CN108756927B - Steel arch installing system of heading machine - Google Patents
Steel arch installing system of heading machine Download PDFInfo
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- CN108756927B CN108756927B CN201810729663.5A CN201810729663A CN108756927B CN 108756927 B CN108756927 B CN 108756927B CN 201810729663 A CN201810729663 A CN 201810729663A CN 108756927 B CN108756927 B CN 108756927B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 241
- 239000010959 steel Substances 0.000 title claims abstract description 241
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000007789 sealing Methods 0.000 claims abstract description 29
- 238000012546 transfer Methods 0.000 claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 18
- 230000000875 corresponding effect Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 238000009412 basement excavation Methods 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 230000005641 tunneling Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000010742 number 1 fuel oil Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
- E21D11/183—Supporting means for arch members, not provided for in E21D11/22
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Basic Packing Technique (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Lining And Supports For Tunnels (AREA)
- Earth Drilling (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a steel arch installing system of a heading machine, which comprises the following components: a transport device for receiving the steel arch and transporting the steel arch to a preset transfer position; the splicing device is used for enabling the steel arches to be connected end to form a C-shaped ring; gripping means for gripping the steel arch from the transport means and for placing the steel arch on the splicing means; a tightening device for grasping the C-shaped ring and conveying the C-shaped ring to a tightening position and tightening the C-shaped ring; the ending sealing ring mechanism is used for sealing the opening of the tightly-supported C-shaped ring; and the control device is connected with the conveying device, the splicing device, the grabbing device, the tightening device and the ending and sealing ring mechanism. The steel arch installing system of the heading machine realizes supporting work such as closed loop and the like of automatic transportation, automatic grabbing, automatic splicing, movable tightening and sealing of the steel arch through the control device, has high mechanization degree, avoids manual carrying and installing of the steel arch, reduces labor intensity, improves efficiency, and avoids manual installation errors.
Description
Technical Field
The invention relates to the technical field of tunnel construction machinery, in particular to a steel arch frame installation system of a heading machine.
Background
A full-face Tunnel Boring Machine (TBM) is used as a special engineering machine for tunneling, integrates the functions of tunneling, supporting, slag discharging and the like, is suitable for tunneling hard rock stratum, and is widely applied to tunnel engineering of subways, railways, highways, municipal administration, hydropower and the like.
In poor geological construction, the steel arch is one of the most important supporting members for the tunnel excavation structural face, and the installation speed, the installation quality and the like of the steel arch have important influences on the stability of a tunnel and the safety of constructors. Currently, when a TBM is used for severe geological construction, a steel arch needs to be installed after the excavation process is finished so as to perform primary support on surrounding rocks. In the prior art, after each round of excavation is finished, an operator is usually required to complete the positioning of the steel arch and the installation and fixation of the arch springing at a position close to an excavation surface. The installation steps are as follows: dividing the steel arch into a plurality of sections, and finishing sectional processing in a tunnel external processing factory; then, each section is transported to the hole through a plate trailer and the like, each steel arch is manually bundled in the hole, the steel arch is lifted to a storage mechanism through a lifting machine, the steel arch is conveyed to a mounting position through a simple mounting platform and other lifting auxiliary devices, and then the steel arch is manually conveyed and erected to be in butt joint in the air, and bolts are manually mounted and screwed. In the whole assembly process of the steel arch, the tunnel can basically be kept stable only by relying on the acting force inside surrounding rock, and because operators are close to the tunnel excavation face, the tunnel is extremely dangerous in the tunnel with poor stability, the installation mechanization degree of the steel arch installed by sectioning and manual work in the prior art is lower, the steel arch needs to be installed by relying on a large amount of labor force, the labor cost is high, the installation efficiency is low, the construction period is influenced, the construction time of occupying the tunnel is long, the danger of manually installing the arch is certainly increased, and the erection quality is also problematic.
In summary, how to provide a steel arch installing system of a heading machine with higher mechanization and automation degree is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention aims to provide a steel arch installing system of a heading machine, which has higher mechanization and automation degree, avoids manual carrying and installing of the steel arch, reduces labor intensity and improves installation efficiency.
In order to achieve the above object, the present invention provides the following technical solutions:
a heading machine steel arch mounting system comprising:
a transport device for receiving the steel arch and transporting the steel arch to a preset transfer position;
the splicing device is used for enabling the steel arches to be connected end to form a C-shaped ring;
gripping means for gripping the steel arch from the transport means and placing the steel arch on the splicing means;
a tightening device for grabbing the C-shaped ring and conveying the C-shaped ring to a tightening position and tightening the C-shaped ring;
the ending and sealing ring mechanism is used for sealing the opening of the tightly-supported C-shaped ring;
and the control device is connected with the conveying device, the splicing device, the grabbing device, the tightening device and the ending and sealing ring mechanism.
Preferably, the transportation device comprises:
the conveying trolley is used for receiving and conveying the steel arches, and is provided with a limiting mechanism used for limiting the placement positions of the steel arches;
a transport rail for guiding the transport trolley;
the travel displacement sensor is used for detecting whether the steel arch reaches the preset transfer position or not, the travel displacement sensor is connected with the control device, and the control device is connected with the driving device of the transport trolley.
Preferably, the splicing device comprises:
the assembly rings are used for arranging the steel arches and enabling the adjacent steel arches to be opposite in head-to-tail mode;
the rotation driving device is used for driving the assembly ring to rotate gradually by a preset angle;
the automatic connecting device is used for fixedly connecting the adjacent steel arches end to end;
the device comprises a control device, a rotary driving device, an automatic connecting device, a touch or visual detection device and a control device, wherein the control device is used for detecting whether the steel arch is positioned on the assembly ring or not and detecting whether the steel arch is a first steel arch or not, the touch or visual detection device is connected with the control device, and the control device is respectively connected with the rotary driving device and the automatic connecting device.
