CN103410525A - Shield segment splicing system - Google Patents
Shield segment splicing system Download PDFInfo
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- CN103410525A CN103410525A CN2013103928008A CN201310392800A CN103410525A CN 103410525 A CN103410525 A CN 103410525A CN 2013103928008 A CN2013103928008 A CN 2013103928008A CN 201310392800 A CN201310392800 A CN 201310392800A CN 103410525 A CN103410525 A CN 103410525A
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Abstract
The invention discloses a shield segment splicing system, which comprises a bracket and a shield segment, wherein a guide disk is arranged on the inner side of the bracket through a roller; the guide disk is arranged on a speed reducer revolving shaft through a guide disk bracket; the speed reducer revolving shaft is connected with a motor output shaft; two guide frames are fixed on the front side face of the guide disk; each guide frame comprises a barrel body and a slide bar; the two ends of a lifting oil cylinder are connected to the barrel body and the slide bar respectively; support frames are fixed at the lower ends of the two slide bars; adjusting frames are arranged in the centers of the support frames; two parallel guide rods are arranged in the adjusting frames; support slide blocks are arranged on the two guide rods; the centers of the support slide blocks are provided with through holes; rotary blocks are arranged in the through holes; the lower ends of the rotary blocks are hinged to the segment; the bottom ends of the rotary blocks are connected with transverse swinging oil cylinders; horizontal adjusting oil cylinders are arranged on the back sides of the support slide blocks; four posture adjusting oil cylinders are arranged on the bottom surface of the support slide block; the lower ends of the posture adjusting oil cylinder are hinged to the segment. According to the shield segment splicing system, six actions, namely, horizontal, pitching, side turning, transverse swinging, lifting and revolving actions of the shield segment can be realized; and the shield segment splicing system is convenient to operate, and is economical and efficient.
Description
Technical field
The invention belongs to tunnel construction equipment field, be specifically related to a kind of shield segment assembling system.
Background technology
To the carrying out of the engineerings such as aggravation, the especially transfering natural gas from the west to the east of development underground space demand, city underground, cross-river tunnel over strait, urban pipeline, shield method is just obtaining applying more and more widely in China along with China.Pipe sheet assembling system hydraulic control technology is holded in close confidence as core technology by the world always, for improving China's shield structure equipment, manufacture the core competitiveness with construction technology, strengthen to pipe sheet assembling system control characteristic (as the assembling machine anglec of rotation and rotary speed control, the control accuracy of section of jurisdiction pitching and rolling action etc.) research extremely urgent.
At present to the pipe sheet assembling systematic research, mainly be limited to two approach: pure academic theoretical research, set up expert system, the cost of theoretical research is low, cycle is short, but it is also larger that itself and real system differ, the achievement in research obtained also is difficult to directly apply in the manufacture and construction utilization of shield segment assembling system; Though the analysis data of expert system are directed to Practical Project, the diversity of shield-tunneling construction condition, make expert system have larger one-sidedness and limitation; Simultaneously, the periodicity of setting up experts database is very long, and often need carry out Data Update.
Summary of the invention
The present invention is directed to the deficiency of existing section of jurisdiction control system research, the present invention has designed a kind of shield segment assembling system, can be under shield structure actual working conditions, the research of realization to six actions such as the revolution of shield segment assembling system, translation, lifting, rolling, pitching, rollovers, and original system is simplified, saved manufacturing cost.
