EP3480419B1 - Dispositif formant tarière hélicoïdale et procédé de formation d'un dispositif formant tarière hélicoïdale - Google Patents

Dispositif formant tarière hélicoïdale et procédé de formation d'un dispositif formant tarière hélicoïdale Download PDF

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Publication number
EP3480419B1
EP3480419B1 EP17199636.6A EP17199636A EP3480419B1 EP 3480419 B1 EP3480419 B1 EP 3480419B1 EP 17199636 A EP17199636 A EP 17199636A EP 3480419 B1 EP3480419 B1 EP 3480419B1
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EP
European Patent Office
Prior art keywords
steel cable
drill
arrangement according
auger
annular
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.)
Active
Application number
EP17199636.6A
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German (de)
English (en)
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EP3480419A1 (fr
Inventor
Konrad Heckl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bauer Spezialtiefbau GmbH
Original Assignee
Bauer Spezialtiefbau GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Bauer Spezialtiefbau GmbH filed Critical Bauer Spezialtiefbau GmbH
Priority to EP17199636.6A priority Critical patent/EP3480419B1/fr
Priority to US16/758,322 priority patent/US11208852B2/en
Priority to PCT/EP2018/075460 priority patent/WO2019086164A1/fr
Priority to CN201880069686.6A priority patent/CN111247306A/zh
Publication of EP3480419A1 publication Critical patent/EP3480419A1/fr
Application granted granted Critical
Publication of EP3480419B1 publication Critical patent/EP3480419B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/02—Couplings; joints
    • E21B17/04—Couplings; joints between rod or the like and bit or between rod and rod or the like
    • E21B17/046—Couplings; joints between rod or the like and bit or between rod and rod or the like with ribs, pins, or jaws, and complementary grooves or the like, e.g. bayonet catches
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B10/00—Drill bits
    • E21B10/44—Bits with helical conveying portion, e.g. screw type bits; Augers with leading portion or with detachable parts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/02—Couplings; joints
    • E21B17/04—Couplings; joints between rod or the like and bit or between rod and rod or the like
    • E21B17/046—Couplings; joints between rod or the like and bit or between rod and rod or the like with ribs, pins, or jaws, and complementary grooves or the like, e.g. bayonet catches
    • E21B17/0465—Couplings; joints between rod or the like and bit or between rod and rod or the like with ribs, pins, or jaws, and complementary grooves or the like, e.g. bayonet catches characterised by radially inserted locking elements
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • E21B17/22—Rods or pipes with helical structure
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D5/00—Bulkheads, piles, or other structural elements specially adapted to foundation engineering
    • E02D5/22—Piles

