CN110007225B - An angle and torque measuring device for high-voltage and high-current brake equipment - Google Patents
An angle and torque measuring device for high-voltage and high-current brake equipment Download PDFInfo
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- CN110007225B CN110007225B CN201811485116.3A CN201811485116A CN110007225B CN 110007225 B CN110007225 B CN 110007225B CN 201811485116 A CN201811485116 A CN 201811485116A CN 110007225 B CN110007225 B CN 110007225B
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- 238000005859 coupling reaction Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 7
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- 238000005259 measurement Methods 0.000 abstract description 7
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
- G01R1/0408—Test fixtures or contact fields; Connectors or connecting adaptors; Test clips; Test sockets
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Abstract
本发明公开了一种高压大电流拉闸设备的角度和转矩测量装置，包括陪试永磁电机，联轴器和扭矩转速传感器，被试电机执行机构，升降机构，试验台架；所述试验台架包括被试电机安装板，框架，连接结构，定位结构；所述陪试永磁电机设置在框架下部，陪试永磁电机转轴穿过连接机构底板的圆孔；所述联轴器和扭矩转速传感器包括联轴器，扭矩传感器；所述联轴器，扭矩传感器设置在连接机构内部，并与陪试永磁电机转轴相连；所述升降机构包括控制装置，升降气缸。本发明使用方便，测量精度高，便于大规模推广使用。
The invention discloses an angle and torque measuring device of a high-voltage and high-current brake device, comprising a permanent magnet motor, a coupling, a torque and rotational speed sensor, an actuator of the motor to be tested, a lifting mechanism, and a test bench; The test bench includes a test motor mounting plate, a frame, a connecting structure, and a positioning structure; the accompanying test permanent magnet motor is arranged at the lower part of the frame, and the rotating shaft of the accompanying test permanent magnet motor passes through the circular hole of the bottom plate of the connecting mechanism; the coupling The torque and rotational speed sensor includes a coupling and a torque sensor; the coupling and the torque sensor are arranged inside the connecting mechanism and are connected with the rotating shaft of the permanent magnet motor; the lifting mechanism includes a control device and a lifting cylinder. The invention is convenient to use, has high measurement accuracy, and is convenient for large-scale popularization and use.
Description
Technical Field
The invention relates to the field of motor parameter measurement, in particular to an angle and torque measuring device of high-voltage large-current brake equipment.
Background
The high-voltage and extra-high-voltage heavy-current circuit breaker is driven by a special motor actuating mechanism.
The special motor actuating mechanism is mainly characterized by extremely low rotating speed (usually less than 1 revolution per minute), large torque, and more importantly, a corresponding relation exists between the position (or angle) and the torque, so that the switching-off equipment or the circuit breaker can be better treated, otherwise, electric arcs can be generated at the moment of disconnecting the high-voltage large-current equipment.
The current motor testing equipment cannot well measure the motor with extremely low speed and large torque. The main reason is that the accompanying motor of the current motor testing equipment mainly consists of an asynchronous motor. The disadvantage of asynchronous motors is the poor control accuracy of speed, torque and position at low speeds. In the existing measuring equipment of the extremely-low-speed motor, a speed reducing mechanism is generally added to just meet the measurement requirement, but the measurement precision is difficult to meet the requirement, and when the torque and the angle have the corresponding relation requirement, the measurement cannot be accurately carried out. A measuring device which can realize accurate measurement, accurate control and easy implementation for a low-rotating-speed and large-torque motor is urgently needed in the market.
Disclosure of Invention
The invention overcomes the defects of the prior art, has convenient use and high measurement precision, and is convenient for large-scale popularization and use.