Preferably, the splicing device further comprises:
and the pre-compression force feedback device is used for monitoring whether the pre-compression force reaches a preset pre-compression force value in real time when the steel arch is positioned, and is connected with the control device.
Preferably, the splicing device further comprises:
a rotation angle measuring sensor for detecting whether the rotation angle of the rotation driving device reaches a preset rotation angle;
and the rotation torque sensor is used for detecting whether the torque of the rotation driving device meets the preset torque requirement, and the rotation angle measuring sensor and the rotation torque sensor are connected with the control device.
Preferably, the assembly ring is provided with a positioning claw for positioning the outer peripheral part of the steel arch and a limiting block for positioning the end part of the steel arch.
Preferably, the gripping device comprises:
the steel arch centering device comprises a grabbing hand used for grabbing the steel arch and a grabbing arm used for arranging the grabbing hand;
the linear driving device is connected with the grabbing arm and used for driving the grabbing arm to move between the preset transfer position and the feeding position of the splicing device;
the pushing stroke sensor is used for detecting whether the grabbing arm reaches the preset transfer position or the feeding position, and is connected with the control device which is connected with the linear driving device;
the telescopic driving device is connected with the grabbing arm and used for driving the grabbing arm to stretch and retract;
the lifting stroke sensor is used for detecting whether the grabbing hand stretches out to the grabbing position or not, the lifting stroke sensor is connected with the control device, and the control device is connected with the telescopic driving device;
and the pressure sensor is used for detecting whether the grabbing pressure of the grabbing hand reaches a preset pressure value or not, and the pressure sensor is connected with the control device.
Preferably, the gripping hand is connected with a fine adjustment mechanism for adjusting the pose of the gripping hand so as to assist the steel arch to be positioned on the splicing device, and the fine adjustment mechanism is connected with the control device.
Preferably, the tightening device comprises a plurality of tightening arms for tightening the C-shaped ring, the tightening arms are arranged on the tightening ring, the tightening ring is connected with a tightening driving device for driving the tightening ring to open or retract, the tightening ring is movably sleeved on a main beam for bearing, and the tightening ring is connected with the linear driving device; the tightening device further comprises a tightening force sensor for detecting whether the tightening force of the tightening arm reaches a preset tightening force, the tightening force sensor is connected with the control device, and the control device is connected with the tightening driving device;
the grabbing arm is connected with the linear driving device through the tightening ring;
the propulsion stroke sensor is also used for detecting whether the tightening ring reaches the tightening position.
Preferably, the ending seal ring mechanism comprises:
a clamping portion for clamping the C-shaped ring;
a feeding device for feeding the connector to the opening;
an automatic sealing ring device for connecting the connector with the open end of the C-shaped ring;
the contact force sensor is used for detecting whether the clamping force of the clamping part reaches a preset contact force value, the contact force sensor is connected with the control device, and the control device is respectively connected with the feeding device and the automatic ring sealing device.
According to the steel arch installing system of the heading machine, the actions of the conveying device, the grabbing device, the splicing device, the tightening device and the ending sealing ring mechanism are controlled in sequence through the control device, so that the installing and supporting of the steel arch are completed through the cooperation of the components. When the steel arch frame conveying device is used, the steel arch frame is placed on the conveying device, and the control device controls the conveying device to act, so that the conveying device conveys the steel arch frame to a preset transferring position; then, the control device controls the grabbing device to act, so that the grabbing device transfers the steel arch from the conveying device to the splicing device; the control device controls the splicing device to act, and a plurality of steel arches are connected end to form a C-shaped ring; the control device controls the action of the tightening device, so that the tightening device conveys the C-shaped ring to the tightening position and tightens the C-shaped ring on the wall of the hole; finally, the control device controls the ending seal ring mechanism to act, and the opening of the tightly-supported C-shaped ring is closed. Thus, the supporting work of the ring steel arch frame is completed. That is, the development machine steel arch installing the system that this application provided adopts the mode of mechanical automatic control to realize that steel arch's automatic transportation, automatic snatch, automatic concatenation, remove prop tightly and seal into whole support work such as closed loop, and degree of mechanization is high, avoids artifical transport and installation steel arch, has reduced intensity of labour, has improved installation effectiveness, safe and reliable, and has avoided artifical installation error.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a concrete embodiment of a steel arch mounting system of a heading machine provided by the invention;
FIG. 2 is a side view of the steel arch mounting system of the heading machine of FIG. 1;
FIG. 3 is a front view of the steel arch mounting system of the heading machine of FIG. 1;
FIG. 4 is a control flow diagram of the heading machine steel arch mounting system of FIG. 1.
Reference numerals in fig. 1 to 3 are as follows:
the device comprises a transportation trolley 11, a transportation rail 12, a limit mechanism 13, an assembling ring 21, a rotary driving device 22, an automatic connecting device 23, a positioning claw 24, a limit block 25, a grabbing arm 31, a grabbing hand 32, a fine adjustment mechanism 33, a connecting ring 34, a tightening arm 41, a tightening ring 42, a linear driving device 43, a closing ring sealing mechanism 5, a main beam 61, a sliding rail 62, a supporting leg 63 and a steel arch 7.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention has the core of providing a steel arch installing system of a heading machine, which has higher mechanization degree, avoids manual carrying and installing the steel arch, reduces labor intensity and improves installation efficiency.
Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of an embodiment of a steel arch installing system of a heading machine provided by the present invention; FIG. 2 is a side view of the steel arch mounting system of the heading machine of FIG. 1; FIG. 3 is a front view of the steel arch mounting system of the heading machine of FIG. 1; FIG. 4 is a control flow diagram of the heading machine steel arch mounting system of FIG. 1.
The application provides a heading machine steel bow member installing the system, include:
a transport device for receiving the steel arch 7 and transporting the steel arch 7 to a preset transfer position;
splicing means for connecting several steel arches 7 end to form a C-ring;
gripping means for gripping the steel arch 7 from the transport means and for placing the steel arch 7 on the splicing means;
a tightening device for grasping the C-shaped ring and conveying the C-shaped ring to a tightening position and tightening the C-shaped ring;
the ending seal ring mechanism 5 is used for sealing the opening of the tightly-supported C-shaped ring;
and the control device is connected with the conveying device, the splicing device, the grabbing device, the tightening device and the ending and sealing ring mechanism 5.
It should be noted that, the development machine steel arch installing system mainly realizes the conversion from manual operation to mechanical automation control of the assembly of the steel arch 7, so as to effectively solve the problems of low efficiency, large error, difficult supporting of the steel arch 7 and the like of manual installation. For this reason, the development machine steel bow member installing the system that this application provided mainly includes conveyer, grabbing device, splicing apparatus, props tight device and ending seal ring mechanism 5, and each of these devices all links to each other with controlling means, is the automatic assembly system in an organic whole that collects automatic transportation, automatic snatching, automatic concatenation, automatic removal and prop tightly and seal into the closed loop automatically.
It will be appreciated that the transport device mainly serves to transport the steel arch 7, and to transport the steel arch 7 from an initial position to a preset transfer position, which in the present application refers to a position where the gripping device removes the steel arch 7 from the transport device. The preset transfer position can be at the splicing device or can be away from the splicing device for a certain distance, and when the preset transfer position is away from the splicing device, the grabbing device needs to move a certain distance until the steel arch 7 is conveniently transferred onto the splicing device after the steel arch 7 is taken down from the conveying device.
The grabbing device is just like a mechanical arm commonly used in the mechanical field, and can realize six-degree-of-freedom movement so as to realize accurate transfer of the steel arch 7 from the conveying device to the splicing device, and the correct position of the steel arch 7 on the splicing device is ensured in an auxiliary mode.
The steel arches 7 are connected end to end on the splicing device to form a C-shaped ring, and it is to be noted that the C-shaped ring in the application refers to an unclosed annular structure, and the open ends of the C-shaped rings can be propped against each other, so long as the C-shaped rings are not connected, and the C-shaped rings can be radially opened when being stretched tightly. That is, preferably, after the several steel arches 7 are spliced on the splicing device, two opposite ends of two adjacent steel arches 7 are abutted against and not connected, and opposite ends of the other adjacent steel arches 7 are connected.
The tightening device has the function of conveying the C-shaped ring to the tightening position on one hand, and on the other hand, after the C-shaped ring reaches the tightening position, the tightening device can enable the C-shaped ring to radially open and tighten the hole wall.
After the C-shaped ring is tightly supported, the non-closed end of the C-shaped ring is propped open to form an opening with a certain interval distance, and in order to ensure the supporting force of the C-shaped ring, the opening interval is sealed through a closing-in sealing ring mechanism 5.
In order to realize the automatic actions of the conveying device, the grabbing device, the splicing device, the tightening device and the ending seal ring mechanism 5 and achieve the purpose of automatic control, the conveying device, the grabbing device, the splicing device, the tightening device and the ending seal ring mechanism 5 are connected with a control device for controlling the devices to realize corresponding actions.
In view of the above-mentioned fixing and supporting problems of the devices, as a preferred embodiment, the steel arch mounting system of the heading machine further comprises a main beam 61 for providing a transporting device, a gripping device, a splicing device, a tightening device and a closing-in ring mechanism 5, the main beam 61 being connected to supporting legs 63 for supporting.
The transporting device, the gripping device, the splicing device, the tightening device and the ending seal ring mechanism 5 are all directly or indirectly arranged on the main beam 61, and maintain a corresponding positional relationship on the main beam 61. The main beam 61 serves as a load bearing and is connected to the support legs 63, which are held in a stable position by the support legs 63. Preferably, the number of support legs 63 is two.
In summary, in the steel arch installing system of the heading machine provided by the application, the actions of the conveying device, the splicing device, the grabbing device, the tightening device and the ending seal ring mechanism 5 are controlled by the control device respectively, so that the devices are matched to work to complete the installation and support of the steel arch 7. When the steel arch 7 is used, the steel arch 7 is placed on the conveying device, the conveying device is used for conveying the steel arch 7 to a preset transferring position, the gripping device is used for gripping the steel arch 7 from the conveying device, then the gripping device is used for placing the steel arch 7 on the splicing device, a plurality of steel arches 7 are spliced into C-shaped rings on the splicing device, the C-shaped rings are conveyed to the tightening position by the tightening device and are tightened by the tightening device, finally, the opening of the tightened C-shaped rings is closed by the ending and sealing ring mechanism 5, and thus the supporting work of the steel arch 7 is completed. That is, the development machine steel arch installing the system that this application provided adopts the mode of mechanical automatic control to realize the automatic transportation of steel arch 7, snatch automatically, splice automatically, automatic movement prop tightly and seal into whole support work such as closed loop automatically through controlling means, and degree of mechanization is high, avoids artifical transport and installation steel arch 7, has reduced intensity of labour, has improved installation effectiveness, safe and reliable, and has avoided artifical installation error.
