CN104209294A - Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof - Google Patents
Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof Download PDFInfo
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- CN104209294A CN104209294A CN201410430789.4A CN201410430789A CN104209294A CN 104209294 A CN104209294 A CN 104209294A CN 201410430789 A CN201410430789 A CN 201410430789A CN 104209294 A CN104209294 A CN 104209294A
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- cleaning machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/022—Cleaning travelling work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to an orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and a cleaning method thereof. According to the orthogonal multi-joint complex CNC cleaning machine, two rows of Z-direction linear sliding rails which are parallel to each other are arranged at the top of a machine frame from left to right, the top end of a manipulator fixing rack is in sliding connection with the Z-direction linear sliding rails through sliding block brackets at two sides, the bottom end of the manipulator fixing rack is rotatably fixed to the top end of a first manipulator, and an X-direction movement joint is formed at the rotatably-fixed location; the bottom end of the first manipulator is rotatably fixed to the top end of a second manipulator, and a Y-direction movement joint is formed at the rotatably-fixed location; a horizontal main shaft is fixedly arranged at the bottom end of the second manipulator, and high-pressure cleaning spray nozzles and the main shaft are of an integrated structure; the manipulators and a manipulator driving assembly are in control connection, the manipulator fixing rack is controllably connected through a screw driving assembly, and both the manipulator driving assembly and the screw driving assembly are controllably connected by a CNC controller. The orthogonal multi-joint complex CNC cleaning machine and the cleaning method thereof have the advantages that the structure is compact, miniaturization is realized, a variety of complicated parts can be cleaned, the processing range is large, high-speed cleaning is realized, and the equipment running rate is high.
Description
[technical field]
The present invention is the state-of-the-art technology adopting mechanical arm multi joint motion to combine with rectilinear motion, various parts is carried out to the compound CNC cleaning machine of orthogonal multi-joint and the cleaning method thereof of high-pressure wash.
[background technology]
For the various precise parts of Aero-Space, automobile, construction implement etc., after carrying out machining, at the residual burr such as blind hole, inclined hole, accurate face, chip etc. of parts, if do not removed, can cause precision, object that machinery cannot reach required.
The cleaning machine that present machinery industry has is mostly through type cleaning way, and this type cleaning machine Problems existing is, volume is large, floor space is large, be applicable to Integral cleaning, but to complex-shaped Cleaning of Parts poor effect, cannot reach thorough cleaning.Another kind is cleaning robot, and this type cleaning machine Problems existing is be bad at rectilinear motion, can not reach high speed cleaning.Nozzle is arranged on foremost long-armed, and positional precision is low, cannot attain to a high place and put precision cleaning.Waterproof difficulty, easily bad, operation rate is low, and maintenance cost is higher.
Several method is had to remove as present situation:
1, artificial deburring, the cleaning of use oil.Also different according to the different quality of the ability of operating personnel, therefore often there will be unstable problem, and work under bad environment.
2, final engineering utilization through type cleaning way carries out Integral cleaning.For complex-shaped part, cleaning performance does not add, and cannot reach the object thoroughly cleaned up.
3, the mode of articulated robot front end dress nozzle is cleaned.
The problem points of this kind of cleaning way: first is bad at linearly operating.Articulated robot, in structure, circular movement is very fast, if such as wanting nozzle to insert in pore hole cleans, his speed can only reach the degree of original about 1/10, inefficiency.Second nozzle precision is lower.Because nozzle is arranged on foremost long-armed, cause his positional precision bad, can produce between joint in Long-Time Service process and rock, make precision more bad.Three, articulated robot waterproof difficulty, easily low, the maintenance cost height very of bad, operation rate.Four, robot needs special programme-control, and do not have the people of robot professional knowledge to programme, in company, general operation personnel cannot complete.
4, vertical type cleaning machine.Structurally volume is large, and weight is large, and the range of work has limitation.The situation of cleaning workpiece side, chip is easily upwards splashed, and is again attached on workpiece.