Definitions

  • the invention relates to a screw drill arrangement with a first drill part and a second drill part, which are tubular or rod-shaped and in which at least one drill part is provided on the outside with a screw turn, the drill parts having at least one of their end regions connecting sections, wherein a first connection section is designed as a sleeve-like nut part with keyway elements and a second connection section as a mandrel-like father part with keyway elements, the father part and nut part being axially inserted into one another to form a releasable, rotationally fixed connection, according to the preamble of claim 1.
  • Such an auger arrangement is used in particular in the formation of so-called endless augers, which are used in particular to create piles in the ground.
  • the auger must have a length that corresponds at least to the depth of the hole to be drilled in the ground.
  • the auger drill has one or more continuous screw turns on its outside, which are used to remove the soil material from the borehole.
  • the individual drill parts typically have a length of several meters. At their end sides, the drill parts are provided with connecting sections with which they can be inserted and connected to one another.
  • a worm drill arrangement is, for example, from the DE 10 2006 022 613 B4 forth.
  • the auger parts can be axially secured by means of cone bolts, which have a screw thread, by screwing the cone bolts radially inwards from the outside.
  • cone bolts which have a screw thread
  • a drill pipe arrangement is known in which a radially directed and spring-mounted snap pin is provided on a spike-like connecting section of a drill pipe element.
  • the snap pin is first pushed back in order to then snap radially outward into a locking hole.
  • This publication also shows the use of a U-shaped clamping bracket, which can also be inserted tangentially into latch recesses.
  • a rotary drill pipe with a connecting device with another snap pin also goes out of the DE 28 56 126 C2 forth.
  • a modular auger drill is still out of the EP 2 487 320 B1 known.
  • a central receiving shaft is provided on a drill bit, on which several spiral sheet metal sections can be attached.
  • the spiral plate sections are screwed along the abutting edges of the spiral plates.
  • a generic auger arrangement is from the GB 2 276 217 A known. With this arrangement, support suspension located in the borehole can be in the region of penetrate external keyway elements.
  • a plug connection for drill pipes goes out of the EP 0 204128 A2 out, the keyway elements are on the inside.
  • the EP 0438 296 A2 discloses a sleeve-shaped connecting member for pipe elements to be connected.
  • the invention is based on the object of specifying a worm drill arrangement which enables simple and at the same time stable and tight connection of several drill parts to form the worm drill arrangement.
  • an annular inner groove is provided on an inner wall of the nut part, that an annular outer groove is introduced on an outer wall of the male part, that in an assembled state of the mother part and male part, the inner groove and outer groove lie opposite one another and form an annular space that at least one insertion opening is formed on an outer wall of the nut part with a passage to the annular inner groove and that a flexible steel cable is inserted into the annular space via the insertion opening and completely or largely fills it to form an axial securing means.
  • a basic idea of the invention is to provide corresponding connecting sections with a sleeve-shaped nut part and a mandrel-like father part for connecting drill parts of a screw drill arrangement, wherein at least one drill part has an external screw turn.
  • an annular inner groove is arranged on an inner wall of the nut part and an annular outer groove is arranged on an outer wall of the mandrel-like father part in such a way that they lie opposite one another in an assembled state.
  • a rotationally fixed connection is achieved in that corresponding keyway elements on the nut part and the father part engage in one another for torque transmission in the circumferential direction.
  • an insertion opening with a passage to the annular inner groove is provided on the nut part.
  • a flexible steel cable can be inserted into the common annular space, which is formed by the inner groove and the outer groove in the assembled state. Due to its flexibility, the steel cable can follow the curved annular space and be inserted into it in such a way that the annular space is completely or largely filled.
  • the steel cable thus represents an axial locking element.
  • the outer diameter of the steel cable and the inner diameter of the annular space form a clearance fit.
  • the common annular space and the steel cable are preferably circular in cross section.
  • the inner groove and the outer groove each have a semicircular cross section.
  • Other cross sections, such as angular ones, are basically possible.
  • a steel cable as a locking element is very inexpensive and stable. Due to its flexibility, it can be easily inserted into an annular space, with a positive locking being achieved practically over the entire circumference of the tubular connecting section. A steel cable is also very robust overall and less susceptible to wear.
  • a plurality of outer grooves and a plurality of inner grooves are provided which form a plurality of annular spaces in the assembled state. Multiple locking can be achieved in this way.
