CN102709859A - Deicing robot for transmission line - Google Patents
Deicing robot for transmission line Download PDFInfo
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- CN102709859A CN102709859A CN2012101723263A CN201210172326A CN102709859A CN 102709859 A CN102709859 A CN 102709859A CN 2012101723263 A CN2012101723263 A CN 2012101723263A CN 201210172326 A CN201210172326 A CN 201210172326A CN 102709859 A CN102709859 A CN 102709859A
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Abstract
The invention aims to provide a deicing robot for a transmission line, which comprises two groups of deicing mechanisms, two groups of drive mechanisms, two groups of clamping mechanisms, two groups of supporting mechanisms and an obstacle-crossing mechanism, wherein each drive mechanism comprises a drive motor and a motor base; the two groups of deicing mechanisms and the two groups of clamping mechanism are fixed with the motor bases; the upper ends of the two groups of supporting mechanisms are connected with the motor bases; the supporting mechanisms are fixed on the obstacle-crossing mechanism; and the two groups of deicing mechanisms, the two groups of drive mechanisms, the two groups of clamping mechanisms and the two groups of supporting mechanisms are symmetrically and oppositely arranged. The deicing robot has the advantages that not only can various obstacles on the line be crossed, but also poles and towers can be crossed to realize automatic deicing operation among multiple lines.
Description
Technical field
What the present invention relates to is a kind of robot that has the obstacle detouring device.
Background technology
Because icing and accumulated snow on the transmission line, often cause line tripping, broken string, fall accidents such as bar, insulator arc-over and communication disruption.China brought enormous economic loss because of powerline ice-covering causes a large amount of security incidents to country in recent years.At present, utilize deicing robot that transmission line is carried out the deicing operation and be in the Preliminary Applications stage, it is low, simple to operate that the robot deicing has a cost, raises the efficiency, and ensures advantages such as Employee Security.
When using the multi-thread synchronous deicing robot deicing of transmission line, on running into line, need during obstacle the robot can leaping over obstacles, need the robot can crossing pole in the time of need striding when in one grade, finishing the work grade, continue deicing.Therefore, in order raising the efficiency, to reduce the number of times that robot was installed or unloaded to line work personnel climbing shaft tower repeatedly, to need the robot can the continuous deicing operation of obstacle detouring crossing pole for this reason.
Summary of the invention
The object of the present invention is to provide not only can crossover track on various disorders, and can stride across the removing ice of power transmission line robot that shaft tower is realized automatic de-icing operation between the many grades of circuits.
The objective of the invention is to realize like this:
Removing ice of power transmission line of the present invention robot; It is characterized in that: comprise deicing mechanism, driving mechanism, clamp system, supporting mechanism, barrier getting over mechanism; Driving mechanism comprises drive motors and motor cabinet; Deicing mechanism and clamp system and motor cabinet are fixed, and the upper end of supporting mechanism connects motor cabinet, and supporting mechanism is fixed on the barrier getting over mechanism; Described deicing mechanism, driving mechanism, clamp system, supporting mechanism have two groups and symmetry to arrange in opposite directions; Described barrier getting over mechanism comprises motor, pinion, gear wheel, left gear, right gear, tooth sector, left end tooth bar, right-hand member tooth bar, power transmission shaft, left rail, right guide rail, left telescopic arm, right telescopic arm; Motor connects pinion; Pinion connects gear wheel, and gear wheel, left gear, right gear are installed on the power transmission shaft, right gear and tooth sector engagement; Left side telescopic arm links to each other with the left end tooth bar with left rail; Right telescopic arm links to each other with the right-hand member tooth bar with right guide rail, and left gear and the engagement of left end tooth bar drive left telescopic arm and move, and tooth sector and the engagement of right-hand member tooth bar drive right telescopic arm and move.