[summary of the invention]
Object of the present invention is exactly the various weak points in order to solve present situation cleaning machine, develops the compound CNC cleaning machine of orthogonal multi-joint and the cleaning method thereof of design in conjunction with its advantage.
For achieving the above object, design the compound CNC cleaning machine of a kind of orthogonal multi-joint, comprise frame, high-pressure wash nozzle, main shaft, mechanical arm, mechanical arm driven unit and CNC controller, the guidance panel of described frame is fixed with work rest, it is characterized in that, frame top is provided with the Z-direction line slide rail that two rows are parallel to each other from left to right, the top of mechanical arm fixed mount is slidably connected by both sides slider bracket and described Z-direction line slide rail, the bottom of described mechanical arm fixed mount and the top of the first mechanical arm are rotated fixing, rotate bearing and form X to movable joint; The bottom of described first mechanical arm and the top of the second mechanical arm are rotated fixing, rotate bearing and form Y-direction movable joint; This this compact conformation, the range of work is large, improves the defect of mechanical arm on rectilinear motion, improves vertical type cleaning machine and upwards splash when cleaning side surface of workpiece and adhere again to the defect on workpiece.The bottom of described second mechanical arm is fixed with level to main shaft, main shaft water inlet connects water inlet pipe, main shaft delivery port is relative with work rest and be provided with high-pressure wash nozzle, described high-pressure wash nozzle and main shaft are integral structure, ensure that the positional precision of cleaning, achieve the accurate Rapid Cleaning of pinpoint cleaning and complex component, the cleanliness factor cleaned can be ensured simultaneously; First, second mechanical arm respectively with first, second mechanical arm driven unit control connection, mechanical arm fixed mount is by leading screw driven unit control connection, and mechanical arm driven unit and leading screw driven unit are by CNC controller control connection.
The bottom of described mechanical arm fixed mount is provided with a groove, and described groove has left and right sides wall, and described left and right sides wall is respectively equipped with fixing hole, and the fixing hole on described fixing hole and the first mechanical arm top is suitable and run through by bearing, realizes rotating fixing; First mechanical arm bottom is provided with fixing hole, and the fixing hole on described fixing hole and the second mechanical arm top is suitable, and is run through by bearing, realizes rotating fixing.
Described mechanical arm driven unit adopts servomotor and reductor to combine, and described mechanical arm connects the output of reductor, and the input of reductor connects servo motor transmission output, carries out gear by servomotor and reductor combination.
The place of being coupling of the first mechanical arm and the second mechanical arm is provided with seal, described seal adopts rotary seal structure, described rotary seal structure adopts rotation sealing ring, described rotation sealing ring is embedded in the first mechanical arm and being coupling of the second mechanical arm is located, and prevents the ingress engine such as cleaning fluid and dust mechanical arm inner.And each parts of sealing+mechanical arm of the special construction at multi-joint place are by the formation of rush-resisting material, ensure that stably and lastingly to high temperature resistance, humidity, corrosive adverse circumstances, maintain mechanical property simultaneously.
Be provided with distribution trough in mechanical arm, configuration cable in mechanical arm inside is embedded in described distribution trough.Cable and various holding wire, in the configuration of mechanical arm inside, both ensure that overall structure was attractive in appearance, had solved again the waterproof problem of cable and various holding wires etc.
Be provided with A axle, B axle bottom described work rest and between guidance panel, described A axle is along self 360 °, center of circle rotation, and described B axle is along end points 90 ° upset.
Described frame side is other is vertically provided with a tool changing storehouse, and the tool changing seat in described tool changing storehouse equidistantly vertically places some cutter heads from top to bottom, and described tool changing seat inclination 30 degree of angles, so that mechanical arm can conveniently assemble and disassemble cutter.
