positive electrode of the external power supply, the first output end of the third converter is electrically connected with a first bus which is connected between the first output end of the first converter and the first input end of the second converter, the second input end of the third converter is electrically connected with the negative electrode of the external power supply, and the second output end of the third converter is electrically connected with a second bus which is connected with the second output end of the first converter and the second input end of the second converter;
and one end of the brake resistor is connected to the connection bus of the second output end of the first converter and the second input end of the second converter, and the other end of the brake resistor is connected to the second converter.
Further, a capacitance is provided between the first bus bar and the second bus bar.
Further, the first converter is an AC-DC converter.
Further, the second converter is a DC-AC converter.
Further, the third converter is a DC-DC converter.
In a second aspect, the invention further provides a power control method of the electric wheel dumper, which comprises the following steps:
if the braking mode is uniform parking braking or constant-speed downhill braking, if the braking power is larger than the charging power of the power battery, the braking energy is consumed through a resistance box of a braking resistor;
if the braking mode is emergency braking, the conversion unit and the capacitor battery control the external electric energy conversion equipment to reduce electric energy output and electric energy loss.
Further, when the capacitor battery is used for controlling the external electric energy conversion equipment to reduce the electric energy output to realize braking, reference is needed to the capacitor battery SOC and the SOP characteristic table.
The technical scheme of the invention has the main advantages that:
according to the power control system of the electric wheel dumper, through the structures of the first converter, the second converter, the third converter and the brake resistor, different braking modes can be selected according to different braking working conditions of the electric wheel dumper to realize braking, further braking control is carried out on different braking working conditions of the electric wheel dumper, and kinetic energy recovery in the braking process is realized through conversion of electric energy and heat energy in the braking process or conversion of states between the motor and the generator.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and without limitation to the invention. In the drawings:
FIG. 1 is a block diagram of a power control system of an electric wheel dump truck of the present invention;
FIG. 2 is a block diagram of a power system control system of an electric wheel dump truck according to an embodiment of the present invention;
reference numerals illustrate:
1. a first converter; 2. a second converter; 3. a third converter; 4. a brake resistor; 5. an external power source; 6. an electric energy conversion device; 7. a traction motor; 8. a diesel engine; 9. a generator; 10. and a capacitor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes in detail the technical scheme provided by the embodiment of the invention with reference to the accompanying drawings.
Example 1
As shown in fig. 1-2, an embodiment of the present invention provides a power control system of an electric wheel dump truck, including:
the first converter 1, the input end of the first converter 1 is electrically connected with the external electric energy conversion equipment 6;
the first input end of the second converter 2 is connected with the first output end of the first converter 1, and the second input end of the second converter 2 is connected with the second output end of the first converter 1;
the first input end of the third converter 3 is electrically connected with the positive electrode of the external power supply 4, the first output end of the third converter 3 is electrically connected with a first bus line connecting the first output end of the first converter 1 and the first input end of the second converter 2, the second input end of the third converter 3 is electrically connected with the negative electrode of the external power supply 4, and the second output end of the third converter 3 is electrically connected with a second bus line connecting the second output end of the first converter 1 and the second input end of the second converter 2;
and one end of the brake resistor 4 is connected to a connection bus of the second output end of the first converter 1 and the second input end of the second converter 2, and the other end of the brake resistor 4 is connected to the second converter 2.
Specifically, a capacitor 10 is provided between the first bus bar and the second bus bar.
Specifically, the first converter 1 is an AC-DC converter.
Specifically, the second converter 2 is a DC-AC converter.
Specifically, the third converter 3 is a DC-DC converter.
Specifically, the external power source 4 is a capacitive battery; the carbon-based capacitor battery is preferably arranged in such a way that on one hand, the carbon-based capacitor battery has the characteristics of high power density and good safety performance, does not need a thermal management unit and a heat dissipation system, and is suitable for long-term use in the severe environment of an open pit; on the other hand, the carbon-based capacitor battery has better charge and discharge performance and stronger electric storage capacity, can better match with a high-precision charge and discharge control system, and improves the energy recovery and utilization efficiency of the electric wheel dumper.
It should be noted that, the capacitor battery in the present invention is a structure of a battery module, one of the capacitor batteries includes a plurality of battery modules, and a battery module control unit matched with the battery modules is disposed in the battery module for detecting power consumption data and parameters of the battery, and service performance of the battery.
In some optional implementation manners of the embodiment, the carbon-based capacitor battery combines high-rate charge-discharge characteristics and high-capacity electricity storage capacity, effectively expands the range of recoverable braking power, and adopts a 956V voltage platform power battery module according to the power matching of the whole vehicle and the characteristics of the battery, wherein the maximum current capable of being continuously charged for 1 minute is 1500A within 10 minutes.
Therefore, the power control system of the electric wheel dumper can better match with a high-precision charge and discharge control system in the braking process by adopting the carbon-based capacitor battery in the aspect of an external power supply 4, improves the energy recovery and utilization efficiency of the electric wheel dumper, and can meet the high-power recovery and high-power discharge requirements of the large-scale mining dumper in the braking process.