For achieving the above object, the technical scheme taked of the present invention is:
A kind of shield segment assembling system, comprise support and section of jurisdiction, described support inboard evenly is provided with roller, godet is installed in roller, the godet inboard is provided with the godet support, godet support the inner is arranged in the reducer rotating shaft, the reducer rotating shaft is connected with motor output shaft, on described godet leading flank, be fixed with two saddles, saddle comprises the cylindrical shell be fixed on the godet leading flank and is enclosed within the slide bar in cylindrical shell, the slide bar bottom is connected with lift cylinder, the lift cylinder upper end is fixed on the cylindrical shell lateral wall, two slide bar lower ends are fixed with a bracing frame, in the middle of bracing frame, be provided with the adjustment frame, adjust in frame and be provided with two parallel guide rods, on two guide rods, support slipper is installed, the support slipper both sides are provided with the guide matched with guide rod, the support slipper middle part has through hole, moving block is installed in through hole, moving block lower end and section of jurisdiction are hinged, the moving block bottom is connected with the rolling oil cylinder, rolling oil cylinder rear end is fixed on the connecting rod of adjusting on the frame bottom surface, the support slipper rear side is provided with the horizontal adjustment oil cylinder, horizontal adjustment oil cylinder rear end is fixed on to be adjusted on frame, on the support slipper bottom surface, evenly be provided with four attitudes and adjust oil cylinder, attitude is adjusted Jun Yu section of jurisdiction, oil cylinder lower end and is hinged.
Described lift cylinder, horizontal adjustment oil cylinder, rolling oil cylinder and four attitudes are adjusted oil cylinder all with displacement transducer.
Between described reducer rotating shaft and motor output shaft, shaft coupling is installed.
Described support rear side is provided with the driving mechanism support, and described reducer, shaft coupling and motor are installed on the driving mechanism support.
On described driving mechanism support, electric machine support and coupling support stand are installed, motor is arranged on electric machine support, and shaft coupling is arranged on coupling support stand.
Section of jurisdiction of the present invention is that radial type is connected with support slipper, can rotate and swing with respect to support slipper section of jurisdiction, four attitude hydraulic cylinders are uniformly distributed around support slipper, Jun Yu section of jurisdiction, four attitude hydraulic cylinder lower ends is hinged, when the outside two attitude hydraulic cylinder extension elongations fixedly the time, by changing the extension elongation of inboard two attitude hydraulic cylinders, can realize the front and back pitching action of section of jurisdiction; When two, left side attitude hydraulic cylinder extension elongation, fixedly the time, by changing the extension elongation of two the attitude hydraulic cylinders in right side, can realize the left-right rollover action of section of jurisdiction; Support slipper central authorities are equipped with moving block, and moving block lower end and section of jurisdiction are hinged, and the moving block bottom is provided with the rolling hydraulic cylinder, by the extension elongation that changes the rolling hydraulic cylinder, can realize the rolling action of section of jurisdiction; Section of jurisdiction of the present invention is arranged on guide rod by support slipper, and when changing the extension elongation of horizontal adjustment oil cylinder, support slipper can move forward and backward along guide rod, and then realizes the front and back translation motion of section of jurisdiction; Section of jurisdiction of the present invention is connected and fixed by bracing frame and saddle, and the two ends of lifting hydraulic cylinder are individually fixed on the cylindrical shell and slide bar of saddle, can realize moving up and down of section of jurisdiction by the extension elongation that changes lifting hydraulic cylinder; Saddle of the present invention is fixed on godet, and motor output shaft is fixed by godet support and godet after slowing down, and when machine operation, godet is rotated along roller, and then realizes the revolution action of section of jurisdiction.The present invention can realize six actions such as shield duct piece level, pitching, rollover, rolling, lifting, revolution, easy to operate, economical and efficient.
The accompanying drawing explanation
Fig. 1 is the invention structural representation.
