CN106175571A - The building surface cleaning device automatically controlled and method of work thereof - Google Patents
The building surface cleaning device automatically controlled and method of work thereof Download PDFInfo
- Publication number
- CN106175571A CN106175571A CN201610734929.6A CN201610734929A CN106175571A CN 106175571 A CN106175571 A CN 106175571A CN 201610734929 A CN201610734929 A CN 201610734929A CN 106175571 A CN106175571 A CN 106175571A
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- China
- Prior art keywords
- frame
- plate
- motor
- rotating disk
- support
- Prior art date
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- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims description 55
- 238000000034 method Methods 0.000 title claims description 7
- 230000007246 mechanism Effects 0.000 claims description 31
- 238000004804 winding Methods 0.000 claims description 26
- 239000004744 fabric Substances 0.000 claims description 21
- 239000011521 glass Substances 0.000 claims description 20
- 239000007921 spray Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 239000000428 dust Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The present invention relates to a kind of building surface cleaning device automatically controlled and method of work thereof, including frame and the bracing frame being located in frame, the winding mechanism for winding cable it is additionally provided with in described frame, described cable rolled mechanism output cord also strides across bracing frame, its end connects support frame, it is equipped with support shaft in described support frame, described support shaft end is hinged on the inner face of rotating disk, described rotating disk outer face is provided with cleaning cloth, and described rotating disk includes price fixing, Moving plate and is located on price fixing the 3rd motor driving Moving plate to rotate；Balcony is provided with guide rail near the ground of guardrail, is provided with the guide-track groove that can move along guide rail bottom frame；Described winding mechanism is controlled the folding and unfolding of winding line by the first motor, and described guide-track groove is by the friction pulley of the second motor-driven rotation；Described first, second and third motor is controlled to drive by controller.Present invention achieves automatization's cleaning, play quick, clean efficiently, it also avoid the insecurity of artificial cleaning simultaneously.
Description
Technical field:
The present invention relates to a kind of building surface cleaning device automatically controlled and method of work thereof.
Background technology:
Along with the development in city, high buildings and large mansions are built more and more, and increasing high buildings and large mansions wall face all can use glass material
Material is installed, and to obtain good daylighting, but in use for some time, dust, spot etc. i.e. can be covered in glass outer wall face,
The cleaning in glass outer wall face (ceramic tile face) is by manually carrying out at present, and not only safety can not be guaranteed, and cleaning efficiency is low,
Automated condtrol cannot be realized.
Summary of the invention:
It is an object of the invention to provide a kind of building surface cleaning device automatically controlled and method of work thereof, this is controlled automatically
The building surface cleaning device simple in construction, reasonable in design of system, greatly facilitates the cleaning in glass outer wall face, and is conducive to carrying
The safety of abrasive and realize automatization's cleaning.
The building surface cleaning device that the present invention automatically controls, it is characterised in that: include frame and be located in frame
Bracing frame, described frame is additionally provided with the winding mechanism for winding cable, described cable rolled mechanism output cord and across
Crossing bracing frame, its end connects support frame, and described support frame is equipped with support shaft, and described support shaft end is hinged on and turns
On the inner face of dish, described rotating disk outer face is provided with cleaning cloth, and described rotating disk includes price fixing, Moving plate and is located on price fixing driving
The 3rd motor that Moving plate rotates；Balcony is provided with guide rail near the ground of guardrail, is provided with and can move along guide rail bottom frame
Guide-track groove；Described winding mechanism is controlled the folding and unfolding of winding line by the first motor, and described guide-track groove is by the second motor-driven rotation
Friction pulley；Described first, second and third motor is controlled to drive by controller.
Further, above-mentioned rotating disk outer face is additionally provided with several strip grooves, described strip groove is laid with hydrojet
Hole, described spray hole is connected with the water tank being located in frame by hydraulic pipeline, and described hydraulic pipeline is provided with control pump；Described
Control pump and also connected control by controller.
Further, above-mentioned support frame include base plate and be located on base plate determine plate, and be located on base plate and can relatively determine
The dynamic plate that plate moves, described support bar is fixed on dynamic plate, described determine plate and is provided with the perforation for wearing support bar, described line
Cable is connected on base plate.
Further, above-mentioned frame is to have the plate body of several legs, and support frame as described above includes the vertical rod being located on plate body
Brace with inclination is connected to vertical rod upper end, is provided with telescopic expansion link between described brace and vertical rod, described brace
Free end is horizontally set with hood-like framework, to clasp guardrail.
