CN110371256B - Ship-to-ship loading and unloading arm - Google Patents
Ship-to-ship loading and unloading arm Download PDFInfo
- Publication number
- CN110371256B CN110371256B CN201910728989.0A CN201910728989A CN110371256B CN 110371256 B CN110371256 B CN 110371256B CN 201910728989 A CN201910728989 A CN 201910728989A CN 110371256 B CN110371256 B CN 110371256B
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- CN
- China
- Prior art keywords
- arm
- loading
- hose
- ship
- rotary joint
- 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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- 229910000831 Steel Inorganic materials 0.000 claims description 23
- 239000010959 steel Substances 0.000 claims description 23
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 8
- 239000012530 fluid Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/24—Arrangement of ship-based loading or unloading equipment for cargo or passengers of pipe-lines
- B63B27/25—Arrangement of ship-based loading or unloading equipment for cargo or passengers of pipe-lines for fluidised bulk material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
- B63B27/34—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures using pipe-lines
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
Abstract
The application discloses ship-to-ship loading arm relates to handling equipment field, includes: a loading arm base 2; a supporting seat 4, wherein the supporting seat 4 is arranged on the upper side of the loading and unloading arm base 2; the loading and unloading arm comprises a loading and unloading arm body, wherein the supporting seat 4 is used for supporting the loading and unloading arm body, the loading and unloading arm body comprises an inner arm 7 and an outer arm 10, and the inner arm 7 is movably connected with the outer arm 10; a hose 19, wherein the hose 19 is connected with a loading arm main body, and the loading arm main body can expand the inner arm 7 and the outer arm 10 and drive the hose 19 to move; the loading arm main body is arranged to expand the inner arm and the outer arm, the length of the outer arm is longer, the loading arm main body can better draw the hose to move to the object ship, and the hose is easy to draw and implement and the difficulty is reduced through the integrated automation of the control system.
Description
Technical Field
The application relates to the field of hose loading and unloading, in particular to a ship-to-ship loading and unloading arm.
Background
When the international ship carries out fuel feeding and conveying or mutual loading and unloading of liquid and gas cargoes, a steel wire guide rope is cast to a ship to be fed or unloaded through a mother ship, then the steel wire rope is straightened, a hose is hung on the steel wire rope, and the hose is slowly pulled to the ship to be fed or unloaded through the rope. In the process, the requirement of the steel wire guiding rope for the physical ability and the skill of the crewman is very high, and the steel wire guiding rope can be conveniently connected with the supply or loading and unloading object ship in a plurality of operations, the risk of sea falling easily occurs in the operation process, and the operation must be forbidden under severe weather conditions. The loading and unloading hose is usually tens of meters long, is very heavy, has great requirement on the physical ability of a crew, and is easy to hurt by the hose due to the influence of seawaves, thereby causing safety accidents; meanwhile, as long as the wind wave is large, the supply or loading and unloading mode must be stopped, and the loading and unloading equipment in the prior art is greatly restricted by environmental conditions. Therefore, a new replenishing or loading and unloading mode is urgently needed in the market at present to meet the requirements of rapid and safe replenishing or loading and unloading in the new era.
Disclosure of Invention
The hose is difficult to pull when the ship is assembled and disassembled from the ship in the prior art.
In order to achieve the above purpose, the present application adopts the following technical scheme: a vessel-to-vessel loading arm comprising: a loading arm base; the supporting seat is arranged on the upper side of the loading and unloading arm base; the loading and unloading arm main body comprises an inner arm and an outer arm, and the inner arm is movably connected with the outer arm; the hose is connected with the loading arm main body, and the loading arm main body can expand the inner arm and the outer arm and drive the hose to move;
the inner arm and the outer arm are unfolded through the loading arm main body to drive the hose to move, so that the hose can be well unfolded, the hose can be conveyed to a ship to be transported, and the traction difficulty of the hose is reduced.
Further, according to an embodiment of the present application, a rotating platform is disposed between the loading arm base and the supporting seat, and the rotating platform can perform a rotational motion relative to the loading arm base.
Further, according to an embodiment of the present application, the first rotary joint is disposed on the support base, one end of the inner arm is movably connected with the first rotary joint, the other end of the inner arm is connected with the second rotary joint, and the second rotary joint is movably connected with one end of the outer arm.
Still further, according to an embodiment of the present application, an end of the outer arm away from the second rotary joint is movably connected with a third rotary joint, the third rotary joint is further movably connected with an end of an extension arm, and the other end of the extension arm is connected with one end of the hose.