Considering the specific structure of the transportation device and the simple and convenient implementation of automatic transportation, the transportation device comprises, on the basis of the above embodiments:
a transport trolley 11 for receiving and conveying the steel arch 7, wherein a limiting mechanism 13 for limiting the placement position of the steel arch 7 is arranged on the transport trolley 11;
a transport rail 12 for guiding the transport carriage 11;
the travel displacement sensor is used for detecting whether the steel arch 7 reaches a preset transfer position, and is connected with the control device, and the control device is connected with the driving device of the transportation trolley 11.
When in use, the steel arch 7 is placed on the transport trolley 11, and the transport trolley 11 moves along the track defined by the transport track 12, so as to achieve the purpose of receiving and transporting the steel arch 7.
It will be appreciated that this embodiment defines the position of the steel arch 7 on the trolley 11 by means of the stop means 13, so that the steel arch 7 remains in place during transport.
The stroke displacement sensor is used for detecting and positioning the position of the steel arch 7, and when the stroke displacement sensor detects that the steel arch 7 reaches a preset transfer position, the stroke displacement sensor sends information of the steel arch 7 in place to the control device, and the control device sends a control instruction to the driving device of the transport trolley 11 to control the transport trolley 11 to brake.
Considering the specific structure of the splicing device and the simple and convenient implementation manner of automatic transportation, the splicing device comprises, on the basis of the above embodiment:
a split ring 21 for setting the steel arches 7 and making the adjacent steel arches 7 end to end;
a rotation driving device 22 for driving the assembly ring 21 to rotate by a preset angle;
an automatic connection device 23 for fixedly connecting the adjacent steel arches 7 end to end;
and a tactile or visual detection device for detecting whether the steel arch 7 is positioned on the assembling ring 21 and for detecting whether the steel arch 7 is the first steel arch, wherein the tactile or visual detection device is connected with a control device which is respectively connected with a rotation driving device 22 and an automatic connecting device.
It can be understood that, in this embodiment, the rotation driving device 22 drives the splicing ring 21 to rotate gradually by a preset angle, so that different steel arches 7 are sequentially placed at preset positions of the splicing ring 21, and the splicing ring 21 makes the heads and tails of the placed adjacent steel arches 7 opposite to each other, so as to facilitate connection of the adjacent steel arches 7. The preset angle corresponds exactly to the arc length of one steel arch 7 to ensure that the steel arch 7 is always placed on the splicing device from one feeding position. The automatic connection device 23 preferably corresponds to a fixed position of the splicing device, which corresponds to the connection of two adjacent steel arches 7, so that the adjacent steel arches 7 always complete a fixed connection in this fixed position.
The specific structure of the automatic connecting device 23 is not limited in this embodiment, and the automatic connecting device 23 may be an automatic bolting device, an automatic welding device, or other automatic connecting structures capable of achieving the same function.
The tactile or visual detection means are used to detect whether the steel arch 7 is positioned on the split ring 21, and when the tactile or visual detection means detect that the steel arch 7 has been positioned on the split ring 21, the tactile or visual detection means send positioning information of the steel arch 7 to the control means. Meanwhile, the tactile or visual detection device is used for detecting whether the steel arch 7 is the first steel arch or not and sending the detected corresponding information to the control device. When the steel arch 7 is positioned and the positioning steel arch is the first steel arch, the control device controls the rotation driving device 22 to start so as to enable the assembling ring 21 to rotate by a preset angle; when the steel arch 7 is positioned and the positioned steel arch is not the first steel arch, the control device controls the automatic connecting device 23 to be started so as to fixedly connect the adjacent steel arches 7 end to end. After the adjacent steel arches 7 are fixedly connected end to end, the control device controls the rotation driving device 22 to start, so that the assembling ring 21 rotates by a preset angle, and the next steel arch 7 is assembled.
It will be appreciated that when the steel arches 7 are positioned, the connecting portions of adjacent steel arches 7 are fully aligned so that the automatic connecting means 23 fixedly connect adjacent steel arches 7 end to end. Thus, as a preferred solution, the tactile or visual detection device in this embodiment is mainly used to detect whether the connection of two steel arches 7 that are spliced together is aligned, and when one steel arch 7 is aligned with the connection of an adjacent steel arch 7, this indicates that the steel arch 7 is positioned.
It will be appreciated that, in order to avoid that the steel arch 7 falls off due to loosening during rotation, the steel arch 7 has a certain pre-tightening force when being positioned on the assembly ring 21, and on the basis of the above embodiment, the assembly device further comprises:
the pre-compression force feedback device is used for monitoring whether the pre-compression force reaches a preset pre-compression force value in real time when the steel arch 7 is positioned, and is connected with the control device.
That is, the present embodiment employs a pre-compression force feedback device to assist a tactile or visual detection device to determine whether the steel arch 7 is fully in place, it being understood that the tactile or visual detection device primarily determines from the positional information whether the steel arch 7 is in place; the pre-compression force feedback device mainly judges whether the steel arch 7 is in place or not according to the pre-compression force applied by the steel arch 7 after being positioned. Thereby ensuring more reliable and stable operation of the splicing device.
When the pre-tightening force feedback device monitors that the pre-tightening force reaches a preset pre-tightening force value when the steel arch 7 is positioned, the pre-tightening force feedback device sends the information to the control device, and the control device generates a control instruction to the rotation driving device 22 or the automatic connecting device 23 according to the information and the positioning information sent by the touch or visual detection device.
In order to ensure the stability and accuracy of the rotation of the split ring 21, the split device further includes, on the basis of the above embodiment:
a rotation angle measurement sensor for detecting whether or not the rotation angle of the rotation driving device 22 reaches a preset rotation angle;
and a rotation torque sensor for detecting whether the torque of the rotation driving device 22 meets the preset torque requirement, wherein the rotation angle measuring sensor and the rotation torque sensor are connected with the control device.