A cleaning method for the compound CNC cleaning machine of orthogonal multi-joint, is characterized in that, during cleaning, workpiece is positioned on work rest; First, first, second mechanical arm is slided along Z-direction line slide rail linear reciprocation by leading screw driven unit controller mechanical arm fixed mount, the Z-direction spacing of adjustment and work rest; After treating the adjustment of Z-direction spacing, mechanical arm by self X to and Y-direction movable joint drive main shaft nozzle adjustment orientation, first mechanical arm is controlled by the first mechanical arm driven unit, by X to movable joint along mechanical arm fixed support bottom groove carry out circular arc rotation; Second mechanical arm is controlled by the second mechanical arm driven unit, carries out circular arc rotation by Y-direction movable joint; Finally, washer jet and main shaft are integral type, and water under high pressure is ejected by main shaft, achieve high position precision cleaning, the rotation simultaneously carrying out workpiece cleaning face by the A axle bottom work rest, B axle switches, and realizes workpiece and mechanical arm is implemented to operate simultaneously, cleans workpiece comprehensively.
A axle implements 360 ° of rotations, and B axle implements 90 ° of upsets.
When washer jet needs to change, mechanical arm is slided along Z-direction line slide rail linear reciprocation by leading screw driven unit controller mechanical arm fixed mount, and adjustment and the Z-direction spacing of work rest, carry out tool changing to multi joint motion to tool magazine position.
It is constructively the Z-direction rectilinear motion of the X of multi-joint manipulator arm, Y-direction motion+servomotor, leading screw driving that the present invention adopts.This compact conformation, achieves miniaturization.Workpiece is placed on A axle, B axle, and A axle implements 360 degree of rotations, and B axle implements 90 degree of upsets.The circular motion of mechanical arm and the A axle of work piece holder, B axle rotate, and solve the defect of robot on rectilinear motion, can clean for various complex parts, and the range of work is large, achieves high velocity sweep.Joint of mechanical arm place is waterproof sealing structure.The cable configurations such as motor are inner at mechanical arm.This structure is waterproof construction, and operation rate is high, solves the problem that maintenance cost is high.Washer jet and main shaft are integral type.Water under high pressure is ejected by main shaft, achieves high position precision cleaning.CNC controller, operator just can operate through simple training, improves the defect of complicated operation.
[accompanying drawing explanation]
Fig. 1 is the entirety figure of orthogonal multi-joint CNC cleaning machine;
Fig. 2 is the first mechanical arm driving section component;
Fig. 3 is the second mechanical arm driving section component;
Fig. 4 is high-pressure wash nozzle main shaft part component;
Fig. 5 is joint of mechanical arm place is waterproof sealing structure;
Fig. 6 is the structure of mechanical arm inside configuration cable;
Fig. 7 is mechanical arm overall structure schematic diagram;
Figure labeling description
1. frame, 2. work rest, 3.Z are to line slide rail, 4. slider bracket, 5. mechanical arm fixed mount, 6. the first mechanical arm, 7.X to movable joint, 8. the second mechanical arm, 9.Y to movable joint, 10. main shaft, 11. high-pressure wash nozzles, 12. servomotors, 13. reductors, 14. seals, 15. distributions, 16. distribution troughs.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the invention will be further described, and the structure of this device and principle are very clearly concerning the people of this specialty.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Fig. 1 and Fig. 7, the compound CNC cleaning machine of a kind of orthogonal multi-joint, comprise frame, high-pressure wash nozzle, main shaft, mechanical arm, mechanical arm driven unit and CNC controller, the guidance panel of described frame is fixed with work rest, A axle, B axle is provided with bottom described work rest and between guidance panel, described A axle is along self 360 °, center of circle rotation, and described B axle is along end points 90 ° upset.Described frame side is other is vertically provided with a tool changing storehouse, and the tool changing seat in described tool changing storehouse equidistantly vertically places some cutter heads from top to bottom, and described tool changing seat inclination 30 degree of angles, so that mechanical arm can conveniently assemble and disassemble cutter.