It should be noted that: the power control system of the electric wheel dump truck also combines the influence of the ambient temperature on the charge and discharge of the battery, can change the charge and discharge cut-off voltage of the carbon-based capacitor battery under different ambient temperatures through the control unit in the battery module, and meanwhile, the capacitor battery is also provided with an overvoltage, overcharge and overdischarge intelligent diagnosis protection system which is electrically connected with the control unit of the battery module, so that the battery fault information is received in real time, the start and stop of the DC-DC converter are controlled, and the power battery, the converter and other elements inside and outside the system are protected.
It should be noted that: the AC-DC converter, the DC-AC converter and the DC-DC converter are provided with/include a corresponding control unit or control module for controlling the energy output after the DC and AC conversion.
Specifically, the electric wheel dumper is an electric wheel dumper for mines, and the principle of the power control system of the electric wheel dumper is illustrated by taking 220t hybrid mining dumper as an example.
Specifically, a diesel engine 8 is used for driving a generator 9 to generate electricity, the generator 9 drives a traction motor 7 to work, when the power control system of the electric wheel dumper is used for braking, alternating current output by the generator 9 is converted into direct current through an AC-DC converter and then is output to a DC-DC converter through a DC bus to be converted, the output direct current is converted into alternating current to be output to the traction motor 7 for working, meanwhile, a DC-DC converter is arranged between the AC-DC converter and the DC-AC converter and is connected to a DC bus between the AC-AC converter and the DC-AC converter, the other end of the DC-DC converter is connected with a carbon-based capacitor battery, braking control is carried out on different braking working conditions of the electric wheel, and kinetic energy recovery in the braking process of the dumper is realized through conversion of electric energy and heat energy or conversion of states between a motor and the generator 9 in the braking process.
It should be noted that the 220t mining electric wheel dump truck comprises different working conditions in the braking process, and the braking power in the braking process is also different under the different working conditions; such as planned parking braking (or uniform braking, braking by a conventional road braking mode), constant-speed downhill braking and emergency evacuation parking.
In particular, when planning parking braking or constant-speed downhill braking is carried out on the electric wheel dump truck, a certain braking distance is usually reserved, the braking mode is long in time, braking power is relatively determined, the recovery rate of braking energy is high, and available energy is correspondingly high; when the emergency risk-avoiding parking brake is used, the braking power is high, the time required for braking is short, the bus is impacted by the braking mode greatly, so that the recovery rate of braking energy is low due to uncertainty of the braking power, and the available energy is correspondingly low. Therefore, aiming at the different braking working conditions, the power control system of the electric wheel dumper can control connection and disconnection of the battery and the direct current bus according to parameters such as braking power, battery SOC, safe charge and discharge limit voltage and the like, and realize energy recovery in the braking process while realizing bus protection.
Specifically, when the electric wheel dumper power control system is used for braking according to different working conditions, the SOC and SOP characteristic table of the external power supply 4 are combined, different charge and discharge powers under the condition of SOC are limited, feedback energy can be absorbed as much as possible without damaging a battery during braking, and when the braking power is larger than the charging power of a power battery, braking energy is consumed through a resistance box of the braking resistor 4; more power can be supplied during acceleration to obtain more acceleration without damaging the battery; meanwhile, the electric wheel dumper can be ensured not to lose power due to undervoltage or overcurrent protection in the running process.
Note that, SOC represents a State of Charge of the power battery, which is abbreviated as State of Charge; SOP represents the Power State of the battery, and is abbreviated as State of Power. When the power control system of the electric wheel dumper is used for controlling the electric wheel dumper, the power battery charge state data represented by the SOC and the power state data of the battery represented by the SOP are obtained and used.
It should be noted that: when the braking power is greater than the charging power of the power battery, namely electric braking input, the bus voltage is greater than the withstand voltage of the DC-DC converter and the charging current is greater than the battery capacity x SOP corresponding discharge multiplying power, the braking energy is forbidden to enter the power battery by controlling the on-off of the DC-DC converter, and the braking energy is consumed through the resistor box. When the braking power is smaller than the charging power of the power battery, namely, the electric braking input is performed, the bus voltage is smaller than the withstand voltage of the DC-DC converter, and the charging current is smaller than the corresponding discharging multiplying power of the battery capacity multiplied by SOP, the braking energy is allowed to enter the power battery by controlling the on-off state of the DC-DC converter, and the braking energy is stored into the power battery.
Meanwhile, when the battery voltage is larger than 590V and the maximum discharging current is not more than 750A in the process of accelerating braking, the on-off of the DC-DC converter is controlled to allow the power battery to discharge; when the battery discharging current is more than 300A and the battery voltage is less than 590V, the DC-DC converter is forbidden to work so as to forbid the continuous discharging of the power battery, so that the supply of larger power to obtain larger acceleration is ensured under the condition of not damaging the battery, and meanwhile, the mine car can be ensured not to lose power due to undervoltage or overcurrent protection in the running process.