It can be understood that when the rotation angle measuring sensor detects that the rotation angle of the rotation driving device 22 reaches the preset rotation angle, the rotation driving device 22 is controlled by the control device to brake in time, so that the assembling ring 21 is accurately positioned to the rotation angle position.
When the rotation torque sensor detects that the torque of the rotation driving device 22 does not meet the preset torque requirement, the torque of the rotation driving device 22 is adjusted through the control device, so that the torque of the rotation driving device 22 is in the range of the preset torque requirement, and the assembly ring 21 rotates slowly and stably.
In view of the positioning problem of the steel arch 7 on the split ring 21, the split ring 21 is provided with positioning claws 24 for positioning the outer peripheral portion of the steel arch 7 and stoppers 25 for positioning the end portions of the steel arch 7, on the basis of the above-described embodiment.
When the gripping device places the steel arch 7 on the assembling ring 21, the limiting blocks 25 are used for limiting the positions of the two ends of the steel arch 7, so that the steel arch 7 is just clamped between the two limiting blocks 25; at the same time, the gripping device places the steel arch 7 just in the positioning jaws 24, and the positioning jaws 24 grip the steel arch 7, so that the steel arch 7 is held on the assembly ring 21.
In view of the specific structure of the gripping device and the simple and convenient implementation of automatic transportation, the gripping device, on the basis of any one of the above embodiments, comprises:
a gripper 32 for gripping the steel arch 7 and a gripper arm 31 for providing the gripper 32;
a linear driving device 43 connected with the grabbing arm 31 for driving the grabbing arm 31 to move between a preset transfer position and a feeding position of the splicing device;
a pushing stroke sensor for detecting whether the gripping arm 31 reaches a preset transfer position or a feeding position, the pushing stroke sensor being connected to a control device, the control device being connected to the linear driving device 43;
the telescopic driving device is connected with the grabbing arm 31 and used for driving the grabbing arm 31 to stretch and retract;
the lifting stroke sensor is used for detecting whether the grabbing hand 32 stretches out to the grabbing position, and is connected with the control device, and the control device is connected with the telescopic driving device;
a pressure sensor for detecting whether the gripping pressure of the gripping hand 32 reaches a preset pressure value, the pressure sensor being connected to the control device.
It will be appreciated that when the gripping device grips the steel arch 7 from the transporting device, the linear driving device 43 first drives the gripping device to move to the preset transfer position, when the pushing stroke sensor detects that the gripping arm 31 reaches the preset transfer position, the pushing stroke sensor sends information that the gripping arm 31 reaches the preset transfer position to the control device, the control device controls the linear driving device 43 to brake, simultaneously, the control device sends a control command to the telescopic driving device, the gripping arm 31 drives the gripping arm 32 to extend, when the lifting stroke sensor detects that the gripping arm 32 extends to the gripping position, the lifting stroke sensor sends information that the gripping arm 32 is in place to the control device, the control device controls the telescopic driving device to brake, simultaneously, the control device controls the gripping arm 32 to act, so that the gripping arm 32 grips the steel arch 7, when the pressure sensor detects that the gripping pressure of the gripping arm 32 reaches the preset pressure value, the control device controls the gripping arm 31 to lift the steel arch 7, and when the lifting stroke sensor detects that the steel arch 7 is completely separated from the transporting device, the control device sends the gripping arm 32 to the linear driving device to the steel arch 7 by the splicing device, and the control device is ready to splice the steel arch 7.
In view of the problem of accurate positioning of the steel arch 7 on the splicing device, the gripping hands 32 are connected to a fine adjustment mechanism 33 for adjusting the pose of the gripping hands 32 on the basis of the above-described embodiment to assist in positioning the steel arch 7 on the splicing device, the fine adjustment mechanism 33 being connected to the control device.
That is, the present embodiment finely adjusts the pose of the grasping hand 32 by the fine adjustment mechanism 33 so that the grasping hand 32 assists the positioning of the steel arch 7 on the splicing device.
Considering the specific structure of the fine adjustment mechanism 33, the fine adjustment mechanism includes a link mechanism spherically hinged to the grasping hand 32, the link mechanism being connected to a plurality of short-range cylinders, each of which is connected to the control device. When the automatic fine adjustment device works, the stroke of each short-range oil cylinder is controlled by the control device, so that the connecting rod mechanism is driven to continuously change the position of the connecting rod mechanism, and the grabbing hand 32 is driven to rotate, and the purpose of fine adjustment of the pose of the grabbing hand 32 is achieved.
Preferably, the gripping position of the gripping hand 32 is close to the connection of the steel arch 7, so that the fine adjustment mechanism 33 mainly adjusts the connection of the steel arch 7.
In view of the specific structure of the tightening device and the simple and convenient implementation of automatic transportation, on the basis of the above embodiment, the tightening device comprises a plurality of tightening arms for tightening the C-shaped ring, the tightening arms are arranged on the tightening ring, the tightening ring 42 is movably sleeved on the main beam 61 for bearing, and the tightening ring 42 is connected with the linear driving device 43;
the gripping arm 31 is connected with the linear driving device 43 through a tightening ring;
the propulsion stroke sensor is also used for detecting whether the tightening ring reaches the tightening position.
Considering that the C-shaped ring generally requires a plurality of tightening arms 41 to be tightened, in order to facilitate the fixation and synchronous transportation of the plurality of tightening arms, the present embodiment employs the tightening ring 42 to fix and carry the plurality of tightening arms 41, and the transportation of the C-shaped ring by the tightening arms 41 is achieved by the movement of the tightening ring 42.
