EP2789403A1 - Générateur de vibrations pour machines de construction - Google Patents

Générateur de vibrations pour machines de construction Download PDF

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Publication number
EP2789403A1
EP2789403A1 EP13163223.4A EP13163223A EP2789403A1 EP 2789403 A1 EP2789403 A1 EP 2789403A1 EP 13163223 A EP13163223 A EP 13163223A EP 2789403 A1 EP2789403 A1 EP 2789403A1
Authority
EP
European Patent Office
Prior art keywords
lance
vibration generator
generator according
pivot
pivot motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13163223.4A
Other languages
German (de)
English (en)
Other versions
EP2789403B1 (fr
Inventor
Albrecht Dr. Ing. Kleibl
Christian Heichel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH
Original Assignee
ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH filed Critical ABI Anlagentechnik Baumaschinen Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH
Priority to EP13163223.4A priority Critical patent/EP2789403B1/fr
Priority to US14/205,491 priority patent/US9289799B2/en
Publication of EP2789403A1 publication Critical patent/EP2789403A1/fr
Application granted granted Critical
Publication of EP2789403B1 publication Critical patent/EP2789403B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • B06B1/16—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
    • B06B1/161—Adjustable systems, i.e. where amplitude or direction of frequency of vibration can be varied
    • B06B1/162—Making use of masses with adjustable amount of eccentricity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • B06B1/16—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
    • B06B1/161—Adjustable systems, i.e. where amplitude or direction of frequency of vibration can be varied
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • B06B1/16—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
    • B06B1/161—Adjustable systems, i.e. where amplitude or direction of frequency of vibration can be varied
    • B06B1/166—Where the phase-angle of masses mounted on counter-rotating shafts can be varied, e.g. variation of the vibration phase
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/18—Placing by vibrating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18056—Rotary to or from reciprocating or oscillating
    • Y10T74/18344—Unbalanced weights