The present invention can also comprise:
1, described barrier getting over mechanism also comprises control casing, electric rotating machine, rotary worm, revolving wormgear, rotating drive shaft, right guide rail bracket, runing rest; Right guide rail bracket is installed in right guide rail outside; Electric rotating machine, runing rest are installed in the control casing; Electric rotating machine, rotary worm, revolving wormgear link to each other successively, and revolving wormgear and right guide rail bracket are connected, and right guide rail bracket links to each other through bearing with runing rest.
2, described two supporting mechanisms are installed in respectively on the left telescopic arm of barrier getting over mechanism and on the right telescopic arm.
3, described supporting mechanism comprises support arm, support arm, support arm are swung motor, bevel pinion, bevel gear wheel, rotation axis down; Last support arm links to each other through deep groove ball bearing with following support arm; Support arm swing motor connects bevel pinion; Bevel pinion and bevel gear wheel engagement, rotation axis circumferentially connects with bevel gear wheel, and rotation axis passes down support arm and is fixed in the support arm and upward support arm swing of drive.
4, installing and locating pin on the described upward support arm is provided with spacing groove on the following support arm, and alignment pin moves along spacing groove.
5, described clamp system comprises that clamp system motor, clamp system pinion, clamp system gear wheel, axle, rotation worm gear, rotary worm, cable clamp hand; Rotary worm is installed on the axle; Rotate worm gear and connect rotary worm; Cable clamps hand connection rotary worm, and described cable clamping hand, rotation worm gear, rotary worm have two groups, and two cables clamp hands and cooperate the completion clamping, unclamp action; The clamp system gear wheel be installed in that axle is gone up and with the clamp system pinion, the clamp system pinion connects the clamp system motor.
6, also comprise the tong forearm, the tong forearm is installed in and rotates between worm gear and the cable clamping hand.
7, described deicing mechanism comprises except that ice lolly, base, rotating shaft, and the described ice lolly that removes has four, is installed on the base uniformly, and rotating shaft links to each other with driving mechanism and fixes with base.
Advantage of the present invention is: the present invention not only can crossover track on various disorders, can also stride across shaft tower and realize automatic de-icing operation between the many grades of circuits.
Description of drawings
Fig. 1 is an axonometric drawing of the present invention;
Fig. 2 is a front view of the present invention;
Fig. 3 is obstacle detouring controlling organization profile A;
Fig. 4 is obstacle detouring controlling organization profile B;
Fig. 5 is the supporting mechanism profile;
Fig. 6 is the clamp system profile.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～6, the present invention is made up of deicing mechanism I, driving mechanism II, clamp system III, supporting mechanism IV and obstacle detouring controlling organization V.
Described obstacle detouring controlling organization V is by obstacle detouring control motor 1; Motor reducer 2; Obstacle detouring control motor cabinet 3; Bearing pedestal 4; Deep groove ball bearing 5; Obstacle detouring control electric machine rotational axis 6; Motor output pinion 7; Control casing 8; Bearing (ball) cover 9; Gear wheel 10; Left gear 11; Power transmission shaft 12; Left end tooth bar 13; Left side cantilever arm 14; Left rail 15; Left rail frame 16; Right cantilever arm 17; Right guide rail 18; Right guide rail bracket 19; Right tooth bar 20; Right gear 21; Tooth sector 22; Axle sleeve 23; Right end cap 24; Deep groove ball bearing 25; Rotating drive shaft 26; Deep groove ball bearing 27; Runing rest 28; Revolving wormgear 29; Travelling gear 30; Rotary worm 31; Bearing pedestal 32; Travelling gear 33; Electric rotating machine 34 compositions such as grade.
Described supporting mechanism IV is by last support arm 35, deep groove ball bearing 36, spacing groove 37, bevel gear wheel 38, rotation axis 39, motor output rotation axis 40, bevel pinion 41, output shaft steady pin 42, motor reducer 43, motor cabinet 44, support arm swing motor 45, support arm 46 etc. constitutes down.