Preferably, the main beam 61 is provided with a sliding rail 62, and the tightening ring 42 is slidably connected with the sliding rail 62 through a sliding block, so as to realize the movement of the tightening ring 42 under the action of the linear driving device 43.
In view of the stability of the movement of the tightening ring 42, as a preferred solution, two parallel sliding rails 62 are provided on opposite sides of the main beam 61, respectively, and it is apparent that the sliding rails 62 are parallel to the axis of the main beam 61 so that the tightening ring 42 moves along the axis direction of the main beam 61. The slide blocks which are in sliding connection with the corresponding slide rails 62 are arranged at the positions of the supporting ring 42 corresponding to the slide rails 62, and the linear driving device 43 is connected with any one or at least two slide blocks. Preferably, the linear driving device 43 is a hydraulic cylinder, and the expansion and contraction direction of the piston cylinder of the hydraulic cylinder is consistent with the length direction of the slide rail 62.
The propulsion stroke sensor is also used for detecting whether the tightening ring reaches the tightening position. When the thrust stroke sensor detects that the tightening ring reaches the tightening position, the thrust stroke sensor transmits the detected information to the control device, and the control device controls the linear driving device 43 to brake.
The tightening device further comprises a tightening driving device for driving the tightening arm to stretch and retract, and the tightening driving device is connected with the control device. When the control device controls the tightening ring to stay to the tightening position through the linear driving device 43, the control device controls the tightening driving device to start so as to drive the tightening arm to extend out, and the tightening arm tightens the hole wall.
In view of the problem of the support and fixation of the gripper arms 31, the gripper arms 31 are connected to a bracing ring 42, by means of which the linear drive 43 drives the gripper arms 31. One end of the slide rail 62 is located at a preset transfer position, the other end is located at the splicing device, and the tightening position is located between the preset transfer position and the splicing device.
That is, in this embodiment, the gripping arm 31 is fixed on the bracing ring 42, and the movement of the bracing ring 42 drives the gripping arm 31 to move the steel arch 7 from the preset transfer position to the splicing device. The length of the slide rail 62 defines the movement range of the bracing ring 42, and when the transfer position is preset, the bracing ring 42 is connected with the conveying device so as to facilitate the grabbing arm 31 to grab the steel arch 7; at the splice, the bracing ring 42 engages the splice so that the gripper arms 31 transfer the steel arch 7 to the splice. In order to avoid interference caused by the transportation device to the tightening of the C-shaped ring, the tightening position is positioned between the preset transferring position and the splicing device.
As a preferred embodiment, the gripping arms 31 are connected to the tightening ring 42 through the connection ring 34, the gripping arms 31 are fixed to the upper end of the connection ring 34, and the connection ring 34 is connected to the tightening ring 42. When the transfer position is preset, the grabbing arm 31 can extend out and drive the grabbing hand 32 at the end part of the grabbing arm 31 to grab the steel arch 7 upwards, the grabbing arm 31 continues to ascend until the steel arch 7 is completely separated from the conveying device, and then the whole of the tightening ring 42, the connecting ring 34 and the grabbing arm 31 translates under the drive of the tightening ring 42 until reaching the splicing device.
In one embodiment, to facilitate the positioning of the automatic coupling device 23, the coupling ring 34 is provided with a rotatable swivel ring on which the automatic coupling device 23 is positioned. That is, the automatic connecting device 23 can move along with the connecting ring 34, when the tightening ring 42 drives the connecting ring 34 to move to the splicing device integrally, the automatic connecting device 23 moves to a position corresponding to the connecting portion of the steel arch 7, and can precisely rotate to the connecting portion of the steel arch 7 through the rotating ring, so that adjacent steel arches 7 are fixedly connected.
Considering the specific construction of the end-to-end seal ring mechanism, in one embodiment,
the ending seal ring mechanism 5 includes:
a clamping portion for clamping the C-shaped ring;
a feeding device for feeding the connector to the opening;
an automatic sealing ring device for connecting a connecting piece with the open end of the C-shaped ring;
the contact force sensor is used for detecting whether the clamping force of the clamping part reaches a preset contact force value, the contact force sensor is connected with the control device, and the control device is respectively connected with the feeding device and the automatic sealing ring device.
Preferably, the ending seal ring mechanism 5 is provided at a corresponding position of the bracing ring 42, such that the different C-rings are each sealed at that corresponding position of the bracing ring 42.
The application does not limit the concrete structure of automatic sealing ring device, and automatic sealing ring device can be for automatic wearing bolt and screw up the bolt device, realizes the bolted connection of connecting piece and the open end of C shape ring, and bolted connection can dismantle, makes things convenient for dismantling of follow-up C shape ring. Of course, the automatic ring sealing device can also be an automatic welding device, preferably, the connecting piece is a structural piece capable of wrapping the opening of the C-shaped ring, and after the connecting piece wraps the opening, the welding guns at two ends of the connecting piece are used for welding the connecting piece and the opening end of the C-shaped ring to seal the ring.
The clamping part is used for clamping the C-shaped ring so as to facilitate the operation of the automatic ring sealing device.
The feeding device comprises a feeding groove for stacking the connecting pieces and a pushing cylinder for pushing the lowest connecting piece to the opening, the control device is connected with the pushing cylinder, when the contact force sensor detects that the clamping force of the clamping part reaches the preset contact force value, the control device controls the pushing cylinder to act, the pushing cylinder pushes the connecting piece at the lowest end of the feeding groove to the opening of the C-shaped ring, and after the connecting piece is pushed in place, the control device controls the automatic sealing ring device to act, so that the connecting piece is connected with the opening end of the C-shaped ring.