Definitions

  • the invention relates to a vibration generator for construction machines, in particular for vibratory ramming, according to the preamble of patent claim 1.
  • vibratory rams are used to bring in piles such as profiles in the ground or to pull them out of the ground.
  • the soil is excited by vibrations with a frequency above the natural frequency of the soil and thus reaches a "pseudo-liquid state".
  • By static load the pile can then be pressed into the ground.
  • the vibration is generated by pairwise counter-rotating imbalances.
  • the vibration exciters of such vibration rams are linear-acting vibration exciters whose centrifugal force is generated by rotating imbalances.
  • An essential feature of these vibration exciters is the static moment. This is a size that describes the installed imbalance.
  • the effective size of the imbalance is adjustable.
  • the static torque is adjusted by adjusting the effective unbalance of each shaft.
  • an average imbalance is rotated against two outer imbalances in order to adjust the resulting imbalance in this way. Since the internal imbalances of all shafts are interconnected via gears and the external imbalances of all shafts via gears or the shafts themselves, the relative angles between external and internal imbalances are the same on all shafts.
  • Such a trained vibration exciter is for example in the DE 20 2007 005 283 U1 disclosed.
  • the adjustment of the imbalance groups via an additional shaft which is designed as a phase shifter, in the present case in the form of a swing motor.
  • a special design are upright vibrators, which are usually equipped with three or four unbalanced shafts.
  • Such Hochkantvibrator is for example in the EP 2 392 413 A2 shown.
  • the invention aims to remedy this situation.
  • the invention is based on the object to provide a vibration generator for construction equipment, in particular for vibratory ramming, in which the static torque is adjustable and its energy consumption is reduced. According to the invention, this object is achieved by features of the characterizing part of patent claim 1.
  • the invention provides a vibration exciter for construction machines, in particular for vibratory ramming, whose static moment is adjustable and whose energy requirement is reduced. Because the maximum angle of rotation of the at least one rotary vane, which is limited by at least one stop arranged on the swivel motor housing, is less than 160 degrees, preferably 150 degrees or less, the reaction time of the swivel motor is increased - the swivel motor adjusts faster. Furthermore, a reduction of the power supply required for the rotation of the swing motor is caused by the reduction of each limited space between the rotary wing and stop.
  • At least one imbalance mass is formed by the swivel motor housing of a single-rotor rotary piston pivoting motor designed as a circular sector and formed on the pivot motor shaft rotatable to this, which is part of at least one axis.
  • an unbalance shaft is formed with adjustable resulting unbalance.
  • Between the two stop surfaces of the stopper defined by the angle of rotation pivot space of the rotary wing of the Swivel motor opposite is formed at least one acted upon by oil oil bag.
  • the at least one oil pocket achieves at least partial compensation of the resultant force acting on the bearings.
  • the resulting from centrifugal force of the formed as imbalance pivot bearing housing and from the oil pressure in the chambers bearing load is reduced by the at least one oil pocket. Due to a reduced rotation angle, the oil pocket and the sealing distance can be increased.
  • At least one separate oil supply line is arranged for supplying oil to the at least one oil pocket (58) in addition to the oil supply lines for the chambers (57) arranged on both sides of the rotary vane (52).
  • two oppositely arranged rotary vanes are arranged on the swivel motor shaft of the at least one swivel motor, so that two opposite pressure chambers are formed between the two rotary vanes and the associated stop of the swivel motor housing in each case in one direction of rotation.
  • a uniform bearing load is effected.
  • the two oppositely arranged pressure chambers there is no additional bearing load by each introduced into the pressure chamber hydraulic oil.
  • the required oil pressure is lower for two wings, since doubles in two rotary blades, the specific torque of the swing motor.
  • no seals are arranged for sealing the swivel motor housing relative to the swivel motor shaft of the at least one swivel motor, the sealing effect being effected exclusively via the gap dimension.
  • the maintenance is reduced because a change of aged, worn or embrittled at high temperatures seals is not required.
  • the sealing effect is achieved rather over narrow gaps.
  • the risk of higher leakage is counteracted by a lower pressure operation, which is made possible by the lower swing angle and preferably by the arrangement of two oppositely disposed rotary vanes, which cause a higher torque.
  • the swivel motor shaft is provided at least one swivel motor with an axial bore into which projects a fixed lance having at least two channels for oil supply of the swivel motor, which open into a respective outside of the lance arranged annular groove, wherein in the swivel motor shaft Radial holes for connecting the at least two annular grooves of the lance are introduced with the chambers to be supplied.
  • the fit between the lance and the shaft bore in the region of the annular grooves is preferably designed as a narrow slide bearing.
  • the lance is preferably coated in this area with plastic.
  • the fixedly arranged lance compensates for the dancing movement of the pivot bearing shaft in the functionally bearing a game bearing bearings. This is done on the one hand by the long shaft of the lance, which is preferably designed to be elastic and is advantageously designed by attachment to the flange so that it can accommodate slight inclinations.
  • the lance is preferably rotatably mounted end with play in a fixed to the housing of the vibration exciter flange.
  • the lance has at its end an enlarged diameter head piece, with which it is mounted in the flange.
  • a resilient attachment of the lance is made possible in the flange.
  • the gap formed by the game between the lance and the flange by at least bridged an O-ring.
  • the lance can be secured by means of an engaging in the head piece dowel pin.
  • At least one axis three unbalanced masses are arranged, wherein the average imbalance mass is formed by the swivel motor housing of a designed in the form of a single-pivot rotary engine pivot motor.
  • an unbalance shaft is formed with adjustable resulting unbalance.
  • Rotary piston pivot motors also referred to as rotary vane pivot motors, generate torque directly through one or more vanes disposed on the swing motor shaft, which are pressurized with hydraulic oil under pressure.
  • rotary swivel motors are referred to as single-leaf or double-leaf.
  • At least three axes provided with unbalanced masses are arranged, which are interconnected via gears, wherein in each case at least one unbalanced mass is formed by at least two axes formed by an unbalanced mass swing motor housing of a swing motor.
  • the swivel motor housing of the at least one swivel motor is designed as a sector of a circle.
  • a space-optimized imbalance is formed by the swivel motor housing.
  • At least one oil pocket which can be acted upon with oil is formed between the two stop surfaces, opposite the pivot space of the rotary vane defined by the angle of rotation. This achieves an at least partial compensation of the resulting force acting on the bearings.
  • the bearings, with which the swivel motor housing is mounted on the swivel motor shaft increasingly loaded with increasing speed by the centrifugal force.
  • a bearing force results from the oil pressure in the chambers of the slewing motor. This resulting from centrifugal force and oil pressure in the chambers bearing load leads to an increased adjusting torque that can be reduced by the provision of at least one oil pocket.
