EP2789861A1 - Machine à fluide centrifuge - Google Patents

Machine à fluide centrifuge Download PDF

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Publication number
EP2789861A1
EP2789861A1 EP12856231.1A EP12856231A EP2789861A1 EP 2789861 A1 EP2789861 A1 EP 2789861A1 EP 12856231 A EP12856231 A EP 12856231A EP 2789861 A1 EP2789861 A1 EP 2789861A1
Authority
EP
European Patent Office
Prior art keywords
working fluid
vanes
impeller
wall surface
injection ports
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.)
Withdrawn
Application number
EP12856231.1A
Other languages
German (de)
English (en)
Other versions
EP2789861A4 (fr
Inventor
Seiichi Ibaraki
Koichi Sugimoto
Keiichi Shiraishi
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Publication of EP2789861A1 publication Critical patent/EP2789861A1/fr
Publication of EP2789861A4 publication Critical patent/EP2789861A4/fr
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/40—Casings; Connections of working fluid
    • F04D29/42—Casings; Connections of working fluid for radial or helico-centrifugal pumps
    • F04D29/44—Fluid-guiding means, e.g. diffusers
    • F04D29/441—Fluid-guiding means, e.g. diffusers especially adapted for elastic fluid pumps
    • F04D29/444—Bladed diffusers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/02—Surge control
    • F04D27/0207—Surge control by bleeding, bypassing or recycling fluids
    • F04D27/0238—Details or means for fluid reinjection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/66—Combating cavitation, whirls, noise, vibration or the like; Balancing
    • F04D29/68—Combating cavitation, whirls, noise, vibration or the like; Balancing by influencing boundary layers
    • F04D29/681—Combating cavitation, whirls, noise, vibration or the like; Balancing by influencing boundary layers especially adapted for elastic fluid pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/66—Combating cavitation, whirls, noise, vibration or the like; Balancing
    • F04D29/68—Combating cavitation, whirls, noise, vibration or the like; Balancing by influencing boundary layers
    • F04D29/681—Combating cavitation, whirls, noise, vibration or the like; Balancing by influencing boundary layers especially adapted for elastic fluid pumps
    • F04D29/684—Combating cavitation, whirls, noise, vibration or the like; Balancing by influencing boundary layers especially adapted for elastic fluid pumps by fluid injection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2250/00—Geometry
    • F05D2250/50—Inlet or outlet
    • F05D2250/52—Outlet