  • Two, three or more annular spaces are preferably arranged parallel to one another on a connecting section. Basically, the annular spaces formed are closed in the circumferential direction. However, the annular spaces could also have a certain helical shape, it being possible to achieve multiple wrapping and multiple locking with a single steel cable.
  • the grooves can be arranged at any point on the connecting sections. From the point of view of wear, it is particularly expedient for the inner grooves and the outer grooves to lie behind the keyway elements in a plug-in direction in a connecting section. This preferably applies to the inner father part, while the arrangement on the outer mother part is reversed accordingly.
  • the keyway elements are thus closer to the free end of the respective connecting section. The keyway elements can thus be used to achieve a first mechanical connection and guidance when plugging together.
  • a sealing area is arranged on at least one connecting section. Sealing areas which correspond to one another are preferably provided on the two opposite connecting sections, so that a seal is achieved in the area of the connection. This is particularly advantageous when the auger assembly is tubular with an inner tube
  • Cavity is, which is provided for the passage of drilling suspension, compressed air or concrete.
  • the sealing area has at least one sealing ring.
  • an annular groove for receiving a sealing ring in particular an O-sealing ring, can preferably be provided in one of the sealing areas.
  • the corresponding surrounding sealing area can have a smooth sealing surface, on which the sealing ring comes to bear sealingly.
  • the keyway elements lie between the sealing area and the inner grooves or the outer grooves.
  • the arrangement of the sealing area in a front area can prevent, in particular, a curable liquid from penetrating into the intermediate space between the connecting elements and in particular contaminating the keyway elements or the inner and outer grooves.
  • the steel rope can preferably be an elastically flexible wire made of a uniform material or a braided rope with several steel rope fibers.
  • Steel rope is to be understood in particular as a rope which is formed from an iron-containing steel or a corresponding stable metal or a material with comparable strength and flexibility. It is particularly preferred that a stop element is attached to the flexible steel cable at a section. The stop element ensures that the steel cable can easily be pulled out of the common annular space to release the connection.
  • the stop element can be received in the insertion opening.
  • the insertion opening has a dimensioning that allows the stop element to be received completely or at least partially in the insertion opening.
  • the stop element preferably does not protrude from the insertion opening, so that in a drilling operation it is not exposed to wear, or only to a small extent, by the floor material being swept past.
  • the insertion opening can be covered by a clamp or the like.
  • the stop element is dimensioned larger than the passage to the annular space, so that the steel cable only up to the stop element in the annulus can be inserted. This allows the steel cable to be gripped and released safely from the annular space.
  • a particularly good handling is achieved according to a further embodiment variant according to the invention in that the insertion opening is designed as an elongated hole which extends along part of the annular space and in that the stop element has a length which is less than the length of the elongated hole in the insertion opening.
  • the flexible steel cable has an insertion tip at a front end.
  • the insertion tip can be formed directly on the steel cable or can be formed by applying a corresponding part with a conical shape.
  • a further preferred embodiment of the invention can be seen in that the stop element is arranged at a distance from a rear end of the flexible steel cable, a free-standing locking section of the steel cable being formed, which is used for pushing the steel cable into the annular space on both sides.
  • the free-standing locking section and the length of the stop element are designed in such a way that they can preferably be inserted entirely into the insertion opening, in particular an elongated hole, in a first insertion direction.
  • the steel cable can then be displaced in the opposite direction within the annular space with the stop element, the free-standing locking section likewise being received in the annular space formed.
  • the stop element is secured on both sides by sections of the steel cable in the annular space, so that there is good positional security.
  • a method for the invention is characterized in that a first drill part and a second drill part are axially inserted into one another, which have at least one nut part or a male part, that in the assembled state by an annular inner groove on an inner wall of the nut part and by an annular outer groove a common annular space is formed on an outer wall of the nut part, and a flexible steel cable is inserted via an insertion opening on an outer wall of the nut part via a passage completely or largely fills the annular space, an axial securing device being formed between the first drill part and the second drill part.
  • the method is intended to form a screw arrangement which has been described above.
  • the advantages described above can be achieved here.
  • a worm drill arrangement 10 is schematic when a first drill part 12 and a second drill part 14 are plugged together Fig. 1 shown.
  • the first drill part 12 has at one end a first connecting section 20, which is designed as a nut part 21 with a receiving space.
  • a mandrel-like father part 41 can be inserted, which is formed on a second connecting section 40 on the adjacent second drill part 14.
