CN104533435B - A kind of swing cutter head type rectangular cross section push-bench - Google Patents
A kind of swing cutter head type rectangular cross section push-bench Download PDFInfo
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- CN104533435B CN104533435B CN201410694746.7A CN201410694746A CN104533435B CN 104533435 B CN104533435 B CN 104533435B CN 201410694746 A CN201410694746 A CN 201410694746A CN 104533435 B CN104533435 B CN 104533435B
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- oil cylinder
- cutter head
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- swing
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- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 230000010355 oscillation Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 241000251468 Actinopterygii Species 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 abstract description 7
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 239000013049 sediment Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 230000000007 visual 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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
-
- 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
- E21D9/0621—Shield advancing devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a kind of swing cutter head type rectangular cross section push-bench, including cutter head, drive system, shield body structure, conveying worm and Rear impact, described cutter head is in conplane little cutterhead by two and combines, being provided with inside the main carriage of little cutterhead can be along the imitation-shaped knife of swing radial expansion, and the swing of the flexible and little cutterhead of imitation-shaped knife forms linkage；Described drive system includes sleeve, drives oil cylinder, auxiliary cylinder, swivel coupling composition；The centre of gyration of sleeve is coaxial with the oscillation center of little cutterhead, and it is parallel with the swinging plane of little cutterhead to drive oil cylinder to swing, with auxiliary cylinder, the plane constituted.The present invention is by the control of the imitation-shaped knife amount of backbreaking with the rotational angle using " motor+gear drives " cutterhead, it is changed into the imitation-shaped knife amount of the backbreaking straight line flexible with driving oil cylinder to control, while decreasing multiple large-scale drive mechanism pieces, it is easy to improve control accuracy and then reduce excavation blind area.
Description
Technical field
The present invention relates to the technical field of constructing tunnel equipment, be specifically related to a kind of swing cutter head type rectangular cross section push-bench.
Background technology
Section technology need not be removed in a large number, need not excavate ground, noiselessness on ground, without dust, do not disturb residents, and all uses Automated condtrol, and project progress is very fast, therefore, is that one both can reduce engineering and pollutes, can significantly save again the construction technology of construction investment.Wherein, push-bench is a kind of high mechanization integrating the technology such as machinery, electronics, hydraulic pressure, laser and control using the method for section and the excavation complete set of equipments of automatization.
Under the support of China's economy rapid growth, the development of pipe-jacking technology has welcome unprecedented opportunities, and pipe-jacking technology will be extensively applied in the construction of underground piping, storm sewer, blow-off line, power pipe and common pipe trench in future city.The feature that there is reduction excavated section in rectangular cross section tunnel relative to circular cross section tunnel, space effective rate of utilization is high, progressively becomes development trend in practice of construction.
At present, rectangle excavated section is used mostly rotary assembled cutter head, uses the method excavation of earth pressure balance, and the proportion of its excavation blind area area directly affects effect and the deslagging efficiency of sediment improvement.The method utilizing imitation-shaped knife to backbreak is born therewith, and the imitation-shaped knife amount of backbreaking controls to be insoluble key issue in engineering with the high accuracy of the rotary head using " motor+gear drives ".
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of swing cutter head type rectangular cross section push-bench, cutter head and drive system is utilized to combine, by driving oil cylinder and sleeve to produce moment of torsion effect, the restriction of the reciprocally swinging oil cylinder driven of sleeve stroke alternately, cutter head is made angle or driving oil cylinder stroke to swing according to the rules, imitation-shaped knife on cutter head is according to cutterhead pendulum angle accurate control over-excavation amount simultaneously, it is achieved the purpose of rectangle full face tunneling.
In order to achieve the above object, the technical scheme is that a kind of swing cutter head type rectangular cross section push-bench, including be arranged on front end cutter head, adjacent to cutter head drive system, support the shield body structure of whole equipment, the conveying worm being arranged on cutter head rear portion and Rear impact, described cutter head is in conplane little cutterhead by two and combines, being provided with imitation-shaped knife inside the main carriage of little cutterhead, the movement of imitation-shaped knife forms linkage with the swing of little cutterhead；Described drive system includes sleeve, drives oil cylinder, auxiliary cylinder, swivel coupling；The centre of gyration of sleeve is coaxial with the oscillation center of little cutterhead, and barrel forward end is affixed with cutter head, and the middle part of sleeve is connected with shield body structure along external diameter circumference by base bearing；Sleeve tail end is hinged with the piston rod driving oil cylinder and auxiliary cylinder respectively along centre of gyration different radii, and it is parallel with the swinging plane of little cutterhead to drive oil cylinder to swing, with auxiliary cylinder, the plane constituted.