Described clamp system III clamps hand 47, tong forearm 48, rubber blanket 49, rotary turbine 50, bearing (ball) cover 51, deep groove ball bearing 52, worm screw 53, clamp system shell 54, clamp system motor 55, motor reducer 56, motor cabinet 57, motor output shaft steady pin 58, pinion 59, motor output rotation axis 60, gear wheel 61, axle sleeve 62 etc. by cable and forms.
In the described obstacle detouring controlling organization V; Obstacle detouring control motor 1 is fixed on the control casing 8 through obstacle detouring control motor cabinet 3 with motor reducer 2; The output shaft of obstacle detouring control motor 1 circumferentially connects with obstacle detouring control electric machine rotational axis 6 through flat key; About obstacle detouring control electric machine rotational axis 6 passes through respectively two deep groove ball bearings 5 with about two bearing pedestal 4 axial restraints; The left end of bearing pedestal 4 is by passing through screw bearing (ball) cover 9, and bearing (ball) cover 9 is with deep groove ball bearing 5 axial location simultaneously, and obstacle detouring control electric machine rotational axis 6 circumferentially connects motor output pinion 7 through flat key; Motor output pinion 7 left ends pass through the axle sleeve axial location, motor output pinion 7 and gear wheel 10 gear matched.The shaft shoulder of power transmission shaft 12 left ends is through left gear 11, axle sleeve, deep groove ball bearing and bearing left end cap axial restraint; Gear wheel 10 is through the shaft shoulder and the round nut axial restraint at power transmission shaft 12 middle parts; Right gear 20 is through the shaft shoulder, axle sleeve, bearing and right end cap 23 axial restraints of power transmission shaft 12 right-hand members, and left gear 11, gear wheel 10 and right gear 20 circumferentially connect with power transmission shaft 12 through flat key respectively.Left gear 11 cooperates with left end tooth bar 13; Left end tooth bar 13 is fixedly connected with left cantilever arm 14 through screw; Left side cantilever arm 14 is fixedly connected through screw and left rail 15, and left rail 15 cooperates the lower end of left rail frame 16 to be fixedly connected with control casing 8 with left rail frame 16.Right gear 21 cooperates with tooth sector 22; Tooth sector 22 circumferentially connects with rotating drive shaft 26 through flat key, and tooth sector 22 is through the shaft shoulder and the round nut and rotating drive shaft 26 axial restraints of rotating drive shaft 26, and rotating drive shaft 26 deep groove ball bearings 27 are fixedly connected with runing rest 28 with round nut; Right gear 21 cooperates with right tooth bar 20; Right tooth bar 20 is fixedly connected with right cantilever arm 17 through screw, and right cantilever arm 17 is fixedly connected through screw and right guide rail 18, and right guide rail 18 cooperates with right guide rail bracket 19; Right guide rail bracket 19 is through bearing and runing rest 28 axial restraints, and right guide rail bracket 19 is connected and fixed through screw and revolving wormgear 29.Revolving wormgear 29 cooperates with rotary worm 31, and rotary worm 31 is through bearing and bearing pedestal 32 axial restraints, and electric rotating machine 34 circumferentially connects with travelling gear 30 through flat key.
As shown in Figure 5; In the described support IV mechanism; Support arm swing motor 45 is fixedly connected through screw and motor cabinet 44 with motor reducer 43; Motor cabinet 44 is fixedly connected through screw and following support arm 46; Support arm swing motor 45 is fixedly connected through output shaft steady pin 42 and motor output rotation axis 40, and motor output rotation axis 40 other ends circumferentially connect with bevel pinion 41 through flat key, and the shaft shoulder axial location other end of bevel pinion 41 1 ends and motor output rotation axis 40 is through the round nut axial location.Bevel pinion 41 cooperates with bevel gear wheel 38; Be that bevel pinion 41 drives bevel gear wheel 38 rotations; Bevel gear wheel 38 is through rotation axis 39 and round nut axial location; Circumferentially connect with rotation axis 39 through flat key, promptly bevel gear wheel 38 rotation axiss 39 drive and go up support arm 35 rotations, and the boss of last support arm 35 circumferentially connects with following support arm 46 through deep groove ball bearing 36.Alignment pin on last support arm 35 boss cooperates with the spacing groove 37 of following support arm 46, promptly goes up support arm 35 along the track rotation of the spacing groove 37 of support arm 46 down.