  • At least one separate oil supply line can advantageously be arranged in addition to the oil supply lines for the chambers arranged on both sides of the rotary vane.
  • a hydraulic short circuit between the two chambers of the slewing motor is excluded.
  • two check valves or a shuttle valve may be arranged. Valves, however, are sensitive to dynamic loads, which are essential in a vibrator gearbox.
  • the selected as an exemplary vibration exciter is designed as a three-shaft vibrator gear.
  • a swivel motor 5 designed as a rotary swivel motor is arranged between the toothed wheels 4, the swivel motor shaft 51 of which is part of the axle 2.
  • the central imbalance shaft 1 ' has on its axis 2 between the gears 4 an inner imbalance mass 3'.
  • the imbalance mass 3 ' is dimensioned twice as wide as the outer imbalance masses. 3
  • the imbalance masses 3, 3 ' are formed in a circular sector.
  • the radius of the outer unbalance 3 of the outer unbalanced shafts 1 substantially corresponds to the radius of the gears 4.
  • the radius of the outer imbalances 3 and the inner imbalance 3 'of the central imbalance shaft 3' is significantly greater than the radius of the gears 4 of the central imbalance shaft 1 ', which are dimensioned larger than the gears 4 of the outer unbalanced shafts 1, between which a rotary piston pivot motor 5 is arranged.
  • the rotary piston pivoting motor 5 is formed by a pivot motor shaft 51, which is part of the axis 2, and arranged on the pivot motor shaft 51 pivot motor housing 55.
  • the pivot motor shaft is provided in the exemplary embodiment with an axial bore 511, spaced from each other two radial bores 512 are led to the outside.
  • a rotary vane 52 is formed on the pivot motor shaft 51, which is arranged within the pivot space 55 formed by the inner contour 54 of the pivot motor housing 53.
  • the pivot motor housing 53 is formed according to the imbalance masses 3, 3 'as a sector-shaped unbalance.
  • the pivot space 55 formed between the inner contour 54 of the pivot motor housing 53 and the pivot motor shaft 51 is limited by two stop surfaces 56, which allow a maximum rotation angle of 150 degrees.
  • two chambers 57 are formed for the operation of the rotary piston pivot motor 5.
  • a lance 6 for supplying the chambers 57 of the rotary piston pivot motor 5 is introduced with hydraulic oil.
  • the lance 6 is substantially cylindrical.
  • the lance 6 has a head piece 61, which is adjoined by a shaft 62, which merges into a diameter-enlarged slide bearing portion 63.
  • two channels 64 are provided coaxially to the central axis 11 for supplying the chambers 57 of the rotary piston pivot motor 5.
  • the channels 64 each open into an annular groove 65 arranged within the sliding bearing section 63, which is arranged such that one of the radial bores 512 is arranged as a pivoting motor 51 orthogonal thereto, which axial bore 511 connects to the respective chamber 57 of the rotary piston pivoting motor 5 represents.
  • the lance 6 is mounted with its head piece 61 on a flange 7, which is fixed to the - not shown - housing of the vibrator gear.
  • the flange part 7 consists essentially of a base plate 71, which is connected centrally with a cup-shaped recess 72 which is aligned with a bore 73 guided through the base plate 71.
  • the cup-shaped recess 72 receives the lid part 75, which with a centrally arranged cylindrical formed recess 76 whose outer diameter is slightly larger than the outer diameter of the head piece 61 of the lance 6.
  • the cover part 75 is provided with supply ports 77 for supplying the channels 64 of the cover part 75 lance 6 received.
  • a dowel pin 78 is arranged for engagement in an eccentrically arranged in the head piece of the lance 6 fitting hole 66.
  • Surrounding the recess 72 of the cover part 75 are parallel to each other two annular grooves for receiving an O-ring 8 is introduced.
  • the O-ring 8 bridges the gap between the head piece 61 of the lance 6 and the recess 76 of the cover part 75, whereby the head piece 61 is mounted slightly pivotable in the cover part 75.
  • the cover part 75 is fixed in the recess 72 of the base plate 71 and receives the head piece 61 of the lance 6, whose shaft 62 projects through the bore 73 of the base plate into the axial bore 511 of the pivot motor shaft 51 of the rotary piston pivot motor 5.
  • the cover part 75 is sealed relative to the cup-shaped recess 76 by means of an O-ring 81.
  • the vibrator is operated by two - not shown - drives that drive the top and bottom unbalance shaft 1, which are identical to the pivot motor shafts 51 of the rotary piston pivot motor 5 here.
  • the entire static moment of the upper and lower imbalance shaft 1 corresponds to the static moment of the central imbalance shaft 1 'in this three-shaft vibrator. Therefore, the unbalance 3 on the lower and upper imbalance shaft 1 does not claim the available space.
  • each have a rotary piston pivot motor 5 is integrated, which is located in each case in the middle imbalance.
  • the pivot motor housing 53 of the rotary piston pivot motor 5 is designed as a circular segment unbalanced mass and rotatably mounted on the respective unbalanced shaft 1.
  • the angle of rotation is limited by the integrally formed on the pivot motor shaft 51 rotary vane 52 in interaction with the abutment surfaces 56 of the pivot space 55 to a maximum of 150 degrees.
  • the rotary vane 52 also serves as a seal between the two chambers 57 which are delimited between the rotary vane 52 and the pivot motor housing 53 and the pivot motor shaft 51.
  • the two chambers 57 are supplied with hydraulic oil, which is supplied via the radial bores 512 of the swing motor shaft 51.
  • the fixed lance 6 is mounted in the central, axially extending bore 511. The sealing effect is achieved through narrow gaps.
  • the hydraulic transmission is equipped with two rotary actuators, which ensures low pressure operation while ensuring the required maximum torque of the swing motors.
  • the hydraulic oil is supplied through the supply ports 77 to the channels 64 of the lance 6. From these channels 64, the oil enters the annular grooves 65 on the outside of the lance.
  • the chambers 57 of the rotary piston pivot motor 5 are connected by radial bores 512, which connect the respective annular groove space with the corresponding chamber 57.
  • a Leckageringnut 67 is disposed between the two annular grooves 65, which serves to dissipate occurring leak oil.
  • the fit between the lance 6 and the axial bore 511 of the pivot motor shaft 51 is designed in the region of the annular grooves 65, 67 as a narrow slide bearing.
  • the lance is provided with a sliding bearing coating made of plastic. Due to the sliding bearing formed between the axial bore 511 of the pivot motor shaft 51 and the sliding bearing portion 63 of the lance 6, some leakage occurs, but at the same time lubricates the bearing, separates the surfaces and thereby counteracts wear.
  • the pivot motor housing 53 of the rotary vane pivot motor 5 is formed in each case as imbalance, the bearings with which the pivot motor housing 53 is mounted on the pivot motor shaft 51, increasingly loaded with centrifugal force with increasing speed.
  • a bearing force results from the oil pressure in the chambers 57.
  • an oil pocket 58 which can be acted upon by oil pressure, can additionally be introduced into the swivel motor housing 53 (cf. FIG. 11 ). This oil pressure can be diverted, for example, in the control of the chambers 57.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
EP13163223.4A 2013-04-10 2013-04-10 Générateur de vibrations pour machines de construction Active EP2789403B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP13163223.4A EP2789403B1 (fr) 2013-04-10 2013-04-10 Générateur de vibrations pour machines de construction
US14/205,491 US9289799B2 (en) 2013-04-10 2014-03-12 Vibration exciter for construction machines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13163223.4A EP2789403B1 (fr) 2013-04-10 2013-04-10 Générateur de vibrations pour machines de construction