Referring to fig. 4, a control flow chart of an embodiment of the steel arch installing system of the heading machine provided by the invention is shown. The control steps of the steel arch installing system of the heading machine for automatic transportation, automatic grabbing, automatic assembling, automatic tightening and automatic sealing and looping are as follows:
step S1: automatic transportation of steel arches: the steel arch 7 is placed on the conveying device, the control device controls the conveying device to act, conveying of the steel arch is achieved, and when the stroke displacement sensor detects that the steel arch 7 reaches a preset transfer position, the control device controls the conveying device to brake.
Step S2: automatic grabbing of the steel arch: after the transportation device is braked, the control device controls the linear driving device 43 to start, so that the linear driving device 43 drives the grabbing arm 31 to move towards the preset transferring position, when the pushing stroke sensor senses that the grabbing arm 31 moves to the position right below the preset transferring position, the control device controls the linear driving device 43 to brake and controls the telescopic driving device to start, so that the grabbing arm 31 stretches out, when the lifting stroke sensor detects that the grabbing hand 32 reaches the grabbing position, the control device drives the grabbing hand 32 to act, the grabbing hand 32 grabs the steel arch 7, when the pressure sensor on the grabbing hand 32 detects that the grabbing pressure of the grabbing hand 32 reaches the preset pressure value, the control device controls the telescopic driving device to start continuously, so that the grabbing arm 31 continues to ascend, and the steel arch 7 is taken down from the transportation device. The control device controls the linear driving device 43 to start again, so that the linear driving device 43 drives the grabbing arm 31 to drive the steel arch to move to the splicing device.
Step S3: automatic assembly of steel arch centering: the gripping hand 32 places the steel arch on the splicing device under the action of the fine adjustment mechanism, the positioning claw and the limiting block of the splicing device position the steel arch, when the visual/tactile sensor detects that the steel arch is positioned, meanwhile, when the pre-pressing force feedback device detects that the pre-pressing force of the steel arch in positioning reaches a preset pre-pressing force value, and when the visual/tactile sensor detects that the positioning steel arch is the first steel arch, the control device controls the rotation driving device 22 to rotate for a preset included angle, and when the rotation torque sensor detects that the torque of the rotation driving device 22 does not meet a preset torque requirement, the control device adjusts the torque of the rotation driving device 22, so that the torque of the rotation driving device 22 is in a range of the preset torque requirement, and the assembly ring 21 slowly and stably rotates. When the rotation angle measuring sensor detects that the rotation angle of the rotation driving device 22 reaches a preset rotation angle, the rotation driving device 22 is controlled to brake in time through the control device. And after the assembly ring rotates in place, the next steel arch is continuously installed. When the visual/tactile sensor detects that the positioning steel arch is not the first steel arch, the control device controls the automatic connecting device to act, the adjacent steel arches are fixedly connected, and after the fixed connection of the adjacent steel arches is completed, the control device controls the automatic grabbing device to act. And continuously installing and fixing the next steel arch according to the control process until a plurality of steel arches 7 are spliced into a C-shaped ring on the splicing device.
Step S4: automatic bracing of the steel arch: after the steel arches 7 are spliced into the C-shaped rings on the splicing device, the control device controls the linear driving device 43 to act, so that the tightening device drives the C-shaped rings to move, when the pushing stroke sensor detects that the tightening device moves to the tightening position, the control device controls the tightening arms 41 to stretch out so as to tighten the C-shaped rings, and when the tightening force sensor detects that the tightening force reaches a preset tightening force value, the control device controls the tightening arms 41 to stop stretching.
Step S5: automatic sealing and looping of the steel arch: after the C-shaped ring is tightly supported, the control device controls the clamping part of the ending seal ring mechanism 5 to clamp the C-shaped ring, when the contact force sensor detects that the contact force of the clamping part reaches a preset value, the control device controls the feeding device to act, the connecting piece is conveyed to the opening of the C-shaped ring, then, the control device controls the automatic seal ring device to act, the opening of the tightly supported C-shaped ring is closed, so that the supporting work of one ring of steel arch is finished, and the next ring of steel arch is supported.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The steel arch installing system of the heading machine provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (7)
1. A heading machine steel arch mounting system, comprising:
a transport device for receiving the steel arch (7) and for transporting the steel arch (7) to a predetermined transfer position;
splicing means for connecting a number of said steel arches (7) end to form a C-ring;
gripping means for gripping the steel arch (7) from the transport means and for placing the steel arch (7) on the splicing means;
a tightening device for grabbing the C-shaped ring and conveying the C-shaped ring to a tightening position and tightening the C-shaped ring;
the ending and sealing ring mechanism (5) is used for sealing the opening of the tightly-supported C-shaped ring;
the control device is connected with the transportation device, the splicing device, the grabbing device, the tightening device and the ending and sealing ring mechanism (5);
the grabbing device includes:
a gripper (32) for gripping the steel arch (7) and a gripper arm (31) for setting the gripper (32);
the linear driving device (43) is connected with the grabbing arm (31) and used for driving the grabbing arm (31) to move between the preset transfer position and the feeding position of the splicing device;
a pushing stroke sensor for detecting whether the grabbing arm (31) reaches the preset transfer position or the feeding position, wherein the pushing stroke sensor is connected with the control device, and the control device is connected with the linear driving device (43);
the telescopic driving device is connected with the grabbing arm (31) and used for driving the grabbing arm (31) to stretch and retract;
the lifting stroke sensor is used for detecting whether the grabbing hand (32) stretches out to a grabbing position, and is connected with the control device, and the control device is connected with the telescopic driving device;
a pressure sensor for detecting whether the gripping pressure of the gripping hand (32) reaches a preset pressure value, the pressure sensor being connected to the control device;
the tightening device comprises a plurality of tightening arms (41) for tightening the C-shaped ring, the tightening arms (41) are arranged on the tightening ring (42), the tightening ring (42) is connected with a tightening driving device for driving the tightening ring (42) to open or retract, the tightening ring (42) is movably sleeved on a main beam (61) for bearing, and the tightening ring (42) is connected with the linear driving device (43); the tightening device further comprises a tightening force sensor for detecting whether the tightening force of the tightening arm (41) reaches a preset tightening force, the tightening force sensor is connected with the control device, and the control device is connected with the tightening driving device;
the grabbing arm (31) is connected with the linear driving device (43) through the tightening ring (42);
the propulsion stroke sensor is also used for detecting whether the tightening ring (42) reaches the tightening position;
the ending seal ring mechanism (5) comprises:
a clamping portion for clamping the C-shaped ring;
a feeding device for feeding the connector to the opening;
an automatic sealing ring device for connecting the connector with the open end of the C-shaped ring;
the contact force sensor is used for detecting whether the clamping force of the clamping part reaches a preset contact force value, the contact force sensor is connected with the control device, and the control device is respectively connected with the feeding device and the automatic ring sealing device.