As shown in Figure 6, described stepping up in mechanism's III, clamp system motor 55 is fixedly connected with motor reducer 56, and passes through screw on motor cabinet 57, passes through screw on the motor cabinet 57 on clamp system shell 54.The output shaft of clamp system motor 55 is fixedly connected through motor output shaft steady pin 58 and motor output rotation axis 60; The shaft shoulder of motor output rotation axis 60 and pinion 59 axial location; Pinion 59 right-hand members circumferentially connect with motor output rotation axis 60 through flat key through round nut axial location and pinion 59, and promptly clamp system motor 55 rotates through motor output rotation axis 60 and drives pinion 59 rotations.Pinion 59 cooperates with gear wheel 61, and gear wheel 61 circumferentially connects with worm shaft through flat key, and gear wheel 61 right-hand members are through the round nut axial location, and left end is through axle sleeve 62 and deep groove ball bearing axial location.Two worm screws of the two ends symmetric arrangement of worm shaft are respectively left-handed and dextrorotation, and the left-handed and dextrorotation part of worm screw 53 cooperates with two rotary turbine 50 respectively, i.e. worm screw rotation drives two rotary turbine 50 and relatively rotates.The rotary turbine axle circumferentially connects with tong forearm 48 through flat key, and tong forearm 48 is through the tight hand 47 of screw tie cable clip, and promptly the tight hand 47 of rotary turbine 50 rotating band moving-wire cable clips rotates.Rubber blanket 49 is fixedly connected through the lower end of screw and clamp system shell 54.
Operation principle: described high-voltage line automatically deicing robot obstacle detouring ice detachment is moved for hiding obstacle action, leaping over obstacles action, the action of falling cable, clamping and releases cable action, crossing pole, and is specific as follows:
1) hide obstacle action support arm swing motor 45 and drive bevel pinion 41 rotations through motor output rotation axis 40, bevel pinion 41 and bevel gear wheel 38 gear matched, bevel gear wheel 38 circumferentially connects with rotation axis 39, so rotation axis 39 rotates thereupon.Support arm 35 swings are equipped with alignment pin on the boss of last support arm 35 in one section drive of rotation axis 39, and alignment pin can only be along spacing groove 37 spacing moving, and therefore can limit support arm 35 slewing areas prevents that pivot angle is excessive.Last support arm 35 tops and driving mechanism are fixedly connected, and swing along certain angle thereby drive driving mechanism, break away from cable, realize hiding the obstacle action.
2) leaping over obstacles action obstacle detouring control motor 1 rotates through obstacle detouring control electric machine rotational axis 6 drive motor output pinions 7; Pinion 7 cooperates drive power transmission shaft 12 to rotate with gear wheel 10; Circumferentially connect with left gear 11 and right gear 21 on the power transmission shaft 12; So left gear 11 also rotates with right gear 21 thereupon, left gear 11 drives left cantilever arm 14 through the left end tooth bar 13 that cooperates and moves along left rail frame 16.Right-hand member; Right gear 21 and tooth sector 22 gear matched; Make tooth sector 22 rightabouts rotate; Tooth sector 22 cooperates with right tooth bar 20 and drives right cantilever arm 17 and move with left cantilever arm 14 rightabouts along right guide rail bracket 19, thereby relative motion when realizing left and right sides cantilever arm surmounts obstacles thereby drive front driving mechanism.
3) falling that the cable action falls the cable action after rise and to hide the cable action similar after rise, is the inverse process of hiding the cable action.