Publications (2)

Publication Number Publication Date
EP2789403A1 true EP2789403A1 (fr) 2014-10-15
EP2789403B1 EP2789403B1 (fr) 2015-12-16

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US (1) US9289799B2 (fr)
EP (1) EP2789403B1 (fr)

Cited By (1)

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CN110424890A (zh) * 2019-08-11 2019-11-08 叶江清 一种冲击装置及多功能潜孔器

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US20150027744A1 (en) * 2012-03-15 2015-01-29 Aydin Ozkan Variable moment resonance-free vibro hammer
EP2789403B1 (fr) * 2013-04-10 2015-12-16 ABI Anlagentechnik-Baumaschinen-Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH Générateur de vibrations pour machines de construction
US9038491B2 (en) * 2013-05-06 2015-05-26 Martin Engineering Company Method of repositioning bearing wear in an industrial eccentric weight vibrator via power inversion and vibrator therefore
RU2578745C1 (ru) * 2014-12-15 2016-03-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования Новосибирский государственный аграрный университет Вибровозбудитель
US9941779B2 (en) * 2015-05-08 2018-04-10 Dynamic Structures And Materials, Llc Linear or rotary actuator using electromagnetic driven hammer as prime mover
JP6615390B2 (ja) 2016-08-03 2019-12-04 コーニンクレッカ フィリップス エヌ ヴェ パーソナルケア装置のための駆動トレインアセンブリ
CN108802807B (zh) * 2018-06-12 2021-03-30 西南石油大学 一种激振力频宽可调的小型可控震源激振装置

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EP2789402B1 (fr) * 2013-04-10 2017-05-17 ABI Anlagentechnik-Baumaschinen-Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH Accélérateur d'oscillations

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Publication number Priority date Publication date Assignee Title
AU528984B2 (en) * 1976-09-01 1983-05-19 Fmc Corporation Vibrator
JPS5977145A (ja) * 1982-10-22 1984-05-02 Mitsubishi Heavy Ind Ltd 可変出力式起振装置
EP0473449A1 (fr) * 1990-08-30 1992-03-04 Kencho Kobe Co., Ltd. Générateur de vibrations
DE202007005283U1 (de) 2007-03-07 2007-07-12 Abi Gmbh Schwingungserreger
EP2270341A2 (fr) * 2009-06-30 2011-01-05 ZF Friedrichshafen AG Lame d'étanchéité, en particulier pour un vérin rotatif à palettes
EP2392413A2 (fr) 2010-06-02 2011-12-07 ABI Anlagentechnik-Baumaschinen-Industriebedarf Maschinenfabrik und Vertriebsgesellschaft mbH Marteaux à vibration

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110424890A (zh) * 2019-08-11 2019-11-08 叶江清 一种冲击装置及多功能潜孔器

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US9289799B2 (en) 2016-03-22
US20140305236A1 (en) 2014-10-16
EP2789403B1 (fr) 2015-12-16

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