Further, above-mentioned hood-like framework includes upper cross plate and is located at the lower of upper cross plate lower surface and determines plate, and is located at
Transverse slat lower surface can relative under determine the lower moving plate that plate moves.
Further, the inside and outside end of above-mentioned upper cross plate is provided with the roller for supporting cable.
Further, above-mentioned lower determine between plate and lower moving plate, to be provided with the first nut-screw rod mechanism that lower moving plate can be driven to move.
Further, above-mentioned dynamic plate and determine to be provided with the second nut-screw rod mechanism that dynamic plate can be driven to move between plate, described
Two nut-screw rod mechanisms are driven by controlling motor.
Further, above-mentioned winding mechanism includes electricity the 3rd motor, motor reducer and wireline reel.
The method of work of the building surface cleaning device that the present invention automatically controls, it is characterised in that automatically control described in:
Building surface cleaning device described in the building surface cleaning device that automatically controls include frame and be located in frame
Support, described frame is additionally provided with the winding mechanism for winding cable, and described cable rolled mechanism output cord also strides across
Bracing frame, its end connects support frame, described support frame is equipped with support shaft, and described support shaft end is hinged on rotating disk
Inner face on, described rotating disk outer face is provided with cleaning cloth, and described rotating disk includes price fixing, Moving plate and to be located on price fixing driving dynamic
The 3rd motor that dish rotates；Balcony is provided with guide rail near the ground of guardrail, and being provided with bottom frame can be along leading that guide rail moves
Rail groove；Described winding mechanism is controlled the folding and unfolding of winding line by the first motor, and described guide-track groove is rubbed by the second motor-driven rotation
Wipe wheel；Described first, second and third motor is controlled to drive by controller；During work, first in the attic balcony of building, install machine
Frame and bracing frame, install support shaft and rotating disk simultaneously on the support frame, then support frame end connected support frame,
Then support frame is put into outside the guardrail of balcony, controller drives the first motor action, progressively loosen the volume of winding mechanism
Coiling, makes support frame progressively decline, controller control the 3rd motor and drive the rotation of support shaft end rotating disk, makes to be positioned at and turns
The cleaning cloth of dish end face starts the glass of cleaning of buildings exterior wall；After cleaning cloth cleans the metope of string from top to down, by
Two motor driven carriage move one section, clean the most from the bottom up, after arriving upper end, are moved one by the second motor driven carriage again
Section, cleans the most from top to bottom, goes round and begins again, finally cleaned one whole exterior wall.
Further, above-mentioned during cable declines, extending support bar, so that the cleaning cloth on rotating disk can press close to glass
Glass.
Further, during cable declines, extending support bar, so that the cleaning cloth on rotating disk can press close to glass；Institute
The rotating speed stating rotating disk is 0.5 circle/second, and the decrease speed of cable is 30 cm per minute, and the second motor driven carriage is every time mobile dynamic
Three point two of dish diameter.
The building surface cleaning device that the present invention automatically controls is by fixing cable and support in frame and bracing frame
Frameworks etc., come the dust on cleaning glass of building wall surface, spot by the support shaft in support frame, rotating disk and cleaning cloth
Deng, and the control of first, second and third motor is controlled by controller, it is achieved that automatization cleans, and plays quick, the most clear
Clean, it also avoid the insecurity of artificial cleaning simultaneously.
Accompanying drawing illustrates:
Fig. 1 is the main apparent structure schematic diagram of the present invention；
Fig. 2 is the organigram of support frame；
Fig. 3 is the side view of rotating disk；
Fig. 4 is that the present invention uses state organigram；
Fig. 5 is control principle drawing of the present invention；
16-guardrail, 17-balcony.
Detailed description of the invention:
The building surface cleaning device that the present invention automatically controls, including frame 1 and the bracing frame 2 being located in frame 1, described machine
Being additionally provided with the winding mechanism 4 for winding cable 3 on frame 2, described cable 3 rolled mechanism 4 output cord also strides across bracing frame
2, its end connects support frame 5, and described support frame 5 is equipped with support shaft 6, and described support shaft 6 end is hinged on rotating disk 7
Inner face on, described rotating disk 7 outer face is provided with cleaning cloth 8；Described rotating disk 7 includes price fixing 701, Moving plate 702 and is located at calmly
The 3rd motor that Moving plate rotates is driven on dish；Balcony is provided with guide rail near the ground of guardrail, and being provided with bottom frame can be along leading
The guide-track groove that rail moves；Described winding mechanism is controlled the folding and unfolding of winding line by the first motor, and described guide-track groove is driven by the second motor
The dynamic friction pulley rotated；Described first, second and third motor is controlled to drive by controller；During work, first in the attic balcony of building
On install frame and bracing frame, install support shaft and rotating disk on the support frame, then by support frame end even simultaneously
Connect support frame, then support frame is put into outside the guardrail of balcony, controller drive the first motor action, progressively loosen volume
Around the winding line of mechanism, make support frame progressively decline, controller control the 3rd motor and drive turning of support shaft end rotating disk
Dynamic, make the cleaning cloth being positioned at rotating disk end face start the glass of cleaning of buildings exterior wall；String is cleaned from top to down at cleaning cloth
After metope, the second motor driven carriage move one section, clean the most from the bottom up, after arriving upper end, driven by the second motor again
Machine frame movement one section, cleans the most from top to bottom, goes round and begins again, and has finally cleaned one whole exterior wall.