Described little cutterhead is the little cutterhead of spoke type, and each little cutterhead includes central cylinder and the main carriage of four Length discrepancy；Cutting knife is distributed on described main carriage, and main carriage central area is provided with fish tail cutter, and the internal outer end of main carriage is provided with imitation-shaped knife；Being provided with regulation oil cylinder in main carriage, regulation oil cylinder one end is hinged with central cylinder, and the other end is hinged with imitation-shaped knife, and regulation oil cylinder makes imitation-shaped knife produce relative slip with main carriage.
Described imitation-shaped knife can move along swinging direction radially.
The cylinder barrel end of described driving oil cylinder and auxiliary cylinder is all hinged in shield body structural housing；Described driving oil cylinder includes that the first driving oil cylinder and second drives oil cylinder, and first drives oil cylinder and second to drive the piston rod of oil cylinder to be all articulated with in the same radius of sleeve, and first drives oil cylinder and second to drive oil cylinder setting symmetrical above and below；The piston rod of described auxiliary cylinder is articulated with in the relatively large radius of sleeve, auxiliary cylinder original state is arranged on the first driving oil cylinder and second and drives on the axis of symmetry of oil cylinder, and auxiliary cylinder duty drives oil cylinder and second to drive the most flexible of oil cylinder to contract and stretch with first.
Described little cutterhead can swing with its center axis under driving the effect of oil cylinder and auxiliary cylinder.
Described imitation-shaped knife is embedded in main carriage, and regulation oil cylinder controls the imitation-shaped knife extension elongation relative to main carriage outermost cutting knife according to little cutterhead pendulum angle, thus ensures that excavated section is rectangular shape.
The pendulum angle of described each little cutterhead can turn clockwise 47 ° relative to self initial position and rotate 47 ° with counterclockwise.
The present invention, by driving oil cylinder and sleeve generation moment of torsion effect, the restriction of the reciprocally swinging oil cylinder driven of sleeve stroke alternately, makes cutter head angle or driving oil cylinder stroke to swing according to the rules；Simultaneously, control by the imitation-shaped knife amount of backbreaking with the rotational angle using " motor+gear drives " cutterhead, it is changed into the imitation-shaped knife amount of the backbreaking straight line flexible with driving oil cylinder to control, while decreasing multiple large-scale drive mechanism pieces, it is easy to improve control accuracy and then reduce excavation blind area.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 be the present invention when dish device and the structural representation of drive system.
Fig. 3 is cutter head initial position schematic diagram.
Fig. 4 is the driving oil cylinder and the position view of auxiliary cylinder that cutter head initial position is corresponding.
Fig. 5 is the position view of cutter head pendulum angle α.
Fig. 6 is driving oil cylinder corresponding for cutter head pendulum angle α and the position view of auxiliary cylinder.
Detailed description of the invention
The present invention is illustrated below in conjunction with the accompanying drawings with example.
Swing cutter head type rectangular cross section push-bench of the present invention, including cutter head 1, drive system 2, shield body structure 3, conveying worm 4, Rear impact 5 totally five part, as shown in Figure 1.Cutter head 1 is arranged on rectangular cross section push-bench front end, and drive system 2 is adjacent with cutter head 1, and is positioned at cutter head 1 rear end, and shield structure 3 can support whole equipment, conveying worm 4 and Rear impact 5 and be arranged on the rear portion of cutter head 1.
Combining as in figure 2 it is shown, cutter head 1 is in conplane little cutterhead by two, each little cutterhead is the little cutterhead of spoke type, and each little cutterhead can be swung by the angle of regulation with its center axis.Each little cutterhead includes the main carriage 102 of central cylinder 101 and four Length discrepancy, and main carriage 102 is fixed in central cylinder 101.Being evenly distributed with several cutting knifes 105 on main carriage 102, the central area of main carriage 102 is provided with fish tail cutter 104, and the outer end within main carriage 102 is provided with imitation-shaped knife 103.The internal inner end of main carriage 102 is provided with regulation oil cylinder 106, regulation oil cylinder 106 one end is hinged with central cylinder 101, the other end is hinged with imitation-shaped knife 103, regulation oil cylinder 106 can make imitation-shaped knife 103 produce relative slip with main carriage 102, is equipped with the device such as axle sleeve and sealing between imitation-shaped knife 103 and main carriage 102.Imitation-shaped knife 103 can move radially along swing, and the movement of imitation-shaped knife 103 forms linkage with the swing of little cutterhead.Central cylinder 101 rear end connects has little cutterhead bracket 107, main carriage 102 rear portion to be provided with several stirring rod 108.
