CN107284510B - Armored vehicle steering control device - Google Patents
Armored vehicle steering control device Download PDFInfo
- Publication number
- CN107284510B CN107284510B CN201710601157.3A CN201710601157A CN107284510B CN 107284510 B CN107284510 B CN 107284510B CN 201710601157 A CN201710601157 A CN 201710601157A CN 107284510 B CN107284510 B CN 107284510B
- Authority
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- China
- Prior art keywords
- steering wheel
- armored vehicle
- ring
- steering
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000013016 damping Methods 0.000 claims abstract description 14
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 23
- 229920001971 elastomer Polymers 0.000 claims description 16
- 239000005060 rubber Substances 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 239000005062 Polybutadiene Substances 0.000 claims description 3
- 229920002857 polybutadiene Polymers 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 230000010354 integration Effects 0.000 abstract 1
- 239000013585 weight reducing agent Substances 0.000 abstract 1
- 125000006850 spacer group Chemical group 0.000 description 4
- 238000011065 in-situ storage Methods 0.000 description 3
- KAKZBPTYRLMSJV-UHFFFAOYSA-N Butadiene Chemical compound C=CC=C KAKZBPTYRLMSJV-UHFFFAOYSA-N 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 229920003048 styrene butadiene rubber Polymers 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Controls (AREA)
- Vibration Dampers (AREA)
Abstract
The invention discloses a steering wheel for an armored vehicle and an operating mechanism thereof, which belong to the technical field of armored vehicles and aim to solve the problems that the steering wheel for the armored vehicle and the operating mechanism thereof are not attractive, heavy, easy to loosen bolts and nuts, easy to operate by mistake, inflexible low-temperature steering, unsatisfactory in damping effect and the like at present; after the steering wheel and the operating mechanism thereof are designed with high integration, high matching precision, weight reduction and anti-loose performance, the comfort, flexibility and accuracy of the steering wheel and the operating mechanism thereof are effectively improved, and the reliability level of the steering wheel and the operating mechanism thereof reaches a new height. Meanwhile, the lightweight design effect is very obvious.
Description
Technical Field
The invention belongs to the technical field of armored vehicles, and relates to a steering wheel for an armored vehicle and an operating mechanism thereof.
Background
At present, a steering wheel and an operating mechanism thereof used for military crawler-type armored vehicles in China are important components of a whole vehicle operating system. The driver drives the swing arm of the steering pump to rotate by controlling the rotation of the steering wheel, so that the pressure difference of the steering pump is controlled, and the left and right steering functions of the vehicle are realized. Regular vibration of a vehicle engine and irregular vibration in running are transmitted to a steering wheel handle through a vehicle body, so that a driver is difficult to accurately control steering, and driving fatigue is easy to generate. Therefore, the steering device is particularly important for improving the smoothness of rotation and the shock absorbing ability in various environments. Meanwhile, because the existing steering control device does not have a central locking mechanism, the vehicle can cause misoperation of in-situ steering when carelessly touching the steering wheel in a neutral position. In the modernization and informatization military revolution of all countries in the world, the light weight has become a new target for military equipment, some military countries use expensive titanium alloy materials to manufacture key parts for achieving the purpose of light weight, but the existing steering control device of the armored vehicle in China is heavy and low in reliability, the phenomenon of loosening bolts and nuts occurs, and the phenomenon of rotating clamping occurs at 43 degrees below zero. The use requirements of future armored vehicles under complex working conditions and extreme environments cannot be met.
Disclosure of Invention
The invention provides a steering control device for a track armored vehicle, or a steering wheel for an armored vehicle and a control mechanism thereof, which aim to solve the problems that the steering wheel for the track armored vehicle and the control mechanism thereof are not attractive, heavy, easy to loosen bolts and nuts, easy to operate by mistake, inflexible in low-temperature steering, and unsatisfactory in damping effect.