Further, in order to reasonable in design, above-mentioned rotating disk 7 outer face is additionally provided with 3 strip grooves 9, described strip groove 9
On be laid with spray hole 10, described spray hole 10 is connected with the water tank being located in frame by hydraulic pipeline, described hydraulic pipeline
Being provided with control pump, described control pump is also connected by controller and controls, and controls pump is on-off-on spraying, is spaced the 6-10 second and sprays water one
Secondary, it is more easily cleaned glass surface by water spray.Strip groove 9 degree of depth is 1.5 centimetres, and the aperture of spray hole 10 is 0.2 centimetre, goes out
Water speed is 1 meter per second, water outlet also can go out cleaning solution.This be designed with beneficially preferably cleaning dirty exterior wall surface.
Further, in order to reasonable in design, above-mentioned support frame 5 include base plate 501 and be located on base plate 501 determine plate 502,
And be located on base plate 501 can be relative to determining the dynamic plate 503 that plate moves, described support bar is fixed on dynamic plate, described determines to set on plate
Having the perforation 504 for wearing support bar, described cable is connected on base plate.
Further, in order to reasonable in design, above-mentioned frame is to have the plate body 12 of several legs, and support frame as described above 2 includes
The vertical rod 201 being located on plate body and inclination are connected to the brace 202 of vertical rod upper end, set between described brace 202 and vertical rod 201
Having telescopic expansion link 203, the free end of described brace is horizontally set with hood-like framework 13, to clasp guardrail.
Further, above-mentioned hood-like framework 13 includes upper cross plate 1301 and is located at the lower of upper cross plate lower surface and determines plate 1302,
And be located at upper cross plate lower surface can relative under determine the lower moving plate 1303 that plate moves.Brace 202 two ends respectively with vertical rod 201, frame
Frame upper cross plate 1301 is hinged, regulates angle by adjustable telescopic rod 203.
Further, in order to reasonable in design, the above-mentioned inside and outside end of upper cross plate 1301 is provided with the roller 1304 for supporting cable,
Using roller rollability more preferable, a piece smooth metallic rod of employing can also certainly.
Further, in order to reasonable in design, above-mentioned lower determine to be provided with between plate 1302 and lower moving plate 1303 lower moving plate can be driven to move
The first dynamic nut-screw rod mechanism, determine plate 1302 and lower moving plate 1303 by regulating under the nut i.e. scalable of the first nut-screw rod
Between spacing, thus adapt to the thickness of different balcony guardrail 16.
Further, in order to reasonable in design, above-mentioned dynamic plate 503 and determine to be provided with second that dynamic plate can be driven to move between plate 502
Nut-screw rod mechanism, described second nut-screw rod mechanism is driven by controlling motor.Move plate 503 and determine plate 502 except passing through nut
Screw body drives, it is also possible to being other telescoping mechanism, purpose is i.e. for retractable support axle 6, owing to much building body surface
Face is the most all the same face, some indentation, and some highlights, and therefore uses telescopic support shaft that rotating disk can be made more to stick on
Glass metope the most to be cleaned.
Further, above-mentioned winding mechanism includes motor, motor reducer and wireline reel.
When support frame arrive wall face topmost time, dirty Moving plate 702 and cleaning cloth 8 are replaced with clean Moving plate and
Cleaning cloth 8, after then frame is further along guardrail length direction three points of two disk diameters of traveling, then moves according to above-mentioned steps
Make.Change dirty Moving plate 702 and cleaning cloth 8 is to be cleaned rear as changing use next time.
Further, above-mentioned during cable declines, extending support shaft 6, so that the cleaning cloth on rotating disk can press close to glass
Glass.Reason is the most all the same face due to a lot of building body surfaces, some indentation, and some highlights, and therefore uses scalable
Support shaft rotating disk can be made can more to press close to glass metope to be cleaned.