Definitions

  • the present invention relates to a centrifugal fluid machine equipped with a bladed diffuser, that is usualy used for a marine, a automotive, and a gas turbine engine for an aircraft, and so forth.
  • a centrifugal fluid machine employed in a centrifugal compressor of a supercharger or the like is configured such that, by rotating an impeller in a casing, a fluid (gas) to be pressurized flows while passing through most of the flow channels in the impeller in the radial direction, so that the fluid is pressurized mainly by means of centrifugal force.
  • a bladed diffuser that is to say, provided with a plurality of vanes (diffuser blades), is provided downstream of the impeller, and it is essential to increase the performance of this bladed diffuser.
  • the centrifugal fluid machine disclosed in Patent Literature 2 has a configuration in which radially-outer-side surfaces of vanes and radially-inner-side surfaces thereof communicate by means of a groove provided in at least one of the wall surfaces, namely, a shroud-side wall surface or a hub-side wall surface, or by means of communicating holes provided at tips of the vanes located close to a wall surface.
  • a pressurized fluid having a velocity distribution in the blade-height direction flows into the vanes of the diffuser. Because of this, an inconsistency occurs between the flow angle and the blade inlet angle at the vane inlet. Because such an inconsistency in the angles causes the flow of the fluid pressurized at the leading edges of the vanes to separate therefrom, there is a problem, which must be solved, that this separation causes a reduction in the efficiency of the bladed diffuser and stalling of the vanes.
  • the present invention has been conceived in light of the above-described circumstances, and an object thereof is to provide a centrifugal fluid machine in which flow separation due to the inconsistency in angles between a flow discharged from an impeller and a flow at the vane inlet is suppressed and in which the performance of a bladed diffuser is enhanced.
  • the present invention employs the following solutions.
  • a centrifugal fluid machine includes a plurality of blades and an impeller having the plurality of blades; and a diffuser that is provided on a downstream of the impeller and that has a plurality of vanes between a shroud-side wall surface and a hub-side wall surface that face each other, and is configured so that a fluid pressurized by means of rotation of the impeller flows out from the diffuser by passing therethrough.
  • the centrifugal fluid machine is provided with one or a plurality of working fluid injection ports that form openings at the hub-side wall surface and that inject the working fluid in a fluid flow direction along pressure surfaces of the vanes, wherein the working fluid injection ports are provided at radial positions closer to leading edges of the vanes than to a throat radius (R2).
  • such a centrifugal fluid machine is provided with one or a plurality of working fluid injection ports that form openings at the hub-side wall surface and inject the working fluid in the main flow direction along the pressure surfaces of the vanes, and because these working fluid injection ports are provided at radial positions closer to the leading edges of the vanes than to the throat radius (R2), the working fluid that is injected toward the hub side of the pressure surfaces of the vanes joins a distorted flow that is discharged from the impeller and suppresses flow separation caused by the inconsistency in angles between a flow angle and a blade inlet angle.
  • the working fluid injection ports be formed as openings in regions on the pressure surface side that occupy 20 % or less of the throat width, and that the working fluid be injected therefrom.
  • a centrifugal fluid machine includes a plurality of blades; an impeller having the plurality of blades; and a diffuser that is provided on a downstream of the impeller and that has a plurality of vanes between a shroud-side wall surface and a hub-side wall surface that face each other, and is configured so that a fluid pressurized by means of rotation of the impeller flows out from the diffuser by passing therethrough.
  • the centrifugal fluid machine is provided with one or a plurality of working fluid injection ports that form openings at the shroud-side wall surface and that inject the working fluid in a main flow direction along suction surfaces of the vanes, wherein the working fluid injection ports are provided at radial positions closer to leading edges of the vanes than to a throat radius (R2).
  • such a centrifugal fluid machine is provided with one or a plurality of working fluid injection ports that form openings at the shroud-side wall surface and that inject the working fluid in the fluid flow direction along the suction surfaces of the vanes, and because these working fluid injection ports are provided at radial positions closer to the leading edges of the vanes than to the throat radius (R2), the working fluid that is injected toward the shroud side of the suction surfaces of the vanes joins a distorted flow that is discharged from the impeller and suppresses flow separation caused by the inconsistency in angles between a flow angle and a blade inlet angle.
  • the working fluid injection ports be formed as openings in regions on the suction surface side that occupy 20 % or less of the throat width, and that the working fluid be injected therefrom.
  • the radial positions at which the working fluid injection ports are provided have an inner circumferential limit at a 95 % minimum radius (Ro) with reference to a leading edge radius (R1) of the vanes, and an outer circumferential limit at the throat radius (R2); by doing so, the working fluid is injected into the region near the leading edges of the vanes, and thus, it is possible to efficiently suppress flow separation caused by the inconsistency in angles between a flow discharged from the impeller and a flow at vane inlet by using a minimum injection amount of the working fluid.
  • a working fluid injection angle ( ⁇ ) of the working fluid injection ports from a wall surface be set so as to be 60° or less with respect to the fluid flow direction; by doing so, the injected working fluid efficiently forms a flow from the leading edges of the vanes toward the hub side of the pressure surfaces or the shroud side of the suction surfaces, thus enhancing the efficiency of flow separation suppression by the injected working fluid.