Fig. 2 is the right view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Accompanying drawing sign: 1-section of jurisdiction, 2-support slipper, 3-horizontal adjustment oil cylinder, 4-guide rod, the 5-cylindrical shell, 6-slide bar, 7-bracing frame, 8-lift cylinder, the 9-saddle, 10-godet support, 11-godet, 12-roller, the 13-support, 14-reducer, 15-shaft coupling, 16-motor, the 17-electric machine support, 18-driving mechanism support, 19-rolling oil cylinder, 20-adjusts frame, the 21-coupling support stand, the 22-attitude is adjusted oil cylinder, 23-moving block, 24-connecting rod.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1-Figure 3, a kind of shield segment assembling system, comprise support 13 and section of jurisdiction 1, described support 13 inboards evenly are provided with roller 12, godet 11 is installed in roller 12, the godet inboard is provided with godet support 10, godet support 10 the inners are arranged in reducer 14 rotating shafts, reducer 14 rotating shafts are connected with motor 16 output shafts, on described godet leading flank, be fixed with two saddles 9, saddle 9 comprises the cylindrical shell 5 be fixed on the godet leading flank and is enclosed within the slide bar 6 in cylindrical shell, slide bar 5 bottoms are connected with lift cylinder 8, lift cylinder 8 upper ends are fixed on cylindrical shell 5 lateral walls, two slide bar 6 lower ends are fixed with a bracing frame 7, in the middle of bracing frame 7, be provided with and adjust frame 20, adjust in frame 20 and be provided with two parallel guide rods 4, on two guide rods 4, support slipper 2 is installed, support slipper 2 both sides are provided with the guide matched with guide rod 4, so that support slipper 2 can slide front and back on guide rod 4, support slipper 2 middle parts have through hole, moving block 23 is installed in through hole, moving block 23 is rotatable with respect to support slipper 2, moving block 23 lower ends and section of jurisdiction 1 are hinged, moving block 23 bottoms are connected with rolling oil cylinder 19, rolling oil cylinder 19 rear ends are fixed on the connecting rod 24 of adjusting on frame 20 bottom surfaces, support slipper 2 rear sides are provided with horizontal adjustment oil cylinder 3, horizontal adjustment oil cylinder 3 rear ends are fixed on to be adjusted on frame 20, on support slipper 2 bottom surfaces, evenly be provided with four attitudes and adjust oil cylinder 22, attitude is adjusted oil cylinder 22 Jun Yu sections of jurisdiction, lower end 1 and is hinged.
Lift cylinder 8 of the present invention, horizontal adjustment oil cylinder 13, rolling oil cylinder 19 and four attitudes are adjusted oil cylinder 22 all with displacement transducer, can realize the closed-loop control to executing agency's displacement by the PID control strategy, have higher control accuracy.
Between reducer 14 rotating shafts of the present invention and motor 16 output shafts, shaft coupling 15 is installed, the present invention is provided with driving mechanism support 18 at support 13 rear sides, electric machine support 17 and coupling support stand 21 are installed on driving mechanism support 18, motor 16 is arranged on electric machine support 17, shaft coupling 15 is arranged on coupling support stand 21, and reducer 14 is arranged on driving mechanism support 18.Support 13 of the present invention is integral steel structure, for increasing steadiness, at support 13 corner's welding reinforcing ribs.
During specific works of the present invention, can realize section of jurisdiction attitude adjustment, section of jurisdiction 1 is connected with bracing frame 7 by support slipper 2, bracing frame 7 plays the axial restraint effect, section of jurisdiction 1 is connected for radial type with support slipper 2, can rotate and swing with respect to support slipper 2 section of jurisdiction 1, four attitudes are adjusted oil cylinder 22 and are uniformly distributed around support slipper 2, when fixedly two attitudes of two of front sides or rear side are adjusted the oil cylinder extension elongation, by changing two attitudes in two of rear sides or front side, adjust the extension elongation of oil cylinder, can realize the front and back pitching action of section of jurisdiction 1; When two, fixing left side or two the attitude adjustment oil cylinder extension elongations in right side, by two, right side or two, left side attitude, adjust the extension elongation of oil cylinders, can realize the left-right rollover action of section of jurisdiction 1; By the extension elongation that changes rolling hydraulic cylinder 19, can realize the rolling action of section of jurisdiction 1.
The present invention can realize that section of jurisdiction moves horizontally, and section of jurisdiction 1 is arranged on guide rod 4 by support slipper 2, and when changing the extension elongation of cross cylinder 3, support slipper 2 can slide along guide rod 4 front and back, and then realizes the front and back translation motion of section of jurisdiction 1.