The technical scheme of the invention is as follows:
an angle and torque measuring device of high-voltage heavy-current brake equipment comprises a test-accompanying permanent magnet motor, a coupler, a torque rotating speed sensor, a tested motor executing mechanism, a lifting mechanism and a test bench, wherein the coupler is connected with the tested permanent magnet motor; the test bed comprises a frame, a connecting structure and a positioning structure; the frame comprises four upright posts, four long beams and four short beams; the upright columns are respectively arranged at four corners below the mounting plate of the tested motor and are vertically arranged; the four long beams are parallel to each other, and the four short beams are parallel to each other; the connecting structure comprises two side plates, a back plate and a bottom plate; the bottom plate is provided with a round hole, and the two side plates and the back plate are respectively provided with bolt holes; reinforcing rib plates are arranged at the upper parts of the side plates and the back plate, and a bearing seat mounting plate is arranged on the inner side surface of the back plate; the test-accompanying permanent magnet motor is arranged at the lower part of the frame, and a rotating shaft of the test-accompanying permanent magnet motor penetrates through a round hole of the connecting mechanism base plate; the coupler and the torque rotating speed sensor comprise a coupler and a torque sensor; the coupling and the torque sensor are arranged in the connecting mechanism and are connected with the rotating shaft of the test-accompanying permanent magnet motor; the positioning mechanism comprises a shaft sleeve and a square shaft fixing seat; the shaft sleeve and the square shaft fixing seat are fixed on the bearing seat mounting plate through bolts; the lifting mechanism comprises a control device and a lifting cylinder; the control device controls a lifting cylinder, and the lifting cylinder comprises four lifting stand columns and a lifting plate; a round hole is formed in the center of the lifting plate; the tested motor executing mechanism comprises a tested motor and a tested motor fixing mechanism, and a rotating shaft of the tested motor penetrates through a round hole in the center of the lifting plate.
Further, the device also comprises a control system and an absolute value encoder; the absolute value encoder monitors the position information of the tested motor and the auxiliary permanent magnet motor in real time and outputs pulse signals corresponding to the position of the two motors and other parameters one to one; the control system receives a pulse signal of the absolute value encoder and converts the pulse signal into angle information of the tested motor executing mechanism and the accompanying tested permanent magnet motor so as to judge whether the position of the tested motor executing mechanism deviates or not; when the tested motor executing mechanism is started, the accompanying permanent magnet motor is started simultaneously, the position of the tested motor executing mechanism recorded by the absolute value encoder is an initial zero point, and the accompanying permanent magnet motor outputs a torque T0 in the positive direction; when the tested motor actuating mechanism reaches the end position, the control system records the pulse number P1 of the absolute value encoder in the current stroke; when the tested motor actuating mechanism returns to the initial zero point, the control system records the pulse number P2 of the absolute value encoder in the return stroke; the tested motor executing mechanism and the accompanying permanent magnet motor do circular motion.
Further, when the tested motor executing mechanism moves in the first half cycle, the tested motor executing mechanism starts from the initial zero point, and the accompanying test permanent magnet motor outputs a forward torque of T0; when the tested motor executing mechanism moves to a first angle, the positive torque output by the accompanying tested permanent magnet motor is increased; and when the tested motor actuator moves to a second angle, the positive torque output by the accompanying permanent magnet motor is T1, the positive torque T1 is kept until the tested motor actuator moves to a third angle, the accompanying permanent magnet motor reduces the output torque, the torque is reduced to T0 when reaching a fourth angle, and the fourth angle is an end position.
Further, the tested motor executing mechanism moves to the initial zero point after reaching a fourth angle, reversely rotates, accompanies the tested permanent magnet motor to output negative torque T1 when reaching the third angle, and keeps T1 until the tested motor executing mechanism reaches a second angle; when the tested motor executing mechanism reaches the second angle, the auxiliary testing permanent magnet motor reduces the output torque, and when the tested motor executing mechanism reaches the first angle, the auxiliary testing permanent magnet motor negatively outputs the torque T0; the companion pm machine maintains the output torque of T0 until the tested motor actuator returns to the starting zero position.