The technical scheme of the invention is as follows: a track armored vehicle steering apparatus, characterized by: the steering wheel comprises a steering wheel handle, a connecting disc, a left-right stroke fan-shaped adjusting mechanism, a center touch mechanism, a center locking mechanism, a shaft, a pipe body and a steering pull arm; the steering wheel handle is fixedly connected with the connecting disc, and the left-right stroke adjusting mechanism is welded on the pipe body; the left and right stroke fan-shaped adjusting mechanism is of a fan-shaped structure, the edges of the left and right straight edges are respectively provided with a bulge with a bolt hole, the two bolt holes are respectively used for penetrating a left bolt and a right bolt, and a groove and a locking hole are also arranged on the symmetrical axis of the fan-shaped surface of the left and right stroke fan-shaped adjusting mechanism; the central touch mechanism is fixed on the handle of the steering wheel through a first bolt, and comprises a rod, a first spring and a steel ball from top to bottom in sequence and is positioned in a central hole of the first bolt, so that the rod and the steel ball can compress the first spring; when the steering wheel handle is at the 0 degree position, the steel balls are matched with the grooves on the symmetrical shafts of the fan-shaped surfaces; the central locking mechanism comprises a sleeve, a step-shaped rod and a second spring, the central locking mechanism is fixed on the steering wheel handle through the sleeve, the second spring is arranged between the top of the sleeve and the step of the step-shaped rod, the lower end face of the step-shaped rod is limited, a small-diameter cylinder below the step of the step-shaped rod extends out of the sleeve, and the small-diameter cylinder can extend into a locking hole on the sector symmetry axis of the left-right stroke sector-shaped regulating mechanism under the action of the force of the second spring; one end of the shaft is connected with the connecting disc through a spline and is axially fixed by an eccentric self-locking nut; the steering pulling arm is connected with the other end of the shaft through a spline and is axially fixed by an eccentric self-locking nut.
Preferably, the novel pipe further comprises two copper rings, the copper rings are respectively assembled at two ends in the pipe body through interference fit, and the copper rings are sleeved on the shaft.
Preferably, a spacer ring is also included, the spacer ring being interposed between the copper ring and the steering pull arm.
Preferably, the pipe also comprises a damping rubber ring and a mounting seat, wherein the damping rubber ring is formed by vulcanizing between the mounting seat and the pipe body.
The invention has the beneficial effects that:
the driving fatigue is reduced, the control experience is better, the appearance is more attractive and reliable, the anti-loosening effect is greatly improved by one piece of multi-purpose eccentric self-locking nut, the reliability level of the whole device reaches a new height, the maintenance period is effectively prolonged, and the weight of the whole device is reduced by 59.5% through a series of lightweight designs.
After the tube body 11 is designed in a lightweight manner, the outer diameter of the tube body is reduced from original phi 60mm to current phi 35.6mm, and the wall thickness of the tube body is reduced from original 10mm to current 3.5mm, so that the weight of the tube body is effectively reduced to only 23% of the original weight.
Drawings
The specification has 4 drawings.
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is an enlarged view of the center touch sensing mechanism and the center locking mechanism;
FIG. 3 is a cross-sectional view of the damping rubber ring of the present invention;
fig. 4 is a side-to-side stroke sector adjustment mechanism of the present invention.
Wherein: 1. steering wheel handle 2, eccentric self-locking nut 3, connecting disk 4, left and right stroke sector adjusting mechanism 5, center touch mechanism 6, center locking mechanism 7, damping rubber ring 8, mounting seat 9, copper ring 10, shaft 11, pipe body 12, spacer ring 13, steering pull arm
Detailed Description
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, the steering control device for the crawler armored vehicle comprises a steering wheel handle 1, an eccentric self-locking nut 2, a connecting disc 3, a left-right stroke sector adjusting mechanism 4, a center touch mechanism 5, a center locking mechanism 6, a damping rubber ring 7, a mounting seat 8, a copper ring 9, a shaft 10, a pipe body 11, a spacing ring 12 and a steering pull arm 13.
The steering wheel handle is designed completely according to the principle of ergonomics, and the driver is always kept to have the best holding feeling within the height adjusting range of the seat; the center locking mechanism 5, the center touch mechanism 6 and the left and right stroke sector adjusting mechanism 4 are combined together through a highly integrated design; the original rolling friction bearing is replaced by a sliding friction copper ring 9 with higher matching precision and lighter weight on the premise of not reducing the service life; the original cylindrical damping rubber block is changed into a damping rubber ring 7 with lighter weight on the premise of not weakening the damping effect; all nuts adopt eccentric self-locking nuts.