As in figure 2 it is shown, drive system 2 includes that sleeve 201, first drives oil cylinder 206, second to drive oil cylinder 208, auxiliary cylinder 207, swivel coupling 205.Drive system 2 is provided with two, is separately positioned on the rear portion of corresponding little cutterhead.The centre of gyration of sleeve 201 is coaxial with little cutterhead oscillation center, and on the left of it, front end is affixed with little cutterhead bracket 107.It is connected with the anterior shield 301 of shield body structure 3 along external diameter circumference by base bearing 202 in the middle part of sleeve 201.The front end of sleeve 201 both sides and tail end circumference are separately installed with end cover 1 and end cover 2 204.Swivel coupling 205 is positioned at sleeve 201 afterbody co-axial, is flexible can to drive oil circuit control, the passage of sediment improvement pipeline by imitation-shaped knife.
Sleeve 201 tail end is hinged with the piston rod of first driving oil cylinder the 206, second driving oil cylinder 208 and auxiliary cylinder 207 respectively, first drives oil cylinder 206, second to drive the cylinder body end of oil cylinder 208 and auxiliary cylinder 207 to be hinged in shield body structure 3, and first drives oil cylinder 206, second to drive oil cylinder 208 parallel with little cutterhead swinging plane with the plane that auxiliary cylinder 207 is constituted.First drives oil cylinder 206 and second to drive on the cylinder body end of oil cylinder 208 is respectively hinged at the upper end of anterior shield 301 square-section of shield body structure 3 and goes to the bottom, first drives oil cylinder 206 and second to drive the piston rod of oil cylinder 208 to be articulated with in sleeve 201 same radius, i.e. first drives oil cylinder 206 and second to drive oil cylinder 208 setting symmetrical above and below in shield body structure 3, as shown in Figure 3.Auxiliary cylinder 207 is positioned at the first driving oil cylinder 206 and second and drives in the symmetrical center line of oil cylinder 208, and its piston rod is articulated with in the relatively large radius of sleeve 201, and its cylinder body is articulated with on the flank of shield body structure Moments tee section.Auxiliary cylinder 207 drives oil cylinder 206 and second to drive the most flexible of oil cylinder 208 to contract and stretch, to make up the deficiency of cutter head 1 moment of torsion with first.
The workflow of the present invention is as follows: when complete machine tunnels, and cutter head 1 and excavation rock face, the multiple nozzles built-in from cutter head 1 inject modifying agent, improve dregs；Dregs, after soil pressure storehouse is stirred rod 108 stirring, carries out through conveying worm 4；Sleeve 201 and the cutter head 1, first driven drive oil cylinder 206, second to drive oil cylinder 208 and auxiliary cylinder 207 to be positioned at initial position, as shown in Figure 3 and Figure 4；Driving the retraction of oil cylinder 208 to make sleeve 201 be turned clockwise by thrust (A is to visual angle) by controlling stretching out of the first driving oil cylinder 206 with second, i.e. two little cutterheads are for turning clockwise, and auxiliary cylinder 207 is flexible with the rotation of sleeve 201 to be rotated；When sleeve 201 rotates clockwise 15 ° relative to initial position, auxiliary cylinder 207 sets up pressure thrust output, to increase the moment of torsion that sleeve 201 is subject to；When sleeve 201 rotates clockwise 47 ° relative to initial position, auxiliary cylinder 207 is changed into servo-actuated, not thrust output, and first drives oil cylinder 206 stopping to stretch out becomes retraction, second drives oil cylinder 208 to stop retraction becoming stretching out, and sleeve 201 is changed into rotate in an anti-clockwise direction；Then sleeve 201 relative initial position is gradually revert to initial point 0 ° by 47 °, and i.e. first drives oil cylinder 206 and second to drive oil cylinder 208 also to revert to initial position；Continuing anticlockwise rotary motion, when making sleeve 201 rotate counterclockwise 15 ° relative to initial position, auxiliary cylinder 207 sets up pressure thrust output again, to increase the moment of torsion that sleeve 201 is subject to when rotating counterclockwise；When sleeve 201 rotates counterclockwise 47 ° relative to initial position, auxiliary cylinder 207 is changed into servo-actuated, not thrust output, and first drives oil cylinder 206 to stop retraction becoming stretching out, second drives oil cylinder 208 to stop stretching out and becomes retraction, and sleeve 201 rotation direction is changed into and rotates clockwise；Sleeve 201 relative initial position is gradually revert to the initial position of 0 ° by rotating counterclockwise 47 °, and two pocket knife dishes form oscillating motions, iterative cycles.