Further, when the tested motor executing mechanism moves in the second half cycle, the tested motor executing mechanism starts from the initial zero point, and the auxiliary test permanent magnet motor outputs negative torque of T0; the torque change conditions of the tested motor executing mechanism and the test-accompanying permanent magnet motor are opposite to the torque change conditions of the first half-cycle motion; the accompany-testing permanent magnet motor adopts a vector control method, directly controls torque output and is controlled by a control system.
Compared with the prior art, the invention has the advantages that:
1. the motor drag test platform for the accompanying test motor is adopted, the permanent magnet synchronous motor (accompanying test motor) can actively rotate and can not actively rotate, and the motor can be accurately positioned by matching with a high-precision absolute value encoder.
2. The test bench contains motor actuating mechanism's location structure, can fix a position motor actuating mechanism fast for accompany examination motor, shaft coupling, the equipment under test accurate centering reduces the measuring error because the installation leads to.
3. The permanent magnet synchronous motor drag test platform has the advantages of high response speed, accurate positioning and high control precision, and can correct the position error of the tested motor executing mechanism.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the attached drawings
FIG. 1 is a schematic view of the overall structure of an angle and torque measuring device of a high-voltage heavy-current brake equipment according to the present invention;
FIG. 2 is an enlarged view of a portion of area A of FIG. 1;
FIG. 3 is a diagram showing the angle of the high-voltage heavy-current switching device and the corresponding relationship between the angle and the torque of the torque measuring device;
FIG. 4 is a flow chart of the working process of the angle and torque measuring device of the high-voltage heavy-current brake equipment of the present invention;
the figure is marked with: tested motor actuating mechanism 1, shaft coupling and torque speed sensor 2, test bench 3, accompany examination permanent-magnet machine 4, square shaft fixing base 5, torque sensor 6, shaft coupling 7, axle sleeve 8.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in figures 1 to 4, the angle and torque measuring device of the high-voltage large-current switching-off equipment comprises a test accompanying permanent magnet motor 4, a coupler, a torque rotating speed sensor 2, a tested motor executing mechanism 1, a lifting mechanism and a test bench 3. In the scheme, the double-motor counter-dragging test system is adopted, two motor rotating bearings are connected in a centering mode, a motor to be tested is called a tested motor, the other motor serves as a test standard reference object and is called a test accompanying motor, and the test accompanying motor is a permanent magnet synchronous motor for facilitating control. For convenience of explanation, the trial-and-error motor is referred to as a trial-and-error permanent magnet motor in the present scheme. A general double-motor counter-dragging test adopts a technical scheme of horizontal placement, namely, the accompanying permanent magnet motor 4 and the tested motor actuating mechanism 1 are arranged on the same horizontal plane, and rotating shafts of the two motors are connected. In order to better measure the tested motor, the design of the scheme adopts a vertical placement structure, namely, the accompanying test permanent magnet motor 4 and the tested motor executing mechanism 1 are arranged on the same vertical surface, and rotating shafts of the two motors are connected.
The test bench 3 comprises a tested motor mounting plate, a frame, a connecting structure and a positioning structure. The tested motor mounting plate is rectangular, a round hole is formed in the middle of the tested motor mounting plate, five stepped round holes are formed in the left side and the right side of the front of the tested motor mounting plate respectively, and the stepped round holes are used for mounting bolts, so that the connection strength with other components is improved. Three stepped round holes are respectively formed in two sides of the rear part of the tested motor mounting plate. Four angles of the tested motor mounting plate are respectively provided with a lifting hole which is matched with the lifting mechanism. The frame comprises four upright posts, four long beams and four short beams; the upright columns are respectively arranged at four corners below the mounting plate of the tested motor and are vertically arranged; the long beams are respectively arranged in the front and the rear of the tested motor mounting plate, the short beams are arranged on the left and the right of the tested motor mounting plate, the four long beams are parallel to each other, and the four short beams are parallel to each other. The frame is used for supporting the whole device, and the inaccuracy of the measuring result caused by vibration in the measuring process is avoided. Positioning mechanism can fix a position by motor actuating mechanism 1 fast for accompany examination permanent-magnet machine 4, shaft coupling and torque speed sensor 2, by the accurate centering of motor actuating mechanism 1 of trying.