Still further in accordance with an embodiment of the present application, wherein an end of the hose remote from the cantilever arm is secured with a quick connector by a flange.
Further, according to an embodiment of the application, the hose is provided with a wire rope which is wound around pulley two, pulley three, pulley one in sequence and on the rope drum.
Still further in accordance with an embodiment of the present application, wherein the second pulley is movably connected with a guide support for supporting the second pulley, the third pulley is mounted at a lower side of the outer arm, the first pulley is connected at an upper side of the inner arm, and the rope drum is mounted at a lower side of the inner arm.
Further, according to an embodiment of the present application, a hose fixing plate is connected to the hose end portion, and the hose fixing plate is used for stabilizing the movement of the hose.
Further, according to an embodiment of the present application, an oil cylinder three is movably connected between the inner arm and the outer arm, and an output shaft of the oil cylinder three is connected with the outer arm.
Further, according to an embodiment of the present application, a side arm of the inner arm is connected with a second oil cylinder, and an output shaft of the second oil cylinder is connected with the inner arm.
When the inner arm is assembled and disassembled, the inner arm is driven by the oil cylinder II to rotate to a working position under the action of the rotary joint I; the oil cylinder III drives an outer arm to rotate to a working position between the rotary joint II and the rotary joint III; the steel wire rope is released by the rotary rope drum, the extension arm and the hose are driven to rotate to a working position under the action of the rotary joint III, so that the loading and unloading arm main body is unfolded, the hose is extended to a ship to be tested, the hose is butted through the quick joint, and the difficulty of hose traction is reduced under the condition that the hose is ensured to move in multiple degrees of freedom; the main body position of the loading and unloading arm is rotationally adjusted by the rotary platform, so that the loading and unloading arm is easy to fold and unfold; the hose is driven by the first oil cylinder to be guided and supported under the action of the third rotary joint, the hose connected with the steel wire rope is rotationally unfolded to be guided to move under the action of the guiding and supporting, the hose end part of the hose is restrained to move through the hose fixing plate, and the stability of the hose in the traction process is guaranteed under the condition that the hose can move in multiple degrees of freedom.
Drawings
The present application is further described below with reference to the drawings and examples.
Fig. 1 is a schematic view of a ship-to-ship loading arm structure according to an embodiment of the present application.
Fig. 2 is a schematic structural view of the hose fixing plate.
In the accompanying drawings
1. Deck 2, loading arm base 3 and rotary platform
4. Support seat 5, rotary joint I6 and rope drum
7. Inner arm 8, pulley one 9 and rotary joint two
10. Outer arm 11, cylinder one 12, guide support
13. Oil cylinder II 14, oil cylinder III 15 and rotary joint III
16. Pulley two 17, pulley three 18, and extension arm
19. Hose 20, wire rope 21, quick connector
22. Hose fixing plate
Detailed Description
In order to make the objects, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be further described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some, but not all, embodiments of the present invention, are intended to be illustrative only and not limiting of the embodiments of the present invention, and that all other embodiments obtained by persons of ordinary skill in the art without making any inventive effort are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center," "middle," "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "side," "vertical," "horizontal," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "a," an, "" the first, "" the second, "" the third, "" the fourth, "" the fifth, "and the sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
For purposes of brevity and description, the principles of the embodiments are described primarily by reference to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. However, it is apparent that. It will be apparent to one of ordinary skill in the art that the embodiments may be practiced without limitation to these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
Example 1