Frame top is provided with the Z-direction line slide rail that two rows are parallel to each other from left to right, the top of mechanical arm fixed mount is slidably connected by both sides slider bracket and described Z-direction line slide rail, the bottom of described mechanical arm fixed mount and the top of the first mechanical arm are rotated fixing, rotate bearing and form X to movable joint; The bottom of described first mechanical arm and the top of the second mechanical arm are rotated fixing, rotate bearing and form Y-direction movable joint; The bottom of described second mechanical arm is fixed with level to main shaft, main shaft water inlet connects water inlet pipe, main shaft delivery port is relative with work rest and be provided with high-pressure wash nozzle, described high-pressure wash nozzle and main shaft are integral structure, ensure that the positional precision of cleaning, achieve the accurate Rapid Cleaning of pinpoint cleaning and complex component, the cleanliness factor cleaned can be ensured simultaneously.The structure of the existing cleaning robot of machinery industry is generally high pressure nozzle and is arranged separately in mechanical arm front end, is separate type with mechanical arm, and the positioning precision of this structure is not high, cannot realize accurately locating cleaning.Structure of the present invention is: hydraulic spray and main shaft are integrated, and water under high pressure is inner by main shaft, then ejects through nozzle.Main shaft and mechanical arm are arranged on integral by precision-fit; First, second mechanical arm respectively with first, second mechanical arm driven unit control connection, mechanical arm fixed mount is by leading screw driven unit control connection, and mechanical arm driven unit and leading screw driven unit are by CNC controller control connection.
As shown in Figure 7, the bottom of described mechanical arm fixed mount is provided with a groove, and described groove has left and right sides wall, and described left and right sides wall is respectively equipped with fixing hole, the fixing hole on described fixing hole and the first mechanical arm top is suitable and run through by bearing, realizes rotating fixing; First mechanical arm bottom is provided with fixing hole, and the fixing hole on described fixing hole and the second mechanical arm top is suitable, and is run through by bearing, realizes rotating fixing.
As shown in Figures 2 and 3, described mechanical arm driven unit adopts servomotor and reductor to combine, described mechanical arm connects the output of reductor, and the input of reductor connects servo motor transmission output, carries out gear by servomotor and reductor combination.Mechanical arm is supported by bearing.Ensure that the rotation of the accurate and flexible of mechanical arm.
As shown in Figure 5, the place of being coupling of the first mechanical arm and the second mechanical arm is waterproof sealing structure, is provided with seal, and described seal adopts rotary seal structure, described rotary seal structure adopts rotation sealing ring, and described rotation sealing ring is embedded in the first mechanical arm and being coupling of the second mechanical arm is located.Ensure that mechanical arm is while flexible rotating, make liquid etc. cannot invade mechanical arm inside, damage parts.Thus guarantee the normal operation of mechanical arm.
As shown in Figure 6, be provided with distribution trough in mechanical arm, configuration cable in mechanical arm inside is embedded in described distribution trough.Existing robot washer structure is outside wiring structure, and this structure not only will consider the safeguard procedures of cable, and in appearance unsightly.The present invention is without the need to considering the waterproof problem of cable, and clean and tidy in appearance, attractive in appearance.
The cleaning method of the compound CNC cleaning machine of above-mentioned orthogonal multi-joint, during cleaning, workpiece is positioned on work rest; First, first, second mechanical arm is slided along Z-direction line slide rail linear reciprocation by leading screw driven unit controller mechanical arm fixed mount, the Z-direction spacing of adjustment and work rest; After treating the adjustment of Z-direction spacing, mechanical arm by self X to and Y-direction movable joint drive main shaft nozzle adjustment orientation, first mechanical arm is controlled by the first mechanical arm driven unit, by X to movable joint along mechanical arm fixed support bottom groove carry out circular arc rotation; Second mechanical arm is controlled by the second mechanical arm driven unit, carries out circular arc rotation by Y-direction movable joint; Finally, washer jet and main shaft are integral type, and water under high pressure is ejected by main shaft, achieve high position precision cleaning, the rotation simultaneously carrying out workpiece cleaning face by the A axle bottom work rest, B axle switches, and realizes workpiece and mechanical arm is implemented to operate simultaneously, cleans workpiece comprehensively.A axle implements 360 ° of rotations, and B axle implements 90 ° of upsets.