  • snail is right-handed, but can also be left-handed.
  • the auger arrangement 10 is used, in particular, to create bores in the ground, for example for producing ground piles, for example for foundations.
  • the auger assembly 10 can be constructed from a plurality of drill parts which, as will be described below, are interconnected. At the lower end of the auger arrangement 10 there is usually a soil-removing tool, while at the other upper end a connection to a rotary drilling drive and possibly a fluid connection for supplying a fluid, for example drilling suspension or a hardenable mass, are arranged in the interior of the auger arrangement 10.
  • first connecting section 20 with the nut part 21 is in the Figures 2 to 4 each shown without the tube body and the screw turn.
  • the nut part 21 is sleeve-shaped with an open end 22 into which the father part 41 can be inserted.
  • first keyway elements 21 are in a central region of the receiving space of the nut part 24 trained. Between the first keyway elements 24 and the open end 22, two inner grooves 30 with a semicircular groove cross section are machined on an inner wall 28.
  • two insertion openings 38 are formed as elongated holes, as can be seen in FIG Fig. 3 is shown.
  • the insertion openings 38 are each connected to one of the grooves 30 via a passage.
  • a steel cable can be inserted through the insertion openings 38 to form an axial securing device, as will be described in more detail below.
  • a first fastening section 34 is formed, to which the tubular base body for forming the first drill part 12 can be attached, in particular welded on.
  • a first sealing region 26 with a cylindrical inner wall is arranged between the first fastening section 34 and the first keyways 24. This first sealing area 26 serves to receive a corresponding sealing area, which is formed on the associated father part 41, as will be described in more detail below.
  • the first connecting section 20 with the nut part 21 can be made in one piece or as a multi-part welding part, as in the alternative design variants according to FIGS Figures 2 and 3 is shown.
  • a matching second connecting section 40 is shown with a male part 41, which in the female part 21 according to the Figures 2 to 4 is insertable.
  • the mandrel-like and tubular father part 41 has at its front end a second sealing area 46 with grooves 47 for receiving sealing rings.
  • the second sealing area 46 is designed such that it forms a fluid-tight seal in the inserted state with the first sealing area 26 on the nut part 21.
  • second keyway elements 44 are formed on an outside of the male part 41. These correspond to the first keyway elements 24 on the nut part 21, so that they can be axially inserted into one another in order to form a torque-transmitting connection area, such as Fig. 7 shows.
  • each drill part 12, 14 can have a first connecting section 20 and a second connecting section 40 at opposite ends.
  • FIGS Figures 7 and 8 A cooperation of the first and second keyway elements 24, 44 is clearly shown in FIGS Figures 7 and 8 shown.
  • the length and width of the first keyway elements 24 on the nut part 21 and the second keyway elements 44 on the father part 41 are designed accordingly, so that they can be inserted axially into one another.
  • the flanks of the keyway elements 24, 44 lie against one another and can be used for torque transmission between the nut part 21 and the father part 41.
  • Fig. 7 the two insertion openings 38 on the nut part 21 are additionally indicated schematically.
  • FIGS. 1 to 9 show the subject of the invention on a reduced scale, while in the following Figures 10 to 12 a steel cable 70 provided for the invention is shown on a different, larger scale.
  • the show Figures 10 and 11 a first steel cable 70 according to the invention with a basic cable body 72. At one end of the basic cable body 72, an insertion tip 74 is formed, which is used to insert the steel cable 70 via the insertion opening 38 in the nut part 21 into the annular space 60 formed.
  • the flexible steel cable 70 preferably has a circular cross section, the outer diameter of which fits the inner diameter of the annular space 60.
  • the steel cable 70 introduced forms a form-locking body which axially secures the nested drill parts 12, 14 in their position.
  • a block-like stop element 76 is fastened to the cable base body 72, preferably by Brazing or welding.
  • the block-like stop element 76 has a dimensioning which makes it possible to insert the stop element 76 into the insertion opening 38 on the nut part 21, but further insertion into the annular space 60 is prevented.
  • FIG Fig. 12 An alternative embodiment of the steel cable 70 is shown in FIG Fig. 12 shown.
  • This steel cable 70 also has a cable base made of a flexible metallic material, as well as an insertion tip 74 and a block-like stop element 76 as in the embodiment according to FIGS Figures 10 and 11 on.
  • the block-like stop element 76 is spaced from the rear end, so that a locking section 78 is formed.
  • the length of the locking section 78 and the length of the stop element 76 are together less than the length of the insertion opening 38 on the nut part 21.
  • the locking section 78 is also received in the insertion opening 38.
  • the cable 70 can now be moved in the opposite direction into the annular space 60, so that the locking section 78 is inserted into the annular space 60.
  • the steel cable 70 is received with both end regions in the annular space 60, so that the steel cable 70 is particularly reliably received and locked in the annular space 60.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)