The present invention can realize the section of jurisdiction lifting mobile, section of jurisdiction 1 is fixedly connected with saddle 9 by bracing frame 7, saddle 9 is fixed on godet 11, and the two ends of lifting hydraulic cylinder 8 are individually fixed on the cylindrical shell and slide bar of saddle 9, can realize moving up and down of section of jurisdiction 1 by the extension elongation that changes lifting hydraulic cylinder 8.
The present invention can realize the section of jurisdiction gyration, fixing with godet 11 by godet support 10 after motor 16 output shafts slow down, and when motor 16 work, godet 11 is rotated along roller 12, and then realizes the revolution action of section of jurisdiction 1.
A kind of shield segment assembling system that the present invention proposes, on the basis of the frame for movement of greatly simplifying the shield segment assembling system, can realize six actions of actual shield segment assembling system, the present invention concentrates on the subsystems of pipe sheet assembling system on a platform, complete function, and has higher control accuracy, can meet various duct piece assembling machine control performance research experiments, it is for the control characteristic research of shield segment assembling hydraulic system and carry out independent research work and provide reliable platform to support.
Section of jurisdiction moves horizontally the research that experiment can realize shield duct piece is moved horizontally the control performance of speed and displacement.
Section of jurisdiction pitching experiment can realize the research to shield duct piece pitching action control performance.
Section of jurisdiction rollover experiment can realize the research to shield duct piece rollover action control performance.
Section of jurisdiction rolling experiment can realize the research to shield duct piece rolling action control performance.
Section of jurisdiction promotes experiment can realize the research to shield duct piece enhancing action control performance.
Section of jurisdiction revolution experiment can realize the research to shield duct piece revolution action control performance.
Coordination performance research when a plurality of system synchronization experiments can realize shield duct piece is carried out to a plurality of action simultaneously.
The control strategies such as PID (comprising open loop control strategy, PID Closed-loop Control Strategy, PID online self-tuning control strategy, fuzzy control strategy) experiment can realize the characteristic research such as the control accuracy under different control strategy effects and executing agency's response speed to six actions such as shield duct piece level, pitching, rollover, rolling, lifting, revolution.
One, Preparatory work of experiment
Whether inspection hydraulic system oil circuit is normally connected, whether each sensor line is normal, if any extremely needing processing in time.
Two, experimentation
1, section of jurisdiction moves horizontally and controls experiment
1) initial position is adjusted to in section of jurisdiction;
2) adjust the extension elongation of horizontal adjustment oil cylinder 3, can realize the horizontal balance of section of jurisdiction 1, and then carry out the speed that section of jurisdiction moves horizontally, the control performance experiment of displacement.
2, section of jurisdiction pitching action control experiment
1) two of front sides (or rear side two) attitude is adjusted to oil cylinder and stretch out appropriate length;
2) adjust two of rear sides (or front side two) attitude and adjust the extension elongation of oil cylinder, can realize the front and back pitching action of section of jurisdiction 1, and then speed and the precision of carrying out section of jurisdiction pitching action are controlled experimental study.
3, section of jurisdiction rollover action control experiment
1) two, left side (or right side two) attitude is adjusted to oil cylinder and stretch out appropriate length;
2) adjust two, right side (or left side two) attitude and adjust the extension elongation of oil cylinder, can realize the left-right rollover action of section of jurisdiction 1, and then speed and the precision of carrying out section of jurisdiction rollover action are controlled experimental study.
4, section of jurisdiction rolling action control experiment
The extension elongation of adjusting rolling hydraulic cylinder 19 can realize the rolling action of section of jurisdiction 1, and then carries out speed and the precision control experiment of section of jurisdiction rolling action.
5, the section of jurisdiction enhancing action is controlled experiment
1) adjust attitude and adjust oil cylinder, make the end face of section of jurisdiction 1 parallel with godet 11;
2) adjust horizontal adjustment oil cylinder 3, make section of jurisdiction 1 and godet 11 have suitable gap;
3) extension elongation of adjusting lift cylinder 8 can realize the enhancing action of section of jurisdiction 1, and then carries out the control characteristic research experiment of section of jurisdiction knee-action speed, displacement.