The connecting structure comprises two side plates, a back plate and a bottom plate, and the connecting mechanism is used for supporting the coupler and the torque and rotation speed sensor 2. The bottom plate is provided with a round hole, and the two side plates and the back plate are respectively provided with bolt holes; and the upper parts of the side plates and the back plate are provided with reinforcing rib plates, so that the connection strength is improved. And a bearing seat mounting plate is arranged on the inner side surface of the back plate and used for mounting a bearing seat. And the connecting mechanism is connected with the tested motor mounting plate through a bolt. The accompanying permanent magnet motor 4 is arranged on the lower portion of the frame, and a rotating shaft of the accompanying permanent magnet motor 4 penetrates through a round hole of the connecting mechanism bottom plate.
The coupling and torque speed sensor 2 comprises a coupling 7 and a torque sensor 6. Shaft coupling 7, torque sensor 6 sets up inside coupling mechanism to link to each other with 4 pivots of accompanying examination permanent-magnet machine, thereby the transmission accompanies the moment of torsion of examination permanent-magnet machine 4, and shaft coupling and torque speed sensor 2 still possess moment of torsion monitoring adjustment function simultaneously, owing to accompany examination permanent-magnet machine 4 and have the accurate characteristics of regulation and control, combines shaft coupling and torque speed sensor 2's monitoring function, can guarantee to accompany the accurate reliable of the moment of torsion of examination permanent-magnet machine 4 output. The torque sensor 6 is of 500Nm specification. The positioning mechanism comprises a shaft sleeve 8 and a square shaft fixing seat 5; the shaft sleeve 8 and the square shaft fixing seat 5 are fixed on the bearing seat mounting plate through bolts. The shaft sleeve 8 is circular, the square shaft fixing seat 5 is circular, and a square hole is formed in the middle of the square shaft fixing seat and used for being matched with a rotating shaft of the test-accompanying permanent magnet motor 4. Through the shaft coupling and torque speed sensor 2, positioning mechanism links to each other tested motor and accompany examination permanent-magnet machine 4. Through the accurate design processing to positioning mechanism, guaranteed to accompany the reliable connection of trying permanent-magnet machine 4 and being tried the motor, can not take place the deviation of position.
The lifting mechanism comprises a control device and a lifting cylinder; elevating system can quick replacement by examination motor actuating mechanism 1, improves detection efficiency, and accommodation is wider. The control device controls a lifting cylinder, the lifting cylinder comprises four lifting stand columns and a lifting plate, the lower ends of the four lifting stand columns respectively penetrate through lifting holes of a tested motor mounting plate, and the upper ends of the four lifting stand columns are connected with the lifting plate; the lifting plate is rectangular, and the upper surface of the lifting plate is provided with a tested motor actuating mechanism 1; a round hole is formed in the center of the lifting plate; the tested motor executing mechanism 1 comprises a tested motor and a tested motor fixing mechanism, and a rotating shaft of the tested motor penetrates through a round hole in the center of the lifting plate. The tested motor fixing mechanism is arranged on the tested motor mounting plate.
Preferably, the system further comprises a control system, an absolute value encoder and a driver. The absolute value encoder monitors the position information of the tested motor in real time, and the position information comprises parameters such as rotating speed, current position (angle), distance from a zero position and the like. It is noted that the tested motor and the accompanying permanent magnet motor 4 are rigidly connected shaft to shaft, and the real-time rotating speed and the real-time position are completely the same. The absolute value encoder thus monitors the parameters of both motors simultaneously. And the absolute value encoder outputs pulse signals corresponding to the parameters such as the positions of the two motors one by one. The control system receives the pulse signals of the absolute value encoder and converts the pulse signals into information of the tested motor actuating mechanism 1 and the tested permanent magnet motor 4, so that whether the position of the tested motor actuating mechanism 1 deviates or not is judged. The driver is arranged on the right side of the test bench 3, and provides driving force for the whole device and controls the device. The energy source of the driver is derived from an external power supply.