Further, during cable declines, extending support bar, so that the cleaning cloth on rotating disk can press close to glass；Institute
The rotating speed stating rotating disk is 0.5 circle/second, and the decrease speed of cable is 30 cm per minute, and the second motor driven carriage is every time mobile dynamic
Three point two of dish diameter.
The building surface cleaning device that the present invention automatically controls is by fixing cable and support in frame and bracing frame
Frameworks etc., come the dust on cleaning glass of building wall surface, spot by the support shaft in support frame, rotating disk and cleaning cloth
Deng, and the control of first, second and third motor is controlled by controller, it is achieved that automatization cleans, and plays quick, the most clear
Clean, it also avoid the insecurity of artificial cleaning simultaneously.
Claims (8)
1. the building surface cleaning device that a kind automatically controls, it is characterised in that: include frame and the support being located in frame
Frame, described frame is additionally provided with the winding mechanism for winding cable, and described cable rolled mechanism output cord also strides across
Support, its end connects support frame, described support frame is equipped with support shaft, and described support shaft end is hinged on rotating disk
On inner face, described rotating disk outer face is provided with cleaning cloth, and described rotating disk includes price fixing, Moving plate and is located on price fixing driving Moving plate
The 3rd motor rotated；Balcony is provided with guide rail near the ground of guardrail, is provided with the guide rail that can move along guide rail bottom frame
Groove；Described winding mechanism is controlled the folding and unfolding of winding line by the first motor, and described guide-track groove is by the friction of the second motor-driven rotation
Wheel；Described first, second and third motor is controlled to drive by controller.
The building surface cleaning device automatically controlled the most according to claim 1, it is characterised in that: described rotating disk outer end
Be additionally provided with several strip grooves on face, described strip groove be laid with spray hole, described spray hole by hydraulic pipeline with
The water tank being located in frame connects, and described hydraulic pipeline is provided with control pump, and described control pump is also connected control by controller.
The building surface cleaning device automatically controlled the most according to claim 1, it is characterised in that: described support frame
Including base plate and be located on base plate determine plate, and be located on base plate can be relative to determining the dynamic plate that plate moves, and described support bar is fixed
On dynamic plate, described determining plate and be provided with the perforation for wearing support bar, described cable is connected on base plate.
4. according to the building surface cleaning device automatically controlled described in claim 1,2 or 3, it is characterised in that: described machine
Frame is the plate body with several legs, and support frame as described above includes that the vertical rod being located on plate body and inclination are connected to vertical rod upper end
Brace, be provided with telescopic expansion link between described brace and vertical rod, the free end of described brace is horizontally set with hood-like framework,
To clasp guardrail.
The building surface cleaning device automatically controlled the most according to claim 4, it is characterised in that: described hood-like frame
Frame includes upper cross plate and is located at upper cross plate lower surface lower and determines plate, and be located at upper cross plate lower surface can relative under determine what plate moved
Lower moving plate；The inside and outside end of described upper cross plate is provided with the roller for supporting cable；Described lower determine to be provided with between plate and lower moving plate and can drive
The first nut-screw rod mechanism that dynamic lower moving plate moves.
The building surface cleaning device automatically controlled the most according to claim 3, it is characterised in that: described dynamic plate is with fixed
Being provided with the second nut-screw rod mechanism that dynamic plate can be driven to move between plate, described second nut-screw rod mechanism is driven by controlling motor
Dynamic；Described winding mechanism includes motor, motor reducer and wireline reel.
7. the method for work of the building surface cleaning device that a kind automatically controls, it is characterised in that automatically control described in: builds
Build thing surface cleaning apparatus and include frame and the bracing frame being located in frame, described frame is additionally provided with the volume for winding cable
Around mechanism, described cable rolled mechanism output cord also strides across bracing frame, and its end connects support frame, described support frame
On be equipped with support shaft, described support shaft end is hinged on the inner face of rotating disk, and described rotating disk outer face is provided with cleaning cloth,
Described rotating disk includes price fixing, Moving plate and is located on price fixing the 3rd motor driving Moving plate to rotate；Balcony is on the ground of guardrail
It is provided with guide rail, bottom frame, is provided with the guide-track groove that can move along guide rail；Described winding mechanism is controlled winding line by the first motor
Folding and unfolding, described guide-track groove is by the friction pulley of the second motor-driven rotation；Described first, second and third motor is controlled to drive by controller
Dynamic；During work, in the attic balcony of building, first install frame and bracing frame, install support on the support frame simultaneously
Axle and rotating disk, then connect support frame by support frame end, then support frame be put into outside the guardrail of balcony, by controlling
Device drives the first motor action, progressively loosens the winding line of winding mechanism, makes support frame progressively decline, controller control the
Three motors drive the rotation of support shaft end rotating disk, make the cleaning cloth being positioned at rotating disk end face start the glass of cleaning of buildings exterior wall
Glass；After cleaning cloth cleans the metope of string from top to down, the second motor driven carriage move one section, the most clear
Clean, after arriving upper end, moved one section by the second motor driven carriage again, clean the most from top to bottom, go round and begin again, finally cleaned
One whole exterior wall.