The steering wheel handle 1 is mutually fixed with the connecting disc 3 through bolts, and all the bolts are locked by eccentric self-locking nuts 2. The connecting disc 3 is radially fixed with one end of the shaft 10 through a spline, the steering pull arm 13 is radially fixed with the other end of the shaft 10 through a spline, and the steering pull arm and the other end of the shaft 10 are axially fixed through eccentric self-locking nuts respectively. Thus, when the driver turns the steering handle, the driving shaft 10 turns, and the steering arm 13 turns.
The left and right stroke fan-shaped adjusting mechanism 4 is of a fan-shaped structure, and the edges of the left and right straight edges are respectively provided with bolt holes for passing through left and right bolts. The symmetrical axis of the left and right stroke fan-shaped adjusting mechanism 4 is also provided with a groove and a locking hole.
The left and right stroke fan-shaped adjusting mechanism 4 (inner arc edge) is fixed with the pipe body 11 by welding, and the rotation limit position of the handle is limited by the positions (the extending length in the direction of the fan-shaped symmetrical axis) of the left and right bolts on the adjusting mechanism.
The left and right stroke fan-shaped adjusting mechanism 4 is fan-shaped in appearance and plays a role in supporting the lock house of the central locking mechanism 6 while being attractive. When the central locking mechanism 6 is adjusted to be in the 'closed' state, the locking function of the central position of the steering wheel can be realized by slightly rotating the steering wheel handle 1 left and right.
The central touch sensing mechanism 5 is sequentially provided with a rod, a first spring and a steel ball from top to bottom and is positioned in a central hole of the first bolt, so that the rod and the steel ball can compress the first spring.
The center touch mechanism 5 is fixed at the middle position (on the left-right symmetry axis) of the steering wheel handle 1 through a first bolt, a steel ball with the diameter of 5mm at the end part of the center touch mechanism 5 can be matched with a groove on the symmetry axis of a sector surface in the left-right stroke sector adjusting mechanism 4, when the steering wheel handle 1 is positioned at the 0-degree position, the steel ball is positioned in the groove, the steering wheel handle 1 feeds back to a position of a driver, so that the driver knows that the steering wheel handle 1 is positioned at the 0-degree position at the moment, the left-right steering is avoided, and the vehicle runs straight along the direction.
The center locking mechanism 6 comprises a sleeve, a step-shaped rod, a check ring and a second spring, wherein the second spring is arranged between the top of the sleeve and the step of the step-shaped rod, and the lower end face of the step-shaped rod is limited by the check ring clamped at the lower end opening of the sleeve. The small-diameter cylinder below the step of the step-shaped rod extends out of the sleeve, and the small-diameter cylinder can extend into the locking hole on the symmetrical axis of the left-right stroke fan-shaped adjusting mechanism 4 under the force of the second spring. The top of the central locking mechanism 6 also includes a handle or protrusion for pulling the central locking mechanism 6 out of the locking aperture.
The center locking mechanism 6 is mutually fixed with the steering wheel handle 1 through interference fit, and then the GB895.2 retainer ring is clamped in the sleeve of the center locking mechanism 6, so that the further strengthening effect is achieved. When the gearbox is in a neutral position, the steering wheel handle is rotated to enable the vehicle to turn in situ, so that the phenomenon of false touch and false touch is easy to occur, and after the central locking mechanism is added, the steering wheel handle can be locked when the vehicle does not need to turn in situ, and accidents are avoided.
The damping rubber ring 7 is formed by vulcanization after the joint position of the pipe body 11 and the mounting seat 8 is determined. The position angle of the mount 8 with respect to the tube 11 is relatively stable within the compression and torsion elasticity range of the rubber ring.
Butadiene Rubber (BR) is selected as the rubber material, and is cis-structure rubber polymerized by butadiene and used together with styrene butadiene rubber. The heat-resistant rubber has the advantages of excellent elasticity and wear resistance, good ageing resistance, excellent low temperature resistance, small heat productivity under dynamic load, easy metal adhesion, and the use temperature ranges from-60 degrees to +100 degrees, thereby completely meeting the use conditions.
The mounting seat 8 is connected with the vehicle body through a bolt and is locked by an eccentric self-locking nut, so that the position of the whole steering control device is fixed and reliable.