In addition, when two little cutterheads are swung by predetermined angular, the angle that regulation oil cylinder 106 swings according to little cutterhead is to control the amount of backbreaking of imitation-shaped knife 103, the oscillating motion linkage that the movement of imitation-shaped knife 103 is carried out by predetermined angular with little cutterhead, the gained amount of backbreaking matched curve is similar with set square-section.
The above; being only the present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, any those familiar with the art is in the technical scope that the invention discloses; the change that can readily occur in or replacement, all should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (6)
1. one kind swings cutter head type rectangular cross section push-bench, including be arranged on front end cutter head, adjacent to cutter head drive system, support the shield body structure of whole equipment, the conveying worm being arranged on cutter head rear portion and Rear impact, it is characterized in that: described cutter head is in conplane little cutterhead by two and combines, being provided with imitation-shaped knife inside the main carriage of little cutterhead, the movement of imitation-shaped knife forms linkage with the swing of little cutterhead；Described drive system includes sleeve, drives oil cylinder, auxiliary cylinder and swivel coupling；The centre of gyration of sleeve is coaxial with the oscillation center of little cutterhead, and barrel forward end is affixed with cutter head, and the middle part of sleeve is connected with shield body structure along external diameter circumference by base bearing；Sleeve tail end is hinged with the piston rod driving oil cylinder and auxiliary cylinder respectively along centre of gyration different radii, and it is parallel with the swinging plane of little cutterhead to drive oil cylinder to swing, with auxiliary cylinder, the plane constituted；Described little cutterhead is the little cutterhead of spoke type, and each little cutterhead includes central cylinder and the main carriage of four Length discrepancy；Described main carriage outer portion is furnished with cutting knife, and main carriage central area is provided with fish tail cutter, and main carriage is internally provided with imitation-shaped knife；Being simultaneously provided with regulation oil cylinder inside main carriage, regulation oil cylinder one end is hinged with central cylinder, and the other end is hinged with imitation-shaped knife, and regulation oil cylinder can order about imitation-shaped knife and produce relative slip with main carriage.
Swing cutter head type rectangular cross section push-bench the most according to claim 1, it is characterised in that described imitation-shaped knife can move along swinging direction radially.
Swing cutter head type rectangular cross section push-bench the most according to claim 1, it is characterised in that the cylinder barrel end of described driving oil cylinder and auxiliary cylinder is all hinged in shield body structural housing；Described driving oil cylinder includes that the first driving oil cylinder and second drives oil cylinder, and first drives oil cylinder and second to drive the piston rod of oil cylinder to be all articulated with in the same radius of sleeve, and first drives oil cylinder and second to drive oil cylinder setting symmetrical above and below；The piston rod of described auxiliary cylinder is articulated with in the relatively large radius of sleeve, auxiliary cylinder original state is arranged on the first driving oil cylinder and second and drives on the axis of symmetry of oil cylinder, and auxiliary cylinder duty drives oil cylinder and second to drive the most flexible of oil cylinder to contract and stretch with first.
4. according to the swing cutter head type rectangular cross section push-bench described in claim 1 or 3, it is characterised in that described little cutterhead can swing with its center axis under driving the effect of oil cylinder and auxiliary cylinder.
Swing cutter head type rectangular cross section push-bench the most according to claim 1, it is characterized in that, described imitation-shaped knife is embedded in main carriage, and regulation oil cylinder controls the imitation-shaped knife extension elongation relative to main carriage outermost cutting knife according to little cutterhead pendulum angle, thus ensures that excavated section is rectangular shape.