6, section of jurisdiction revolution action control experiment
1) section of jurisdiction is risen to suitable position;
2) adjust the rotary speed of motor 16, can carry out the control performance experimental study of angle of revolution, section of jurisdiction, speed.
7, by changing the control strategy of subsystems, can carry out the response speed of the executing agency under different control strategy effects and the experimental study of kinematic accuracy.
The above has carried out exemplary description to the present invention by reference to the accompanying drawings; obvious realization of the present invention is not subject to the restrictions described above; as long as adopted the various improvement of method design of the present invention and technical scheme; or without improving, the design of invention and technical scheme are directly applied to other occasions, all within protection scope of the present invention.
Claims (5)
1. shield segment assembling system, comprise support (13) and section of jurisdiction (1), it is characterized in that: described support (13) inboard evenly is provided with roller (12), godet (11) is installed in roller (12), the godet inboard is provided with godet support (10), godet support (10) the inner is arranged in reducer (14) rotating shaft, reducer (14) rotating shaft is connected with motor (16) output shaft, on described godet leading flank, be fixed with two saddles (9), saddle (9) comprises the cylindrical shell (5) be fixed on the godet leading flank and is enclosed within the slide bar (6) in cylindrical shell, slide bar (5) bottom is connected with lift cylinder (8), lift cylinder (8) upper end is fixed on cylindrical shell (5) lateral wall, two slide bars (6) lower end is fixed with a bracing frame (7), in the middle of bracing frame (7), be provided with and adjust frame (20), adjust in frame (20) and be provided with two parallel guide rods (4), support slipper (2) is installed on two guide rods (4), support slipper (2) both sides are provided with the guide matched with guide rod (4), support slipper (2) middle part has through hole, moving block (23) is installed in through hole, moving block (23) lower end and section of jurisdiction (1) are hinged, moving block (23) bottom is connected with rolling oil cylinder (19), rolling oil cylinder (19) rear end is fixed on the connecting rod (24) of adjusting on frame (20) bottom surface, support slipper (2) rear side is provided with horizontal adjustment oil cylinder (3), horizontal adjustment oil cylinder (3) rear end is fixed on to be adjusted on frame (20), on support slipper (2) bottom surface, evenly be provided with four attitudes and adjust oil cylinder (22), attitude is adjusted Jun Yu section of jurisdiction, oil cylinder (22) lower end (1) and is hinged.
2. shield segment assembling system according to claim 1 is characterized in that: described lift cylinder (8), horizontal adjustment oil cylinder (13), rolling oil cylinder (19) and four attitudes are adjusted oil cylinders (22) all with displacement transducer.
3. shield segment assembling system according to claim 1, is characterized in that: between (14) rotating shaft of described reducer and motor (16) output shaft, shaft coupling (15) is installed.
4. shield segment assembling system according to claim 3, it is characterized in that: described support (13) rear side is provided with driving mechanism support (18), and described reducer (14), shaft coupling (15) and motor (16) are installed on driving mechanism support (18).