The copper rings 9 are arranged at two ends of the pipe body 11 through interference fit, and the thicknesses of the copper rings are 13mm and 11mm respectively. Since the steering force of the driver is not uniform, in order to increase the wear resistance of the handle end of the steering wheel, the end is provided with a 13mm copper ring; the other end, the steering pull arm 13 end, is fitted with an 11mm copper ring. The original steering device uses a GB281-1984 aligning bearing, and the wall of the bearing is too thick, so that the pipe body 11 is too thick under the condition that the diameters of the shafts 10 are the same, and the design redundancy is too large. The weight is reduced by 69% after the copper ring 9 is used for replacing the aligning bearing. Meanwhile, the outer diameter of the pipe body is reduced from the original phi 60mm to the current phi 35.6mm, and the wall thickness is reduced from the original 10mm to the current 3.5mm, so that the weight of the pipe body is reduced to the original 23%.
The copper ring 9 is used as a rotary lubrication part to replace a bearing, and meanwhile, the copper ring 9 is provided with a circumferential annular oil storage tank.
The shaft 10 is mounted inside the tube 11, cooperating with the copper ring 9. For transmitting the rotational movement of the steering wheel handle to the steering pull arm 13.
The spacer ring 12 is mounted between the copper ring 9 and the steering pull arm 13 so as to have a certain distance, thereby avoiding direct friction between the steering pull arm 13 and the copper ring 9 during rotation.
The steering arm 13 is spline-mounted to the end of the shaft 10, and transmits the motion transmitted from the shaft 10 to the steering pump rod, thereby finally realizing the steering function of the vehicle.
Claims (8)
1. A track armored vehicle steering apparatus, characterized by: the control device comprises a steering wheel handle (1), a connecting disc (3), a left-right stroke fan-shaped adjusting mechanism (4), a center touch mechanism (5), a center locking mechanism (6), a shaft (10), a tube body (11) and a steering pull arm (13);
the steering wheel handle (1) is fixedly connected with the connecting disc (3), and the left and right stroke sector adjusting mechanism (4) is welded on the pipe body (11);
the left and right stroke fan-shaped adjusting mechanism (4) is of a fan-shaped structure, the edges of the left and right straight edges are respectively provided with a bulge with a bolt hole, the two bolt holes are respectively used for penetrating a left bolt and a right bolt, and a groove and a locking hole are also arranged on the symmetrical shaft of the fan-shaped surface of the left and right stroke fan-shaped adjusting mechanism (4);
the central touch mechanism (5) is fixed on the steering wheel handle (1) through a first bolt, and the central touch mechanism (5) is sequentially provided with a rod, a first spring and a steel ball from top to bottom and is positioned in a central hole of the first bolt, so that the rod and the steel ball can compress the first spring; when the steering wheel handle (1) is at the 0 degree position, the steel balls are matched with the grooves on the symmetrical shafts of the fan-shaped surfaces;
the center locking mechanism (6) comprises a sleeve, a step-shaped rod and a second spring, the center locking mechanism (6) is fixed on the steering wheel handle (1) through the sleeve, the second spring is arranged between the top of the sleeve and the step of the step-shaped rod, the lower end face of the step-shaped rod is limited, a small-diameter cylinder below the step of the step-shaped rod extends out of the sleeve, and the small-diameter cylinder can extend into a locking hole on a sector symmetry axis of the left-right stroke sector adjusting mechanism (4) under the action of the force of the second spring;
one end of the shaft (10) is connected with the connecting disc (3) through a spline and is axially fixed by an eccentric self-locking nut; the steering pulling arm (13) is connected with the other end of the shaft (10) through a spline and is axially fixed by an eccentric self-locking nut;
the novel pipe also comprises two copper rings (9), wherein the copper rings (9) are respectively assembled at two ends in the pipe body (11) through interference fit, and are sleeved on the shaft; the novel pipe fitting further comprises a damping rubber ring (7) and a mounting seat (8), wherein the damping rubber ring (7) is formed by vulcanizing between the mounting seat (8) and a pipe body (11).
2. A track-armored vehicle steering apparatus as defined in claim 1, wherein: the center locking mechanism (6) further comprises a check ring, and the lower end face of the step of the step-shaped rod is limited by the check ring clamped at the lower end opening part of the sleeve.