When the tested motor executing mechanism 1 is started, the accompanying permanent magnet motor 4 is started simultaneously, the position of the tested motor executing mechanism 1 recorded by the absolute value encoder is the initial zero point, and the positive output torque T0, T0 of the accompanying permanent magnet motor 4 is very small and close to 0. When the tested motor actuating mechanism 1 reaches the end position, the control system records the pulse number P1 of the absolute value encoder in the current stroke; when the tested motor actuating mechanism 1 returns to the initial zero point, the control system records the pulse number P2 of the absolute value encoder in the return stroke; the tested motor executing mechanism 1 and the accompanying permanent magnet motor 4 do circular motion. Comparing the number of the two pulses, if P1 is greater than P2, indicating that the tested motor executing structure 1 does not return to the initial zero point accurately during return stroke, actively sending an instruction to the accompanying permanent magnet motor 4 by the control system, and enabling the accompanying permanent magnet motor 4 to rotate by P1-P2 pulse angles; if the P1 is smaller than the P2, the situation shows that the tested motor execution structure 1 does not exceed the initial zero point during return trip, and the control system actively sends a command to the accompanying permanent magnet motor 4 to rotate in the reverse direction for P2-P1 pulse angles. It is pointed out here that the torque in fig. 3 is the same concept as the torque described hereinbefore. The permanent magnet synchronous motor towing test platform has the advantages that the permanent magnet synchronous motor (the accompanying test motor) can rotate actively and can not rotate actively, and the motor can be positioned accurately by matching with a high-precision absolute value encoder. By utilizing the characteristic, the position error of the tested motor actuator can be corrected.
Preferably, when the tested motor actuator 1 moves in the first half cycle, the tested motor actuator 1 starts from the initial zero point, and the accompanying permanent magnet motor 4 outputs the positive torque of T0. When the tested motor executing mechanism 1 moves to reach the first angle a1, the positive torque output by the accompanying permanent magnet motor 4 is increased. The tested motor executing mechanism 1 moves to a second angle a2, the positive torque output by the accompanying permanent magnet motor 4 is T1, and the torque rising slope is according to the first angle a1At a second angle a2The relationship with torque can be calculated, i.e. the rising slope
Keeping the positive torque T1 until the tested motor actuator 1 moves to a third angle a3, after which the test permanent magnet motor 4 reduces the output torque, and when the fourth angle a4 is reached, the torque drops to T0, and the torque drop slope is
The fourth angle a4 is the end position.
Preferably, the tested motor actuator 1 moves to the initial zero point after reaching the fourth angle a4 and rotates reversely, the test permanent magnet motor 4 outputs negative torque, when the tested motor actuator 1 reaches the third angle a3, the test permanent magnet motor 4 outputs negative torque T1, and the torque rising slope is
And remains T1 until the tested motor actuator 1 reaches the second angle a 2. When the tested motor actuating mechanism 1 reaches the second angle a2, the output torque of the permanent magnet motor 4 is reduced, and when the tested motor actuating mechanism 1 reaches the first angle a1, the negative output torque T0 of the permanent magnet motor 4 is tested. The torque down slope is
The attendant permanent magnet motor 4 maintains the output torque of T0 until the motor actuator 1 is tested back to the starting zero position.