4) clamp with the releases cable action when front driving mechanism or rear drive mechanism surmount obstacles, in order to guarantee stablizing of robot, need rear drive mechanism or front driving mechanism to clamp cable.At this moment, clamp system motor 55 drives pinion 59 through motor output rotation axis 60 and rotates, pinion 59 and gear wheel 61 gear matched, and gear wheel 61 circumferentially connects with worm screw 53, so worm screw 53 is rotated thereupon.Two worm screws of the two ends symmetric arrangement of worm shaft are respectively left-handed and dextrorotation, and the left-handed and dextrorotation part of worm screw 53 cooperates with two rotary turbine 50 respectively, i.e. worm screw rotation drives two rotary turbine 50 and relatively rotates.Along with the rotation of rotary turbine 50, about two cables clamp hands 47 and also relatively rotate, thereby realize that the clamp of clamp system and loose ends move.
5) crossing pole action when robot from single line cable crossing pole when another follows cable, two cables have certain angle.At this moment, electric rotating machine 34 rotates through travelling gear 30 and travelling gear 33 driven rotary worm screws 31, and rotary worm 31 cooperates with revolving wormgear 29, and therefore, revolving wormgear 29 rotates thereupon.Revolving wormgear 29 is fixedly connected with right guide rail bracket 19, and right guide rail bracket 19 rotates through bearing 27 relative runing rests 28.The rotating band of right guide rail bracket 19 right cantilever arm pitch rotation about in the of 17.Hide obstacle action, obstacle detouring action and falling after rise under the cooperation of cable action, thereby realizing the crossing pole action.
Claims (8)
1. removing ice of power transmission line robot; It is characterized in that: comprise deicing mechanism, driving mechanism, clamp system, supporting mechanism, barrier getting over mechanism; Driving mechanism comprises drive motors and motor cabinet; Deicing mechanism and clamp system and motor cabinet are fixed, and the upper end of supporting mechanism connects motor cabinet, and supporting mechanism is fixed on the barrier getting over mechanism; Described deicing mechanism, driving mechanism, clamp system, supporting mechanism have two groups and symmetry to arrange in opposite directions; Described barrier getting over mechanism comprises motor, pinion, gear wheel, left gear, right gear, tooth sector, left end tooth bar, right-hand member tooth bar, power transmission shaft, left rail, right guide rail, left telescopic arm, right telescopic arm; Motor connects pinion; Pinion connects gear wheel, and gear wheel, left gear, right gear are installed on the power transmission shaft, right gear and tooth sector engagement; Left side telescopic arm links to each other with the left end tooth bar with left rail; Right telescopic arm links to each other with the right-hand member tooth bar with right guide rail, and left gear and the engagement of left end tooth bar drive left telescopic arm and move, and tooth sector and the engagement of right-hand member tooth bar drive right telescopic arm and move.
2. removing ice of power transmission line according to claim 1 robot; It is characterized in that: described barrier getting over mechanism also comprises control casing, electric rotating machine, rotary worm, revolving wormgear, rotating drive shaft, right guide rail bracket, runing rest; Right guide rail bracket is installed in right guide rail outside, and electric rotating machine, runing rest are installed in the control casing, and electric rotating machine, rotary worm, revolving wormgear link to each other successively; Revolving wormgear and right guide rail bracket are connected, and right guide rail bracket links to each other through bearing with runing rest.
3. removing ice of power transmission line according to claim 2 robot is characterized in that: described two supporting mechanisms be installed in respectively on the left telescopic arm of barrier getting over mechanism with right telescopic arm on.
4. removing ice of power transmission line according to claim 3 robot; It is characterized in that: described supporting mechanism comprises support arm, support arm, support arm are swung motor, bevel pinion, bevel gear wheel, rotation axis down; Last support arm links to each other through deep groove ball bearing with following support arm, and support arm swing motor connects bevel pinion, bevel pinion and bevel gear wheel engagement; Rotation axis circumferentially connects with bevel gear wheel, and rotation axis passes down support arm and is fixed in the support arm and upward support arm swing of drive.