  • centrifugal fluid machine it is preferable that a fluid in which a portion thereof is returned from the downstream of the diffuser or a fluid that is introduced from an external pressure source be used as the working fluid.
  • the present invention described above affords a notable advantage in that a centrifugal fluid machine is provided, in which flow separation due to the inconsistency in angles between the flow discharged from an impeller and the flow at vane inlet is suppressed and in which the performance of a bladed diffuser is enhanced.
  • the working fluid injected toward the hub side of the pressure surfaces of the vanes is effective for enhancing the performance
  • the working fluid injected toward the shroud side of the suction surfaces of the vanes is effective for increasing the operation range
  • by injecting the working fluid toward both the hub side of the pressure surfaces and the shroud side of the suction surfaces it is possible to realize a centrifugal fluid machine having a high pressure ratio, high efficiency, and a wide operation range.
  • centrifugal fluid machine An embodiment of a centrifugal fluid machine according to the present invention will be described below (a centrifugal compressor will be described below as an example) based on the drawings.
  • a centrifugal compressor 10 is configured having an impeller 11 and a diffuser 21 as main components and discharges a fluid introduced thereinto after pressurizing the fluid.
  • the impeller 11 has a plurality of blades 12 and a hub 13 disposed at base portions R of these blades 12, and the individual blades 12 are disposed at a surface of the hub 13 so that leading edges LE thereof are positioned at a small-diameter-side end portion 13a of the hub 13 and so that trailing edges TE thereof are positioned at a large-diameter-side end portion 13b of the hub 13.
  • reference sign 14 indicates a shroud that is disposed so as to cover tips of the blades 12.
  • the diffuser 21 is provided on the downstream of the impeller 11 described above, has a plurality of vanes (diffuser blades) 24 between a shroud-side wall surface 22 and a hub-side wall surface 23 that face each other, and has a function for converting the kinetic energy possessed by the fluid (gas), which is pressurized by passing through the impeller 11, into pressure energy. Specifically, at the diffuser 21, the dynamic pressure of a flow is converted to an increase in the static pressure by decelerating the flow speed of the fluid.
  • the centrifugal compressor 10 is provided with the impeller 11, which has the plurality of blades 12 and the hub 13 disposed at the base portions R of the plurality of blades 12, and the diffuser 21, which is provided on the downstream of the impeller 11 and which has the plurality of vanes 24 between the shroud-side wall surface 22 and the hub-side wall surface 23 that face each other, and is configured so that the fluid pressurized by means of rotation of the impeller 11 flows out from the diffuser 21 by passing therethrough.
  • Fig. 1A is a perspective view in which a portion of the diffuser 21 is enlarged, and is a diagram viewed from the trailing edge TE side of the blades 12, which is the exit side for the fluid that has passed through the impeller 11, that is to say, as viewed from the inlet side of the diffuser 21.
  • the centrifugal compressor 10 described above is provided with one or a plurality of working fluid injection ports 25 that form openings at the hub-side wall surface 23 and that inject the working fluid (arrow Fa in the figures) in the fluid flow direction along the pressure surfaces 24a of the vanes 24. Also, these working fluid injection ports 25 are provided at radial positions closer to the leading edges 24c of the vanes 24 than to the throat radius (R2).
  • one or a plurality of holes are provided along the pressure surfaces 24a within an area from a radius R1, which corresponds to the leading edges 24c of the vanes 24, that is to say, a 95 % radial position Ro (95 % R1) determined with reference to the radius R1 of a circle connecting the positions of the leading edges 24c, to a radial position R2 where the throats 27 of the vanes 24 and the blade suction surfaces 24b intersect.
  • the radial positions (in a region in the radial direction) at which the working fluid injection ports 25 are provided are in an area whose inner circumferential limit is set at the 95 % minimum radius Ro determined with reference to the leading edge radius R1 of the vanes 24 and whose outer circumferential limit is set at the throat radius R2.
  • the holes that serve as the working fluid injection ports 25 are set so that, for example, as shown in Fig. 1C , a working fluid injection angle ( ⁇ ) is 60° or less ( ⁇ ⁇ 60°) from the hub-side wall surface 23 with respect to the fluid flow direction.
  • a working fluid injection angle ( ⁇ ) is 60° or less ( ⁇ ⁇ 60°) from the hub-side wall surface 23 with respect to the fluid flow direction.
  • the working fluid injection ports 25 generally have a circular cross-section, they are not limited thereto; naturally, the cross-sectional shape thereof may be elliptical, rectangular, and so forth, and the working fluid injection ports 25 may be thin, long slits formed along the pressure surfaces 24a.
  • a fluid in which a portion thereof is returned from the downstream of the diffuser 21 by passing through the extracted-fluid flow channel 28 or a fluid that is introduced from an external pressure source 40 may be used as the working fluid to be injected from the working fluid injection ports 25.
  • the centrifugal compressor 10 having such working fluid injection ports 25, because the openings are formed at the hub-side wall surface 23 and the working fluid Fa is injected toward the pressure surfaces 24a of the vanes 24, the working fluid injected on the hub side of the pressure surfaces of the vanes 24 joins a distorted flow of the pressurized fluid that is discharged from the impeller 11 and suppresses flow separation caused by the inconsistency in the angles between the flow angle and the blade inlet angle.