Claims (8)

  1. Dispositif formant tarière hélicoïdale comportant
    une première partie de tarière (12) et une seconde partie de tarière (14) qui sont réalisées en forme de tube ou de tige et pour lesquelles au moins une partie de tarière (12, 14) est pourvue au niveau de son côté extérieur d'un enroulement hélicoïdal (16),
    dans lequel les parties de tarière (12, 14) présentent au niveau d'au moins une de leurs zones d'extrémité des portions de liaison (20, 40) adaptées l'une à l'autre,
    dans lequel une première portion de liaison (20) est réalisée en tant que partie femelle (21) de type douille avec des éléments de clavette (24) et une seconde portion de liaison (40) est réalisée en tant que partie mâle (41) de type mandrin avec des éléments de clavette (44),
    dans lequel la partie mâle (41) et la partie femelle (21) sont enfichées axialement l'une dans l'autre pour la formation d'une liaison amovible solidaire en rotation, dans lequel
    - une rainure intérieure (30) annulaire est pratiquée au niveau d'une paroi intérieure (28) de la partie femelle (21),
    - une rainure extérieure (50) annulaire est pratiquée au niveau d'une paroi extérieure (48) de la partie mâle (41),
    - dans un état enfiché de la partie femelle (21) et de la partie mâle (41) la rainure intérieure (30) et la rainure extérieure (50) se font face et forment un espace annulaire (60),
    - au moins une ouverture d'introduction (38) avec un passage vers la rainure intérieure (30) annulaire est réalisée au niveau d'une paroi extérieure (36) de la partie femelle (21) et
    - pour la formation d'une fixation axiale un câble d'acier (70) flexible est enfoncé par le biais de l'ouverture d'introduction (38) dans l'espace annulaire (60) et le remplit complètement ou largement et
    - une zone étanche (26, 46) est agencée au niveau d'au moins une portion de liaison (20, 40),
    caractérisé en ce que
    - plusieurs rainures extérieures (50) et plusieurs rainures intérieures (30) sont prévues, lesquelles forment dans l'état enfiché plusieurs espaces annulaires (60) pour la fixation axiale,
    - en ce que la zone étanche (46) est au niveau de la partie mâle (41) de type mandrin dans une zone avant et
    - en ce que les éléments de clavette (24, 44) se trouvent entre la zone étanche (26, 46) et les plusieurs rainures intérieures (30) ou les plusieurs rainures extérieures (50).
  2. Dispositif formant tarière hélicoïdale selon la revendication 1,
    caractérisé en ce que
    les rainures intérieures (30) et les rainures extérieures (50) se trouvent au niveau d'une portion de liaison (20, 40) dans un sens d'enfichage derrière les éléments de clavette (24, 44).
  3. Dispositif formant tarière hélicoïdale selon la revendication 1 ou 2,
    caractérisé en ce que
    la zone étanche (46) présente au moins un anneau étanche.
  4. Dispositif formant tarière hélicoïdale selon l'une des revendications 1 à 3,
    caractérisé en ce que
    un élément de butée (76) est monté au niveau du câble d'acier (70) flexible au niveau d'une portion d'extrémité.
  5. Dispositif formant tarière hélicoïdale selon la revendication 4,
    caractérisé en ce que
    l'élément de butée (76) peut être reçu dans l'ouverture d'introduction (38).
  6. Dispositif formant tarière hélicoïdale selon la revendication 4 ou 5,
    caractérisé en ce que
    l'ouverture d'introduction (38) est réalisée en tant que trou oblong qui s'étend le long d'une partie de l'espace annulaire (60), et
    en ce que l'élément de butée (76) présente une longueur qui est inférieure à la longueur du trou oblong de l'ouverture d'introduction (38).
  7. Dispositif formant tarière hélicoïdale selon l'une des revendications 1 à 6,
    caractérisé en ce que
    le câble d'acier (70) flexible présente au niveau d'une extrémité avant une pointe d'introduction (74).
  8. Dispositif formant tarière hélicoïdale selon l'une des revendications 4 à 7,
    caractérisé en ce que
    l'élément de butée (76) est agencé à distance d'une extrémité arrière du câble d'acier (70) flexible, dans lequel une portion de verrou (78) autonome du câble d'acier (70) est formée, laquelle sert à l'enfoncement bilatéral du câble d'acier (70) dans l'espace annulaire (60).
EP17199636.6A 2017-11-02 2017-11-02 Dispositif formant tarière hélicoïdale et procédé de formation d'un dispositif formant tarière hélicoïdale Active EP3480419B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP17199636.6A EP3480419B1 (fr) 2017-11-02 2017-11-02 Dispositif formant tarière hélicoïdale et procédé de formation d'un dispositif formant tarière hélicoïdale
US16/758,322 US11208852B2 (en) 2017-11-02 2018-09-20 Auger arrangement
PCT/EP2018/075460 WO2019086164A1 (fr) 2017-11-02 2018-09-20 Agencement de foret à vis sans fin
CN201880069686.6A CN111247306A (zh) 2017-11-02 2018-09-20 螺旋钻组件

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17199636.6A EP3480419B1 (fr) 2017-11-02 2017-11-02 Dispositif formant tarière hélicoïdale et procédé de formation d'un dispositif formant tarière hélicoïdale

Publications (2)

Publication Number Publication Date
EP3480419A1 EP3480419A1 (fr) 2019-05-08
EP3480419B1 true EP3480419B1 (fr) 2020-04-08

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EP17199636.6A Active EP3480419B1 (fr) 2017-11-02 2017-11-02 Dispositif formant tarière hélicoïdale et procédé de formation d'un dispositif formant tarière hélicoïdale

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US (1) US11208852B2 (fr)
EP (1) EP3480419B1 (fr)
CN (1) CN111247306A (fr)
WO (1) WO2019086164A1 (fr)

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CN114233207B (zh) * 2021-12-29 2024-08-23 广东利高建设工程有限公司 一种可进行快插式连接的旋挖钻头
CN114320174B (zh) * 2021-12-30 2024-05-28 山东祺龙海洋石油钢管股份有限公司 一种无接箍免焊接隔水导管

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WO2019086164A1 (fr) 2019-05-09
EP3480419A1 (fr) 2019-05-08
CN111247306A (zh) 2020-06-05
US11208852B2 (en) 2021-12-28
US20200318441A1 (en) 2020-10-08

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