As shown in fig. 1, an embodiment of the present application discloses a ship-to-ship loading arm, including: the loading arm comprises a loading arm base 2, wherein the loading arm base 2 is movably connected with a rotary platform 3, the rotary platform 3 can perform rotary motion relative to the loading arm base 2, and a supporting seat 4 is arranged on the rotary platform 3; the loading arm body includes: an inner arm 7, an outer arm 10, an extension arm 18 and a hose 19, the length of the outer arm 10 being set to 20 meters or more; the inner arm 7 is close to one end of the rotary platform 3 and is movably connected with the rotary joint I5, the rotary joint I5 is fixedly arranged on the supporting seat 4, a side arm of the inner arm 7 is connected with the oil cylinder II 13, the oil cylinder II 13 is movably connected to the rotary platform 3, one end of the inner arm 7 far away from the rotary platform 3 is connected with the rotary joint II 9, the oil cylinder II 13 can adjust the inner arm 7 to perform rotary motion between the rotary joint I5 and the rotary joint II 9, the rotary joint II 9 is also movably connected with one end of the outer arm 10, the other end of the outer arm 10 far away from the rotary joint II 9 is movably connected with the rotary joint III 15, an oil cylinder III 14 is movably connected between the inner arm 7 and the outer arm 10, and an output shaft of the oil cylinder III 14 is connected with the outer arm 10; the third rotary joint 15 is further connected with one end of an extension arm 18, the other end of the extension arm 18 is connected with one end of a hose 19, the other end of the hose 19 is fixedly provided with a quick joint 21 through a flange, the hose 19 is provided with a steel wire rope 20, the steel wire rope 20 can adjust the hose 19, the steel wire rope 20 is wound on a second pulley 16, the second pulley 16 is movably connected with a guide support 12, one end of the guide support 20, which is far away from the second pulley 16, is connected with the third rotary joint 15, the guide support 12 is connected with a first oil cylinder 11, an output shaft of the first oil cylinder 11 is connected with the guide support 12, the first oil cylinder 11 is movably connected with the outer arm 10 to bypass the second pulley 6, the steel wire rope 20 is further wound on a third pulley 17, the third pulley 17 is arranged on the lower side of the outer arm 10, the steel wire rope 20 is then wound on the first pulley 8, and is wound on the rope drum 6 through the first pulley 8, the first pulley 8 is connected with the upper side of the inner arm 7, and the lower side of the inner arm 7 is arranged on the lower side of the rope drum 7; the loading arm base 2 is arranged on the deck 1 of the ship body.
Example 2
The embodiment of the present application discloses a ship-to-ship loading arm, which has the same structure as embodiment 1, and comprises: the loading arm comprises a loading arm base 2, wherein the loading arm base 2 is movably connected with a rotary platform 3, the rotary platform 3 can perform rotary motion relative to the loading arm base 2, and a supporting seat 4 is arranged on the rotary platform 3; the loading arm body includes: an inner arm 7, an outer arm 10, an extension arm 18 and a hose 19, the length of the outer arm 10 being set to 10 meters; the inner arm 7 is close to one end of the rotary platform 3 and is movably connected with the rotary joint I5, the rotary joint I5 is fixedly arranged on the supporting seat 4, a side arm of the inner arm 7 is connected with the oil cylinder II 13, the oil cylinder II 13 is movably connected to the rotary platform 3, one end of the inner arm 7 far away from the rotary platform 3 is connected with the rotary joint II 9, the oil cylinder II 13 can adjust the inner arm 7 to perform rotary motion between the rotary joint I5 and the rotary joint II 9, the rotary joint II 9 is also movably connected with one end of the outer arm 10, the other end of the outer arm 10 far away from the rotary joint II 9 is movably connected with the rotary joint III 15, an oil cylinder III 14 is movably connected between the inner arm 7 and the outer arm 10, and an output shaft of the oil cylinder III 14 is connected with the outer arm 10; the third rotary joint 15 is further connected with one end of an extension arm 18, the other end of the extension arm 18 is connected with one end of a hose 19, the other end of the hose 19 is fixedly provided with a quick joint 21 through a flange, the hose 19 is provided with a steel wire rope 20, the steel wire rope 20 can adjust the hose 19, the steel wire rope 20 is wound on a second pulley 16, the second pulley 16 is movably connected with a guide support 12, one end of the guide support 20, which is far away from the second pulley 16, is connected with the third rotary joint 15, the guide support 12 is connected with a first oil cylinder 11, an output shaft of the first oil cylinder 11 is connected with the guide support 12, the first oil cylinder 11 is movably connected with the outer arm 10 to bypass the second pulley 6, the steel wire rope 20 is further wound on a third pulley 17, the third pulley 17 is arranged on the lower side of the outer arm 10, the steel wire rope 20 is then wound on the first pulley 8, and is wound on the rope drum 6 through the first pulley 8, the first pulley 8 is connected with the upper side of the inner arm 7, and the lower side of the inner arm 7 is arranged on the lower side of the rope drum 7; the loading arm base 2 is arranged on the deck 1 of the ship body, a control panel is arranged above the rotary platform 3, a plurality of travel switches are arranged on the control panel, and the travel switches are used for controlling the movement of the rotary platform 3, the first oil cylinder 11, the second oil cylinder 13 and the third oil cylinder 14 and realizing automatic control by using a PLC control system.