  • a flow of the fluid that tends to separate from the pressure surfaces 24a in the vicinity of the leading edges 24c is influenced by the working fluid Fa that is injected from the working fluid injection ports 25 in the main flow direction along the pressure surfaces 24a, the flow is less likely to move away from the pressure surfaces 24a.
  • a flow in the separating direction is suppressed by the flow of the working fluid Fa injected from the working fluid injection ports 25 in the main flow direction along the pressure surfaces 24a; therefore, the flow is less likely to move away from the pressure surfaces 24a.
  • the working fluid injection ports 25 be provided so as to form openings in regions on the pressure surface 24a side that occupy 10% or less of the throat width. Specifically, it is desirable that, in the width direction of the throats 27, the working fluid be injected from positions close to the pressure surfaces 24a where flow separation is to be suppressed.
  • a injected flow ratio of the working fluid required for such separation suppression is about 2 to 5 % of the flow ratio of the fluid to be compressed; at 5 % or greater, there is almost no change in the separation prevention effect, and, at 2 % or less, it is not possible to achieve a satisfactory separation prevention effect.
  • the inner circumferential limit is set at the minimum radius (Ro) in order to realize the separation prevention effect by the working fluid from the injection ports, and the outer circumferential limit is set at the throat radius (R2) because a further increase achieves almost no change in the separation prevention effect.
  • the centrifugal compressor 10 described above is provided with one or a plurality of working fluid injection ports 26 that form openings at the shroud-side wall surface 22 and that inject the working fluid (arrow Fa in the figures) in the fluid flow direction along the suction surfaces 24b of the vanes 24.
  • these working fluid injection ports 26 are provided at radial positions closer to the leading edges 24c of the vanes 24 than to the throat radius (R2).
  • the working fluid injection ports 26 are positioned at the shroud-side wall surfaces 22, differing from the first aspect described above; however, with regard to the basic items such as the installation positions (regions) of the working fluid injection ports 26, the working fluid, and so forth, the hub-side wall surface 23 can be taken as the shroud-side wall surface 22, and the pressure surfaces 24a can be taken as the suction surfaces 24b.
  • such a centrifugal compressor 10 is provided with one or a plurality of working fluid injection ports 26 that form openings at the shroud-side wall surface 22 and that inject the working fluid in the fluid flow direction along the suction surfaces 24b of the vanes 24, and because these working fluid injection ports 26 are provided at the radial positions closer to the leading edges 24c of the vanes 24 than to the throat radius (R2), the working fluid injected toward the shroud side of the suction surfaces of the vanes 24 joins the distorted flow discharged from the impeller 11 and suppresses flow separation caused by the inconsistency in the angles between the flow angle and the blade inlet angle.
  • the operational flow ratio range from a low flow ratio (lower-limit value), determined by a flow ratio value at which surging occurs, to a high flow ratio (upper-limit value), determined by a flow ratio value at which choking occurs.
  • the working fluid injection ports 26 be formed as openings in regions on the suction surface 24b side that occupy 10% or less of the throat width, and that the working fluid be injected therefrom.
  • the ratio of the injection flow to the main flow ratio to be compressed, the reason for setting the inner circumferential limit at the minimum radius (Ro), the reason for setting the outer circumferential limit at the throat radius (R2), the reason for setting the working fluid injection angle ( ⁇ ) equal to 60° or less, the supply source of the working fluid, and so forth are the same as those for the above-described working fluid injection ports 25 at the hub-side wall surface 23.
  • the above-described centrifugal compressor 10 is provided with one or a plurality of working fluid injection ports 25 that form openings at the hub-side wall surface 23 and that injects the working fluid in the main flow direction along the pressure surfaces 24a of the vanes 24 and one or a plurality of working fluid injection ports 26 that form openings at the shroud-side wall surface 22 and that injects the working fluid in the main flow direction along the suction surfaces 24b of the vanes 24.
  • this configuration includes both the working fluid injection ports 25 and 26 of the first aspect and the second aspect, described above.
  • centrifugal fluid machine such as the centrifugal compressor 10 or the like, in which flow separation due to the inconsistency in angles between the flow discharged from the impeller 11 and the flow at the vane inlet is suppressed and in which the performance of the diffuser 21 provided with the vanes 24 is enhanced.
  • the working fluid injected from the working fluid injection ports 25 toward the hub side of the pressure surfaces of the vanes 24 is effective for enhancing the performance
  • the working fluid injected from the working fluid injection ports 26 toward the shroud side of the suction surfaces of the vanes 24 is effective for increasing the operational range
  • by injecting the working fluid toward both the hub side of the pressure surfaces and the shroud side of the suction surfaces it is possible to realize a centrifugal fluid machine having a high pressure ratio, high efficiency, and a wide operational range.
  • the centrifugal fluid machine is not limited to a centrifugal fluid machine (turbocharger for marine use, an automobile supercharger, an aircraft gas turbine, and so forth) and also encompasses a centrifugal pump and a centrifugal blower, thus allowing appropriate alterations within a range that does not depart from the scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
EP12856231.1A 2011-12-08 2012-06-08 Machine à fluide centrifuge Withdrawn EP2789861A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011268925A JP5167403B1 (ja) 2011-12-08 2011-12-08 遠心式流体機械
PCT/JP2012/064796 WO2013084525A1 (fr) 2011-12-08 2012-06-08 Machine à fluide centrifuge