Existing robot washer structure is that workpiece is fixed, and rely on mechanical arm to carry out the cleaning of all directions angle, such structure speed of service is slow, and position is accurate not.The present invention is that workpiece and mechanical arm are implemented to operate simultaneously, improves cleaning speed significantly.Mechanical arm also drives main shaft nozzle by the multi joint motion of self by Z-direction rectilinear motion simultaneously, cleans workpiece comprehensively.When washer jet needs to change, mechanical arm carries out tool changing by rectilinear motion and multi joint motion to tool magazine position.This compact conformation, the range of work is large, improves the defect of mechanical arm on rectilinear motion, improves vertical type cleaning machine and upwards splash when cleaning side surface of workpiece and adhere again to the defect on workpiece.
When washer jet needs to change, mechanical arm is slided along Z-direction line slide rail linear reciprocation by leading screw driven unit controller mechanical arm fixed mount, and adjustment and the Z-direction spacing of work rest, carry out tool changing to multi joint motion to tool magazine position.
Claims (10)
1. the compound CNC cleaning machine of orthogonal multi-joint, comprise frame, high-pressure wash nozzle, main shaft, mechanical arm, mechanical arm driven unit and CNC controller, the guidance panel of described frame is fixed with work rest, it is characterized in that, frame top is provided with the Z-direction line slide rail that two rows are parallel to each other from left to right, the top of mechanical arm fixed mount is slidably connected by both sides slider bracket and described Z-direction line slide rail, the bottom of described mechanical arm fixed mount and the top of the first mechanical arm are rotated fixing, rotate bearing and form X to movable joint; The bottom of described first mechanical arm and the top of the second mechanical arm are rotated fixing, rotate bearing and form Y-direction movable joint; The bottom of described second mechanical arm is fixed with level to main shaft, and main shaft water inlet connects water inlet pipe, and main shaft delivery port is relative with work rest and be provided with high-pressure wash nozzle, and described high-pressure wash nozzle and main shaft are integral structure; First, second mechanical arm respectively with first, second mechanical arm driven unit control connection, mechanical arm fixed mount is by leading screw driven unit control connection, and mechanical arm driven unit and leading screw driven unit are by CNC controller control connection.
2. the compound CNC cleaning machine of a kind of orthogonal multi-joint as claimed in claim 1, it is characterized in that, the bottom of described mechanical arm fixed mount is provided with a groove, described groove has left and right sides wall, described left and right sides wall is respectively equipped with fixing hole, the fixing hole on described fixing hole and the first mechanical arm top is suitable and run through by bearing, realizes rotating fixing; First mechanical arm bottom is provided with fixing hole, and the fixing hole on described fixing hole and the second mechanical arm top is suitable, and is run through by bearing, realizes rotating fixing.
3. the compound CNC cleaning machine of a kind of orthogonal multi-joint as claimed in claim 1, it is characterized in that, described mechanical arm driven unit adopts servomotor and reductor to combine, described mechanical arm connects the output of reductor, the input of reductor connects servo motor transmission output, carries out gear by servomotor and reductor combination.
4. the compound CNC cleaning machine of a kind of orthogonal multi-joint as claimed in claim 1, it is characterized in that, the place of being coupling of the first mechanical arm and the second mechanical arm is provided with seal, described seal adopts rotary seal structure, described rotary seal structure adopts rotation sealing ring, and described rotation sealing ring is embedded in the first mechanical arm and being coupling of the second mechanical arm is located.
5. the compound CNC cleaning machine of a kind of orthogonal multi-joint as claimed in claim 1, is characterized in that, be provided with distribution trough in mechanical arm, and configuration cable in mechanical arm inside is embedded in described distribution trough.
6. the compound CNC cleaning machine of a kind of orthogonal multi-joint as claimed in claim 1, is characterized in that, be provided with A axle, B axle bottom described work rest and between guidance panel, and described A axle is along self 360 °, center of circle rotation, and described B axle is along end points 90 ° upset.