Preferably, when the tested motor actuating mechanism 1 moves in the second half cycle, the tested motor actuating mechanism 1 starts from the initial zero point, and the accompanying permanent magnet motor 4 outputs negative torque of T0; the torque change conditions of the tested motor executing mechanism 1 and the accompanying permanent magnet motor 4 are opposite to the first half-cycle motion. The method specifically comprises the following steps:
the accompany-testing permanent magnet motor 4 keeps outputting negative torque T0Until it is monitored that the tested motor actuator 1 reaches the position b1In the process, the permanent magnet motor 4 under test immediately increases the negative torque output, so that the position of the actuating mechanism 1 of the tested motor reaches b2When the torque just rises to T1(the gradient of torque rise is according to b1And b2And T0And T1Can calculate that
). Then the permanent magnet motor 4 is tested to keep the negative constant torque T1Output to tested motorActuator 1 position b3。
When the control system monitors that the position of the tested motor actuating mechanism 1 reaches b3When the torque of the permanent magnet motor 4 is reduced, the torque output of the test-accompanying permanent magnet motor is immediately reduced, so that the position of the tested motor actuating mechanism 1 reaches b4The torque of the permanent magnet motor 4 is just reduced to T0(the gradient of the torque drop is
)。
When the control system monitors that the tested motor executing mechanism 1 rotates forwards, the forward torque output of the accompanying permanent magnet motor 4 is increased immediately, so that the position of the tested motor executing mechanism 1 reaches b3When the torque just reaches T1(the gradient of the torque rise is
). Then the permanent magnet motor 4 is tested to keep the positive constant torque T1Outputting until the position of the tested motor actuator 1 reaches b2。
When the control system monitors that the position of the motor reaches b2When the torque of the permanent magnet motor 4 is reduced, the torque output of the test-accompanying permanent magnet motor is immediately reduced, so that the position of the tested motor actuating mechanism 1 reaches b1The torque of the permanent magnet motor 4 is just reduced to T0(the gradient of the torque drop is
). Then accompany and try out permanent-magnet machine 4 and keep moment of torsion T0The output is carried out until the tested motor actuator 1 returns to the starting zero point position.
The accompany-testing permanent magnet motor 4 adopts a vector control method, directly controls torque output and is controlled by a control system.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the spirit of the present invention, and these modifications and decorations should also be regarded as being within the scope of the present invention.
Claims (1)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485116.3A CN110007225B (en) | 2018-12-06 | 2018-12-06 | An angle and torque measuring device for high-voltage and high-current brake equipment |
| CN202110210059.3A CN113064071B (en) | 2018-12-06 | 2018-12-06 | Angle and torque measurement system for high-current brake equipment |
| CN202110209369.3A CN113064068B (en) | 2018-12-06 | 2018-12-06 | Angle and torque measurement system for high-voltage large-current brake equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485116.3A CN110007225B (en) | 2018-12-06 | 2018-12-06 | An angle and torque measuring device for high-voltage and high-current brake equipment |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110209369.3A Division CN113064068B (en) | 2018-12-06 | 2018-12-06 | Angle and torque measurement system for high-voltage large-current brake equipment |
| CN202110210059.3A Division CN113064071B (en) | 2018-12-06 | 2018-12-06 | Angle and torque measurement system for high-current brake equipment |
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| Publication Number | Publication Date |
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| CN110007225A CN110007225A (en) | 2019-07-12 |
| CN110007225B true CN110007225B (en) | 2021-03-23 |
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| CN202110209369.3A Active CN113064068B (en) | 2018-12-06 | 2018-12-06 | Angle and torque measurement system for high-voltage large-current brake equipment |
| CN201811485116.3A Active CN110007225B (en) | 2018-12-06 | 2018-12-06 | An angle and torque measuring device for high-voltage and high-current brake equipment |
| CN202110210059.3A Active CN113064071B (en) | 2018-12-06 | 2018-12-06 | Angle and torque measurement system for high-current brake equipment |
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| CN113640667B (en) * | 2021-08-20 | 2023-12-19 | 东风汽车集团股份有限公司 | Automatic calibration method and system for EOL off-line zero point of motor |
| WO2023115525A1 (en) * | 2021-12-24 | 2023-06-29 | 浙江大学台州研究院 | Angle and torque measurement system for high-voltage large-current switching-out device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110007225A (en) | 2019-07-12 |
| CN113064068B (en) | 2022-05-17 |
| CN113064071A (en) | 2021-07-02 |
| CN113064068A (en) | 2021-07-02 |
| CN113064071B (en) | 2022-05-17 |
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