In addition, as shown in fig. 2, this embodiment further includes a hose fixing plate, the hose fixing plate 22 is connected to the quick connector 21, the hose fixing plate 22 has a cavity, an end portion of the hose 19 is placed inside the cavity, the hose fixing plate 22 further has an opening, the hose 19 is connected to the extension arm 18 through the opening, the movement of the end portion of the hose 19 is restrained by guiding the movement of the hose connected by the guiding support guiding wire rope, only the movement of the end portion of the hose 19 is restrained, the movement of the hose 19 under multiple degrees of freedom is not affected, the problem of instability in the hose traction process is solved, and the hose traction cannot be completed in severe weather due to instability in the hose traction process is prevented.
The embodiment of the application also discloses a method for using the ship-to-ship loading and unloading arm, which comprises the following steps:
when the ship-to-ship loading arm is not used normally, the loading arm main body is rotated inside the ship body through the rotation of the rotary platform 3; meanwhile, the first oil cylinder 11 drives, guides and supports the third rotary joint 15 to rotate to a horizontal position; the steel wire rope 20 is retracted by the rotary rope drum 6, and the hose 19 and the extension arm 18 are driven to rotate to the horizontal position under the action of the rotary joint III 15; the third oil cylinder 14 drives the outer arm 10 to rotate to a horizontal position between the second rotary joint 9 and the third rotary joint 15; the inner arm 7 is driven by the oil cylinder II 13 to rotate to a horizontal position under the action of the rotary joint I5; the ship-to-ship loading and unloading arm is placed on the inner side of the deck 1, so that the ship-to-ship loading and unloading arm can be stably placed in the running process, and damage to the ship-to-ship loading and unloading arm caused by the device is prevented;
when the inner arm 7 is required to be assembled and disassembled, the inner arm 7 is driven by the oil cylinder II 13 to rotate to a working position under the action of the rotary joint I5; the third oil cylinder 14 drives the outer arm 10 to rotate to a working position between the second rotary joint 9 and the third rotary joint 15; the first oil cylinder 11 drives the guide support to rotate to a working position under the action of the third rotary joint 15; the rotating rope drum 6 releases the steel wire rope 20 to drive the extension arm 18 and the hose 19 to rotate to a working position under the action of the rotary joint III 15, so that the main body of the loading and unloading arm is unfolded, the length of the main body is set to be longer through the outer arm 10 and the guide support 12, the hose 19 is stretched out to the object ship under the guide of the guide support 12 through the steel wire rope 20, and the main body of the loading and unloading arm is butted through a quick connector.
The arrangement of the rotary platform ensures the connection and the loading and unloading of all directions on site and ensures the butting freedom degree in the space range by arranging the connecting hose of the ship-to-ship loading and unloading arm extension arm. The ship to ship loading and unloading arm is quickly unfolded and is in butt joint with the object ship through controlling the lifting of the steel wire rope 20, the inner arm 7 and the outer arm 10, meanwhile, the ship to ship loading and unloading arm can be controlled remotely, and the physical strength requirements of a shipman on ship fluid loading and unloading are reduced through the integrated automation of a control system, so that the ship to ship fluid loading and unloading can be supplied and unloaded in a general severe weather, and the risk of sea falling of the shipman during ship to ship loading and unloading is avoided.
While the foregoing describes the illustrative embodiments of the present invention so that those skilled in the art may understand the present invention, the present invention is not limited to the specific embodiments, and all inventive innovations utilizing the inventive concepts are herein within the scope of the present invention as defined and defined by the appended claims, as long as the various changes are within the spirit and scope of the present invention.