Publications (2)

Publication Number Publication Date
EP2789861A1 true EP2789861A1 (fr) 2014-10-15
EP2789861A4 EP2789861A4 (fr) 2015-11-11

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ID=48134649

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12856231.1A Withdrawn EP2789861A4 (fr) 2011-12-08 2012-06-08 Machine à fluide centrifuge

Country Status (5)

Country Link
EP (1) EP2789861A4 (fr)
JP (1) JP5167403B1 (fr)
KR (1) KR101564858B1 (fr)
CN (1) CN103635699B (fr)
WO (1) WO2013084525A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
EP3901468A1 (fr) * 2020-04-24 2021-10-27 ABB Schweiz AG Alimentation en fluide secondaire pour le diffuseur d'un étage de compresseur

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JP6128230B2 (ja) 2013-10-31 2017-05-17 株式会社Ihi 遠心圧縮機及び過給機
US9803652B2 (en) 2014-02-10 2017-10-31 Pratt & Whitney Canada Corp. Centrifugal compressor diffuser and method for controlling same
CN105041721A (zh) * 2015-07-15 2015-11-11 黑龙江凯普瑞机械设备有限公司 一种叶片扩压器与蜗壳组件以及压缩机
US9926942B2 (en) 2015-10-27 2018-03-27 Pratt & Whitney Canada Corp. Diffuser pipe with vortex generators
US10570925B2 (en) 2015-10-27 2020-02-25 Pratt & Whitney Canada Corp. Diffuser pipe with splitter vane
CN106089808B (zh) * 2016-07-28 2018-11-16 中南大学 一种具有燕尾形前尾缘结构的叶片式扩压器及其造型方法
DE102017118950A1 (de) 2017-08-18 2019-02-21 Abb Turbo Systems Ag Diffusor für einen Radialverdichter
KR102329915B1 (ko) * 2018-03-19 2021-11-23 한화에어로스페이스 주식회사 원심형 압축 장치
CN109162933A (zh) * 2018-11-02 2019-01-08 珠海格力电器股份有限公司 压缩机和空调器
KR102210694B1 (ko) 2019-08-14 2021-02-03 현대건설주식회사 회전원반투척기를 이용한 매립장치 및 매립공법
JP2021032106A (ja) * 2019-08-22 2021-03-01 三菱重工業株式会社 ベーンドディフューザ及び遠心圧縮機
CN111550444A (zh) * 2020-05-11 2020-08-18 中国航发湖南动力机械研究所 混合式叶片径向/斜向扩压器
US11378005B1 (en) 2020-12-17 2022-07-05 Pratt & Whitney Canada Corp. Compressor diffuser and diffuser pipes therefor
TWI827145B (zh) * 2022-07-15 2023-12-21 復盛股份有限公司 離心式壓縮機
CN117725704B (zh) * 2024-02-07 2024-05-14 浙江飞旋科技有限公司 一种有叶扩压器设计方法及有叶扩压器

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP3901468A1 (fr) * 2020-04-24 2021-10-27 ABB Schweiz AG Alimentation en fluide secondaire pour le diffuseur d'un étage de compresseur
WO2021214311A1 (fr) * 2020-04-24 2021-10-28 Abb Switzerland Ltd. Alimentation en fluide secondaire pour le diffuseur d'un étage de compresseur
US12092124B2 (en) 2020-04-24 2024-09-17 Turbo Systems Switzerland Ltd. Secondary-fluid supply for the diffuser of a compressor stage

Also Published As

Publication number Publication date
EP2789861A4 (fr) 2015-11-11
CN103635699B (zh) 2016-06-01
CN103635699A (zh) 2014-03-12
JP2013119828A (ja) 2013-06-17
JP5167403B1 (ja) 2013-03-21
WO2013084525A1 (fr) 2013-06-13
KR101564858B1 (ko) 2015-10-30
KR20140039065A (ko) 2014-03-31

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