5. shield segment assembling system according to claim 4, it is characterized in that: electric machine support (17) and coupling support stand (21) are installed on described driving mechanism support (18), it is upper that motor (16) is arranged on electric machine support (17), and shaft coupling (15) is arranged on coupling support stand (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013103928008A CN103410525A (en) | 2013-09-02 | 2013-09-02 | Shield segment splicing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013103928008A CN103410525A (en) | 2013-09-02 | 2013-09-02 | Shield segment splicing system |
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| CN103410525A true CN103410525A (en) | 2013-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013103928008A Pending CN103410525A (en) | 2013-09-02 | 2013-09-02 | Shield segment splicing system |
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| CN (1) | CN103410525A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104533472A (en) * | 2014-12-28 | 2015-04-22 | 上海隧道工程股份有限公司 | Slewing assembling machine used for rectangular shield |
| CN104695975A (en) * | 2014-12-28 | 2015-06-10 | 上海隧道工程股份有限公司 | Segment assembling system for rectangular shield |
| CN106124238A (en) * | 2016-08-30 | 2016-11-16 | 中铁局集团有限公司 | Assembling machine off-line detection device and detection method |
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN107035384A (en) * | 2017-05-25 | 2017-08-11 | 中交第二航务工程局有限公司 | A kind of pipe sheet assembling method for burst prefabrication and assembly construction underground pipe gallery |
| CN107905824A (en) * | 2017-12-18 | 2018-04-13 | 辽宁三三工业有限公司 | A kind of small-sized duct piece assembling machine adjustment orientation device |
| CN109396810A (en) * | 2018-12-25 | 2019-03-01 | 中铁隧道局集团有限公司 | A kind of shield cutter assembly workbench and its assembling method |
| CN110043298A (en) * | 2019-05-06 | 2019-07-23 | 中铁山河工程装备股份有限公司 | A kind of duct piece assembling machine section of jurisdiction attitude adjusting method and device |
| CN110284895A (en) * | 2019-06-19 | 2019-09-27 | 中铁隧道局集团有限公司 | A kind of multifunctional rock rock tunnel(ling) machine support system and method for protecting support |
| CN110924980A (en) * | 2019-12-27 | 2020-03-27 | 常熟市神力机械制造有限责任公司 | Pipeline assembling machine for shield machine |
| WO2022001621A1 (en) * | 2020-07-02 | 2022-01-06 | 中铁十四局集团有限公司 | Sealing method for shield tail sealing system for shield tunneling machine |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104695975A (en) * | 2014-12-28 | 2015-06-10 | 上海隧道工程股份有限公司 | Segment assembling system for rectangular shield |
| CN104533472B (en) * | 2014-12-28 | 2017-05-31 | 上海隧道工程有限公司 | For the revolution assembling machine of rectangular shield |
| CN104533472A (en) * | 2014-12-28 | 2015-04-22 | 上海隧道工程股份有限公司 | Slewing assembling machine used for rectangular shield |
| CN106124238B (en) * | 2016-08-30 | 2018-06-08 | 中铁一局集团有限公司 | Assembling machine off-line detection device and detection method |
| CN106124238A (en) * | 2016-08-30 | 2016-11-16 | 中铁局集团有限公司 | Assembling machine off-line detection device and detection method |
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN107035384A (en) * | 2017-05-25 | 2017-08-11 | 中交第二航务工程局有限公司 | A kind of pipe sheet assembling method for burst prefabrication and assembly construction underground pipe gallery |
| CN107905824A (en) * | 2017-12-18 | 2018-04-13 | 辽宁三三工业有限公司 | A kind of small-sized duct piece assembling machine adjustment orientation device |
| CN107905824B (en) * | 2017-12-18 | 2024-05-28 | 辽宁三三工业有限公司 | Posture adjusting device of small duct piece assembling machine |
| CN109396810A (en) * | 2018-12-25 | 2019-03-01 | 中铁隧道局集团有限公司 | A kind of shield cutter assembly workbench and its assembling method |
| CN109396810B (en) * | 2018-12-25 | 2023-09-08 | 中铁隧道局集团有限公司 | Shield cutter head assembling working platform and assembling method thereof |
| CN110043298A (en) * | 2019-05-06 | 2019-07-23 | 中铁山河工程装备股份有限公司 | A kind of duct piece assembling machine section of jurisdiction attitude adjusting method and device |
| CN110284895A (en) * | 2019-06-19 | 2019-09-27 | 中铁隧道局集团有限公司 | A kind of multifunctional rock rock tunnel(ling) machine support system and method for protecting support |
| CN110924980A (en) * | 2019-12-27 | 2020-03-27 | 常熟市神力机械制造有限责任公司 | Pipeline assembling machine for shield machine |
| WO2022001621A1 (en) * | 2020-07-02 | 2022-01-06 | 中铁十四局集团有限公司 | Sealing method for shield tail sealing system for shield tunneling machine |
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Application publication date: 20131127 |