Claims (1)
1. A ship-to-ship cargo arm comprising:
a loading arm base (2);
the supporting seat (4) is arranged on the upper side of the loading and unloading arm base (2);
the loading and unloading arm comprises a loading and unloading arm body, wherein the supporting seat (4) is used for supporting the loading and unloading arm body, the loading and unloading arm body comprises an inner arm (7) and an outer arm (10), and the inner arm (7) is movably connected with the outer arm (10);
the hose (19) is connected with a loading arm main body, and the loading arm main body can be used for expanding the inner arm (7) and the outer arm (10) and driving the hose (19) to move;
a rotary platform (3) is arranged between the loading arm base (2) and the supporting seat (4), and the rotary platform (3) can perform rotary motion relative to the loading arm base (2);
the support seat (4) is provided with a first rotary joint (5), one end of the inner arm (7) is movably connected with the first rotary joint (5), the other end of the inner arm (7) is connected with a second rotary joint (9), and the second rotary joint (9) is also movably connected with one end of the outer arm (10);
one end of the outer arm (10) far away from the rotary joint II (9) is movably connected with a rotary joint III (15), the rotary joint III (15) is also movably connected with one end of an extension arm (18), and the other end of the extension arm (18) is connected with one end of the hose (19);
one end of the hose (19) far away from the extension arm (18) is fixed with a quick connector (21) through a flange;
the hose (19) is connected with a steel wire rope (20), and the steel wire rope (20) is sequentially wound on a second pulley (16), a third pulley (17) and a first pulley (8) and is wound on the rope drum (6);
the pulley II (16) is movably connected with a guide support (12), the guide support (12) is used for supporting the pulley II (16), the pulley III (17) is arranged on the lower side of the outer arm (10), the pulley I (8) is connected on the upper side of the inner arm (7), and the rope drum (6) is arranged on the lower side of the inner arm (7);
the end part of the hose (19) is connected with a hose fixing plate (22), and the hose fixing plate (22) is used for stabilizing the movement of the hose (19);
an oil cylinder III (14) is movably connected between the inner arm (7) and the outer arm (10), and an output shaft of the oil cylinder III (14) is connected with the outer arm (10);
the side arm of the inner arm (7) is connected with a second oil cylinder (13), and the output shaft of the second oil cylinder (13) is connected with the inner arm (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728989.0A CN110371256B (en) | 2019-08-08 | 2019-08-08 | Ship-to-ship loading and unloading arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728989.0A CN110371256B (en) | 2019-08-08 | 2019-08-08 | Ship-to-ship loading and unloading arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110371256A CN110371256A (en) | 2019-10-25 |
| CN110371256B true CN110371256B (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910728989.0A Active CN110371256B (en) | 2019-08-08 | 2019-08-08 | Ship-to-ship loading and unloading arm |
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| Country | Link |
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| CN (1) | CN110371256B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829881A (en) * | 2020-11-19 | 2021-05-25 | 中国海洋石油集团有限公司 | System for emergency release of output hose and use method |
| CN119117189B (en) * | 2024-09-24 | 2025-03-07 | 连云港远大机械有限公司 | Automatic docking system for fluid loading and unloading arms of petrochemical ships based on image technology |
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| US4050585A (en) * | 1975-11-07 | 1977-09-27 | Ameron, Inc. | Hydraulically balanced marine loading arm |
| DE2746658A1 (en) * | 1976-10-19 | 1978-04-20 | Emh | IMPROVEMENTS TO THE EQUIPMENT USED TO CONNECT THE TANKER SHIPS TO THE SEA BORING POWERS |
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| CN109896494A (en) * | 2019-04-29 | 2019-06-18 | 安徽美诺福科技有限公司 | Automatic loading and unloading oil filling riser |
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| US2952368A (en) * | 1957-07-24 | 1960-09-13 | Stummer Wilfried | Ship cargo-handling equipment for quick reshipment of cargo |
| US4050585A (en) * | 1975-11-07 | 1977-09-27 | Ameron, Inc. | Hydraulically balanced marine loading arm |
| DE2746658A1 (en) * | 1976-10-19 | 1978-04-20 | Emh | IMPROVEMENTS TO THE EQUIPMENT USED TO CONNECT THE TANKER SHIPS TO THE SEA BORING POWERS |
| WO1980001798A1 (en) * | 1979-03-02 | 1980-09-04 | Amron Inc | Hydraulically balanced marine loading arm |
| US4393906A (en) * | 1979-10-01 | 1983-07-19 | Fmc Corporation | Stern to bow offshore loading system |
| FR2824528A1 (en) * | 2001-05-11 | 2002-11-15 | Eurodim Sa | Natural gas transfer feed for marine vessel and barge has mast on barge with pivoted feed pipe |
| CN2515185Y (en) * | 2001-11-22 | 2002-10-09 | 连云港远洋流体装卸设备有限公司 | Wharf liquid loading and unloading arm emergency release device |
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| CN210503083U (en) * | 2019-08-08 | 2020-05-12 | 苏州瀚隆石化装备有限公司 | A ship-to-ship loading and unloading arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110371256A (en) | 2019-10-25 |
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