Swing cutter head type rectangular cross section push-bench the most according to claim 1, it is characterised in that the pendulum angle of described each little cutterhead can turn clockwise 47 ° relative to self initial position and rotate 47 ° with counterclockwise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410694746.7A CN104533435B (en) | 2014-11-27 | 2014-11-27 | A kind of swing cutter head type rectangular cross section push-bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410694746.7A CN104533435B (en) | 2014-11-27 | 2014-11-27 | A kind of swing cutter head type rectangular cross section push-bench |
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| Publication Number | Publication Date |
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| CN104533435A CN104533435A (en) | 2015-04-22 |
| CN104533435B true CN104533435B (en) | 2017-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410694746.7A Active CN104533435B (en) | 2014-11-27 | 2014-11-27 | A kind of swing cutter head type rectangular cross section push-bench |
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Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104948200A (en) * | 2015-06-05 | 2015-09-30 | 张璐 | V-shaped head ejector pipe heading machine |
| CN105156125B (en) * | 2015-07-29 | 2017-12-08 | 中国铁建重工集团有限公司 | A kind of shielding tunnel excavator |
| CN105257311B (en) * | 2015-11-17 | 2017-09-12 | 中铁工程装备集团有限公司 | A kind of soft rock big cross section branch construction cutting means |
| CN105888676A (en) * | 2016-06-03 | 2016-08-24 | 中铁工程装备集团有限公司 | Rectangular section road header used for digging underground garage |
| CN107218048B (en) * | 2017-07-27 | 2023-06-02 | 中铁工程装备集团有限公司 | Horseshoe-shaped heading machine propelled by crawler belt |
| CN108691553B (en) * | 2018-06-12 | 2024-02-20 | 中铁工程装备集团有限公司 | Rectangular-like pipe jacking machine for construction of connecting channel |
| CN108625872A (en) * | 2018-07-17 | 2018-10-09 | 中国铁建重工集团有限公司 | A kind of push-bench |
| CN109209420B (en) * | 2018-10-26 | 2024-04-16 | 中铁工程装备集团有限公司 | Flexible arm heading machine for excavating tunnel with arbitrary section by double cutterheads supported by robot |
| CN109209413B (en) * | 2018-10-26 | 2024-04-09 | 中铁工程装备集团有限公司 | Flexible arm heading machine for digging tunnel with arbitrary section by multiple cutter discs supported by robot |
| CN109488323B (en) * | 2018-10-26 | 2024-07-19 | 中铁工程装备集团有限公司 | Flexible arm heading machine supported by parallel robot and capable of excavating tunnels with arbitrary sections |
| CN109681208B (en) * | 2018-12-06 | 2024-02-09 | 中信重工机械股份有限公司 | Swing type full-section drilling tool with equal-diameter and multiple cutterheads for enveloping and forming |
| CN110778319A (en) * | 2019-11-22 | 2020-02-11 | 中铁工程装备集团有限公司 | Rectangular heading machine and construction method thereof |
| US11905835B1 (en) * | 2020-09-17 | 2024-02-20 | TopEng Inc. | Tunnel digging machine (TDM) |
| CN113622935B (en) * | 2021-08-25 | 2024-04-09 | 中国铁建重工集团股份有限公司 | Communication channel tunneling equipment |
| CN113565516B (en) * | 2021-08-27 | 2024-03-22 | 江苏雷威建设工程有限公司 | Pipe jacking operation device |
| CN113833481A (en) * | 2021-09-24 | 2021-12-24 | 无锡中铁城轨装备有限公司 | Semicircular pipe jacking machine and construction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0492098A (en) * | 1990-08-07 | 1992-03-25 | Hitachi Zosen Corp | Shield excavator |
| JP2588380B2 (en) * | 1995-03-23 | 1997-03-05 | 川崎重工業株式会社 | Rectangular shield machine |
| JP3794873B2 (en) * | 1999-08-06 | 2006-07-12 | 日立造船株式会社 | Shield machine |
| CN2561933Y (en) * | 2002-07-25 | 2003-07-23 | 上海隧道工程股份有限公司 | Assembled cutter head of rectangular pipe jacker |
| CN102305083A (en) * | 2011-08-01 | 2012-01-04 | 北京市三一重机有限公司 | Shield machine and anterior shield system thereof |
| CN102364048B (en) * | 2011-10-11 | 2014-01-15 | 马晓山 | Comprehensive mechanized rock roadway tunneling machine |
| CN204312078U (en) * | 2014-11-27 | 2015-05-06 | 中铁工程装备集团有限公司 | A kind of swing cutter head type rectangular cross section push-bench |
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2014
- 2014-11-27 CN CN201410694746.7A patent/CN104533435B/en active Active
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