It should be noted that the voltage and current values of the electric wheel dump truck during acceleration include, but are not limited to, the specific values shown above, and the voltage and current values according to the present embodiment are only exemplary according to practical application, and are not the only limitation of the present invention, and the specific value ranges and values are according to practical use conditions.
In summary, the power control system of the electric wheel dump truck adopts an AC-DC-AC circuit, three-phase alternating voltage generated by the main generator 9 is rectified into direct-current voltage at first when traction is carried out under different working conditions, then the direct-current voltage is inverted into VVVF voltage, the traction motor 7 is driven to work, and the carbon-based capacitor battery releases electric energy to a direct-current bus through the DC-DC converter when full-power driving is carried out; during braking working conditions, three-phase alternating-current voltage emitted by the traction motor 7 is rectified into direct-current voltage, the power battery is charged by the DC-DC converter preferentially, and the rest braking energy is consumed by the braking resistor 4 box.
In addition, the power control system of the electric wheel dumper can effectively recycle and utilize braking energy without any redundant operation of a driver in the braking process, and the recyclable braking power range and the available discharging power range are effectively widened by utilizing the carbon-based capacitor battery.
Example 2
The invention also provides a power control method of the electric wheel dumper, which comprises the following steps:
detecting whether the electric wheel dumper brakes or not;
if the braking mode is uniform parking braking or constant-speed downhill braking, if the braking power is larger than the charging power of the power battery, the braking energy is consumed through a resistance box of the braking resistor 4;
if the braking mode is emergency braking, the external electric energy conversion device 6 is controlled by the conversion unit and the capacitor battery to reduce electric energy output and electric energy loss.
Specifically, when the external power conversion device 6 is controlled to reduce the power output by using the capacitor battery to realize braking, reference is made to the capacitor battery SOC and SOP characteristic table.
Specifically, when detecting whether the electric wheel dumper brakes or the braking state thereof, the sensor can be adopted for detection, and the sensor is connected with a control unit of the electric wheel dumper for achieving the purpose of detection.
Thus, in combination with embodiment 1 of the present invention, when the power control is performed at the time of braking of the electric wheel dump truck by the above-described method, braking energy can be effectively recovered and utilized, and energy loss can be reduced.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In this context, "front", "rear", "left", "right", "upper" and "lower" are referred to with respect to the placement state shown in the drawings.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting thereof; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A power control system for an electric wheel dump truck, comprising:
the input end of the first converter is electrically connected with external electric energy conversion equipment;
the first input end of the second converter is connected with the first output end of the first converter, the second input end of the second converter is connected with the second output end of the first converter, and the output end of the second converter is connected with an external power unit;
the first input end of the third converter is electrically connected with the positive electrode of the external power supply, the first output end of the third converter is electrically connected with a first bus which is connected between the first output end of the first converter and the first input end of the second converter, the second input end of the third converter is electrically connected with the negative electrode of the external power supply, and the second output end of the third converter is electrically connected with a second bus which is connected with the second output end of the first converter and the second input end of the second converter;
and one end of the brake resistor is connected to the connection bus of the second output end of the first converter and the second input end of the second converter, and the other end of the brake resistor is connected to the second converter.
2. The power control system of an electric wheel dump truck of claim 1, wherein a capacitance is provided between the first bus bar and the second bus bar.
3. The power control system of an electric wheel dump truck of claim 1, wherein the first converter is an AC-DC converter.
4. The power control system of an electric wheel dump truck of claim 1, wherein the second converter is a DC-AC converter.
5. The power control system of an electric wheel dump truck of claim 1, wherein the third converter is a DC-DC converter.
6. The power control system of an electric wheel dump truck of claim 1, wherein the external power source is a capacitive battery.
7. The power control method of the electric wheel dumper is characterized by comprising the following steps of:
detecting whether the electric wheel dumper brakes or not;
if the braking mode is uniform parking braking or constant-speed downhill braking, if the braking power is larger than the charging power of the power battery, the braking energy is consumed through a resistance box of a braking resistor;
if the braking mode is emergency braking, the conversion unit and the capacitor battery control the external electric energy conversion equipment to reduce electric energy output and electric energy loss.
8. The power control method of an electric wheel dump truck according to claim 7, wherein when the capacitor battery is used to control the external power conversion device to reduce the power output for braking, reference is made to the capacitor battery SOC and SOP characteristic table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310932800.6A CN117087439A (en) | 2023-07-27 | 2023-07-27 | Power control system and method for electric wheel dumper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310932800.6A CN117087439A (en) | 2023-07-27 | 2023-07-27 | Power control system and method for electric wheel dumper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117087439A true CN117087439A (en) | 2023-11-21 |
Family
ID=88768999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310932800.6A Pending CN117087439A (en) | 2023-07-27 | 2023-07-27 | Power control system and method for electric wheel dumper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117087439A (en) |
-
2023
- 2023-07-27 CN CN202310932800.6A patent/CN117087439A/en active Pending
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