2. A heading machine steel arch mounting system according to claim 1, wherein said transport means includes:
a transport trolley (11) for receiving and conveying the steel arch (7), wherein a limiting mechanism (13) for limiting the placement position of the steel arch (7) is arranged on the transport trolley (11);
a transport rail (12) for guiding the transport trolley (11);
the travel displacement sensor is used for detecting whether the steel arch (7) reaches the preset transfer position, the travel displacement sensor is connected with the control device, and the control device is connected with the driving device of the transportation trolley (11).
3. A heading machine steel arch mounting system according to claim 1, wherein said splicing arrangement includes:
-a split ring (21) for setting the steel arches (7) and for making adjacent steel arches (7) end-to-end opposite;
a rotation driving device (22) for driving the assembly ring (21) to rotate by a preset angle;
an automatic connecting device (23) for fixedly connecting the adjacent steel arches (7) end to end;
the device comprises a touch or visual detection device for detecting whether the steel arch (7) is positioned on the assembly ring (21) or not and for detecting whether the steel arch (7) is a first steel arch, wherein the touch or visual detection device is connected with the control device, and the control device is respectively connected with the rotation driving device (22) and the automatic connecting device (23).
4. A heading machine steel arch mounting system according to claim 3, wherein said splicing arrangement further comprises:
and the pre-compression force feedback device is used for monitoring whether the pre-compression force reaches a preset pre-compression force value or not in real time when the steel arch (7) is positioned, and is connected with the control device.
5. A heading machine steel arch mounting system according to claim 3, wherein said splicing arrangement further comprises:
a rotation angle measurement sensor for detecting whether or not the rotation angle of the rotation driving device (22) reaches a preset rotation angle;
and the rotation torque sensor is used for detecting whether the torque of the rotation driving device (22) meets the preset torque requirement, and the rotation angle measuring sensor and the rotation torque sensor are connected with the control device.
6. A heading machine steel arch mounting system according to claim 3, characterized in that the split ring (21) is provided with positioning jaws (24) for positioning the outer periphery of the steel arch (7) and stop blocks (25) for positioning the ends of the steel arch (7).
7. A heading machine steel arch mounting system according to claim 1, characterized in that the gripping hands (32) are connected to a fine adjustment mechanism (33) for adjusting the pose of the gripping hands (32) to assist the positioning of the steel arch (7) on the splicing device, the fine adjustment mechanism (33) being connected to the control device.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729663.5A CN108756927B (en) | 2018-07-05 | 2018-07-05 | Steel arch installing system of heading machine |
| AU2018431356A AU2018431356B2 (en) | 2018-07-05 | 2018-12-27 | Tunnel boring machine steel arch installation system |
| PCT/CN2018/124199 WO2020007003A1 (en) | 2018-07-05 | 2018-12-27 | Tunnel boring machine steel arch installation system |
| PE2021000001A PE20210505A1 (en) | 2018-07-05 | 2018-12-27 | SYSTEM FOR THE INSTALLATION OF STEEL ARCHES OF A TUNNEL MACHINE |
| PH12021550021A PH12021550021A1 (en) | 2018-07-05 | 2021-01-04 | Tunnel boring machine steel arch installation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810729663.5A CN108756927B (en) | 2018-07-05 | 2018-07-05 | Steel arch installing system of heading machine |
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| Publication Number | Publication Date |
|---|---|
| CN108756927A CN108756927A (en) | 2018-11-06 |
| CN108756927B true CN108756927B (en) | 2024-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810729663.5A Active CN108756927B (en) | 2018-07-05 | 2018-07-05 | Steel arch installing system of heading machine |
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| Country | Link |
|---|---|
| CN (1) | CN108756927B (en) |
| AU (1) | AU2018431356B2 (en) |
| PE (1) | PE20210505A1 (en) |
| PH (1) | PH12021550021A1 (en) |
| WO (1) | WO2020007003A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| AU2018431356B2 (en) | 2022-08-25 |
| WO2020007003A1 (en) | 2020-01-09 |
| AU2018431356A1 (en) | 2021-01-28 |
| PH12021550021A1 (en) | 2021-09-27 |
| PE20210505A1 (en) | 2021-03-15 |
| CN108756927A (en) | 2018-11-06 |
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