3. A track-armored vehicle steering apparatus as defined in claim 1, wherein: the top of the central locking mechanism (6) also comprises a handle or a bulge for pulling the central locking mechanism (6) out of the locking hole.
4. A track-armored vehicle steering apparatus as defined in claim 1, wherein: the steering device also comprises a spacing ring (12), and the spacing ring (12) is arranged between the copper ring (9) and the steering pull arm (13).
5. A track-armored vehicle steering apparatus as defined in claim 1, wherein: the copper ring (9) is provided with a circumferential annular oil storage tank.
6. A track-armored vehicle steering apparatus as defined in claim 1, wherein: the thicknesses of the upper copper ring and the lower copper ring are 13mm and 11mm respectively.
7. A track-armored vehicle steering apparatus as defined in claim 1, wherein: the rubber material of the damping rubber ring (7) is butadiene rubber.
8. A track-armored vehicle steering apparatus as defined in claim 1, wherein: the mounting seat (8) is connected with the vehicle body through a bolt and is locked by an eccentric self-locking nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710601157.3A CN107284510B (en) | 2017-07-21 | 2017-07-21 | Armored vehicle steering control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710601157.3A CN107284510B (en) | 2017-07-21 | 2017-07-21 | Armored vehicle steering control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107284510A CN107284510A (en) | 2017-10-24 |
| CN107284510B true CN107284510B (en) | 2023-11-14 |
Family
ID=60102820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710601157.3A Active CN107284510B (en) | 2017-07-21 | 2017-07-21 | Armored vehicle steering control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107284510B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201179887Y (en) * | 2008-03-24 | 2009-01-14 | 中国嘉陵工业股份有限公司（集团） | Direction latching mechanism of light all-terrain vehicle |
| CN203713950U (en) * | 2014-03-03 | 2014-07-16 | 苏州巴吉赛车科技有限公司 | Hexagon type steering wheel fast-inserting structure |
| CN204020985U (en) * | 2014-09-03 | 2014-12-17 | 哈尔滨第一机械集团有限公司 | Wheel steering suggestion device |
| CN204236547U (en) * | 2014-10-31 | 2015-04-01 | 华晨汽车集团控股有限公司 | A kind of deflector position limiting structure |
| CN205075880U (en) * | 2015-10-16 | 2016-03-09 | 中联重机股份有限公司 | Turn to stand, use tractor that turns to stand |
| JP2016182902A (en) * | 2015-03-26 | 2016-10-20 | 株式会社ジェイテクト | Steering device |
| CN106945712A (en) * | 2017-05-12 | 2017-07-14 | 新乡北方车辆仪表有限公司 | Adjustable aobvious control multifunctional manipulation device |
| CN207173706U (en) * | 2017-07-21 | 2018-04-03 | 北京北方车辆集团有限公司 | A kind of armored vehicle steering apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9393867B2 (en) * | 2013-03-15 | 2016-07-19 | Brian A. Downey | Hand control throttle system |
-
2017
- 2017-07-21 CN CN201710601157.3A patent/CN107284510B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201179887Y (en) * | 2008-03-24 | 2009-01-14 | 中国嘉陵工业股份有限公司（集团） | Direction latching mechanism of light all-terrain vehicle |
| CN203713950U (en) * | 2014-03-03 | 2014-07-16 | 苏州巴吉赛车科技有限公司 | Hexagon type steering wheel fast-inserting structure |
| CN204020985U (en) * | 2014-09-03 | 2014-12-17 | 哈尔滨第一机械集团有限公司 | Wheel steering suggestion device |
| CN204236547U (en) * | 2014-10-31 | 2015-04-01 | 华晨汽车集团控股有限公司 | A kind of deflector position limiting structure |
| JP2016182902A (en) * | 2015-03-26 | 2016-10-20 | 株式会社ジェイテクト | Steering device |
| CN205075880U (en) * | 2015-10-16 | 2016-03-09 | 中联重机股份有限公司 | Turn to stand, use tractor that turns to stand |
| CN106945712A (en) * | 2017-05-12 | 2017-07-14 | 新乡北方车辆仪表有限公司 | Adjustable aobvious control multifunctional manipulation device |
| CN207173706U (en) * | 2017-07-21 | 2018-04-03 | 北京北方车辆集团有限公司 | A kind of armored vehicle steering apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107284510A (en) | 2017-10-24 |
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