7. the compound CNC cleaning machine of a kind of orthogonal multi-joint as claimed in claim 1, it is characterized in that, described frame side is other is vertically provided with a tool changing storehouse, tool changing seat in described tool changing storehouse equidistantly vertically places some cutter heads from top to bottom, described tool changing seat inclination 30 degree of angles, so that mechanical arm can conveniently assemble and disassemble cutter.
8. a cleaning method for the compound CNC cleaning machine of orthogonal multi-joint as claimed in claim 1, is characterized in that, during cleaning, workpiece is positioned on work rest; First, first, second mechanical arm is slided along Z-direction line slide rail linear reciprocation by leading screw driven unit controller mechanical arm fixed mount, the Z-direction spacing of adjustment and work rest; After treating the adjustment of Z-direction spacing, mechanical arm by self X to and Y-direction movable joint drive main shaft nozzle adjustment orientation, first mechanical arm is controlled by the first mechanical arm driven unit, by X to movable joint along mechanical arm fixed support bottom groove carry out circular arc rotation; Second mechanical arm is controlled by the second mechanical arm driven unit, carries out circular arc rotation by Y-direction movable joint; Finally, washer jet and main shaft are integral type, and water under high pressure is ejected by main shaft, achieve high position precision cleaning, the rotation simultaneously carrying out workpiece cleaning face by the A axle bottom work rest, B axle switches, and realizes workpiece and mechanical arm is implemented to operate simultaneously, cleans workpiece comprehensively.
9. the cleaning method of the compound CNC cleaning machine of orthogonal multi-joint as claimed in claim 8, it is characterized in that, A axle implements 360 ° of rotations, and B axle implements 90 ° of upsets.
10. the cleaning method of the compound CNC cleaning machine of orthogonal multi-joint as claimed in claim 8, it is characterized in that, when washer jet needs to change, mechanical arm is slided along Z-direction line slide rail linear reciprocation by leading screw driven unit controller mechanical arm fixed mount, adjustment and the Z-direction spacing of work rest, put to multi joint motion to tool changing warehouse compartment and carry out tool changing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410430789.4A CN104209294B (en) | 2014-08-28 | 2014-08-28 | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof |
| PCT/CN2015/081821 WO2016029734A1 (en) | 2014-08-28 | 2015-06-18 | Orthogonal multi-joint complex cnc cleaning machine and cleaning method therefor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410430789.4A CN104209294B (en) | 2014-08-28 | 2014-08-28 | Orthogonal multi-joint complex CNC (Computerized Numerical Control) cleaning machine and cleaning method thereof |
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| CN104209294A true CN104209294A (en) | 2014-12-17 |
| CN104209294B CN104209294B (en) | 2017-01-18 |
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| WO (1) | WO2016029734A1 (en) |
Cited By (4)
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| CN104722522A (en) * | 2015-03-27 | 2015-06-24 | 重庆红亿机械有限公司 | Automatic cleaning method for engine cylinder cover |
| WO2016029734A1 (en) * | 2014-08-28 | 2016-03-03 | 喻小秋 | Orthogonal multi-joint complex cnc cleaning machine and cleaning method therefor |
| CN112689553A (en) * | 2018-11-05 | 2021-04-20 | 欧姆龙株式会社 | Robot arm and method for manufacturing robot arm |
| CN116765957A (en) * | 2023-06-25 | 2023-09-19 | 广东希普斯科技有限公司 | An automated high-speed dual-spindle internal cylindrical grinder |
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| CN112689553A (en) * | 2018-11-05 | 2021-04-20 | 欧姆龙株式会社 | Robot arm and method for manufacturing robot arm |
| CN112689553B (en) * | 2018-11-05 | 2024-06-18 | 欧姆龙株式会社 | Mechanical arm and manufacturing method thereof |
| CN116765957A (en) * | 2023-06-25 | 2023-09-19 | 广东希普斯科技有限公司 | An automated high-speed dual-spindle internal cylindrical grinder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104209294B (en) | 2017-01-18 |
| WO2016029734A1 (en) | 2016-03-03 |
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