5. removing ice of power transmission line according to claim 4 robot is characterized in that: describedly go up installing and locating pin on the support arm, on the following support arm spacing groove is set, alignment pin moves along spacing groove.
6. removing ice of power transmission line according to claim 5 robot; It is characterized in that: described clamp system comprises that clamp system motor, clamp system pinion, clamp system gear wheel, axle, rotation worm gear, rotary worm, cable clamp hand; Rotary worm is installed on the axle, rotates worm gear and connects rotary worm, and cable clamps hand and connects rotary worm; Described cable clamping hand, rotation worm gear, rotary worm have two groups; Two cables clamp hands and cooperate and accomplish clamping, unclamp action, the clamp system gear wheel be installed in that axle is gone up and with the clamp system pinion, the clamp system pinion connects the clamp system motor.
7. removing ice of power transmission line according to claim 6 robot is characterized in that: also comprise the tong forearm, the tong forearm is installed in and rotates worm gear and cable clamps between the hand.
8. removing ice of power transmission line according to claim 7 robot; It is characterized in that: described deicing mechanism comprises except that ice lolly, base, rotating shaft; The described ice lolly that removes has four, is installed on the base uniformly, and rotating shaft links to each other with driving mechanism and fixes with base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210172326.3A CN102709859B (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210172326.3A CN102709859B (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102709859A true CN102709859A (en) | 2012-10-03 |
| CN102709859B CN102709859B (en) | 2014-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210172326.3A Expired - Fee Related CN102709859B (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Country Status (1)
| Country | Link |
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| CN (1) | CN102709859B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071291A (en) * | 2015-07-31 | 2015-11-18 | 洛阳理工学院 | Obstacle crossing clamping mechanism for deicing obstacle removing mechanical apparatus |
| CN106003079A (en) * | 2016-06-23 | 2016-10-12 | 陈晨 | Intelligent and flexible parallel-serial robot for deicing of power lines |
| CN106078679A (en) * | 2016-06-23 | 2016-11-09 | 陈晨 | A kind of mountain area high-voltage electric power circuit upkeep operation intelligent robot |
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| CN1647898A (en) * | 2004-12-10 | 2005-08-03 | 武汉大学 | Robot travelling along overhead high voltage transmission line |
| CA2463188A1 (en) * | 2004-04-15 | 2005-10-15 | Serge Montambault | Compact inspection and intervention vehicle that moves on a cable and can cross major obstacles |
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
| CN201383635Y (en) * | 2008-12-30 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN202678898U (en) * | 2012-05-30 | 2013-01-16 | 哈尔滨工程大学 | Deicing robot for transmission line |
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2012
- 2012-05-30 CN CN201210172326.3A patent/CN102709859B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2463188A1 (en) * | 2004-04-15 | 2005-10-15 | Serge Montambault | Compact inspection and intervention vehicle that moves on a cable and can cross major obstacles |
| CN1647898A (en) * | 2004-12-10 | 2005-08-03 | 武汉大学 | Robot travelling along overhead high voltage transmission line |
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
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| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071291A (en) * | 2015-07-31 | 2015-11-18 | 洛阳理工学院 | Obstacle crossing clamping mechanism for deicing obstacle removing mechanical apparatus |
| CN106003079A (en) * | 2016-06-23 | 2016-10-12 | 陈晨 | Intelligent and flexible parallel-serial robot for deicing of power lines |
| CN106078679A (en) * | 2016-06-23 | 2016-11-09 | 陈晨 | A kind of mountain area high-voltage electric power circuit upkeep operation intelligent robot |
| CN106003079B (en) * | 2016-06-23 | 2017-11-10 | 黄伟林 | A kind of series-parallel connection flexible electric deicing intelligent robot |
| CN106078679B (en) * | 2016-06-23 | 2018-09-18 | 罗军 | A kind of mountain area high-voltage electric power circuit upkeep operation intelligent robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102709859B (en) | 2014-12-03 |
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