The method of work of the building surface cleaning device automatically controlled the most according to claim 7, it is characterised in that:
During cable declines, extending support bar, so that the cleaning cloth on rotating disk can press close to glass；The rotating speed of described rotating disk is 0.5
Circle/second, the decrease speed of cable is 30 cm per minute, and the second motor driven carriage moves three point two of Moving plate diameter every time.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810280004.8A CN108547466B (en) | 2016-08-28 | 2016-08-28 | The working method of the building surface cleaning device of automatic control |
| CN201610734929.6A CN106175571B (en) | 2016-08-28 | 2016-08-28 | The building surface cleaning device of automatic control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610734929.6A CN106175571B (en) | 2016-08-28 | 2016-08-28 | The building surface cleaning device of automatic control |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810280004.8A Division CN108547466B (en) | 2016-08-28 | 2016-08-28 | The working method of the building surface cleaning device of automatic control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106175571A true CN106175571A (en) | 2016-12-07 |
| CN106175571B CN106175571B (en) | 2019-01-01 |
Family
ID=57526659
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810280004.8A Active CN108547466B (en) | 2016-08-28 | 2016-08-28 | The working method of the building surface cleaning device of automatic control |
| CN201610734929.6A Expired - Fee Related CN106175571B (en) | 2016-08-28 | 2016-08-28 | The building surface cleaning device of automatic control |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810280004.8A Active CN108547466B (en) | 2016-08-28 | 2016-08-28 | The working method of the building surface cleaning device of automatic control |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108547466B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100998486A (en) * | 2006-12-27 | 2007-07-18 | 深圳市霖智电子有限公司 | Apparatus for automatically cleaning out-wall of high building |
| CN204552026U (en) * | 2015-02-10 | 2015-08-12 | 杨早缘 | Spray equipment is cleaned automatically in high-altitude |
| CN204765439U (en) * | 2015-05-21 | 2015-11-18 | 何政毅 | Automatic curtain cleaning machine |
| CN105433855A (en) * | 2015-12-09 | 2016-03-30 | 江苏博宇建筑工程设备科技有限公司 | Frame type multifunctional telescopic window cleaning machine |
| CN205359371U (en) * | 2016-01-28 | 2016-07-06 | 徐龙 | Electric steam mop |
| CN206482524U (en) * | 2016-08-28 | 2017-09-12 | 郑丽玉 | The building surface cleaning device automatically controlled |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202104868U (en) * | 2011-06-10 | 2012-01-11 | 陈怀仁 | Glass curtain wall cleaning system |
| CN103300798A (en) * | 2012-03-14 | 2013-09-18 | 李鑫 | Novel wall cleaning device |
-
2016
- 2016-08-28 CN CN201810280004.8A patent/CN108547466B/en active Active
- 2016-08-28 CN CN201610734929.6A patent/CN106175571B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100998486A (en) * | 2006-12-27 | 2007-07-18 | 深圳市霖智电子有限公司 | Apparatus for automatically cleaning out-wall of high building |
| CN204552026U (en) * | 2015-02-10 | 2015-08-12 | 杨早缘 | Spray equipment is cleaned automatically in high-altitude |
| CN204765439U (en) * | 2015-05-21 | 2015-11-18 | 何政毅 | Automatic curtain cleaning machine |
| CN105433855A (en) * | 2015-12-09 | 2016-03-30 | 江苏博宇建筑工程设备科技有限公司 | Frame type multifunctional telescopic window cleaning machine |
| CN205359371U (en) * | 2016-01-28 | 2016-07-06 | 徐龙 | Electric steam mop |
| CN206482524U (en) * | 2016-08-28 | 2017-09-12 | 郑丽玉 | The building surface cleaning device automatically controlled |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108547466B (en) | 2019-09-17 |
| CN106175571B (en) | 2019-01-01 |
| CN108547466A (en) | 2018-09-18 |
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Granted publication date: 20190101 |