EP3212895A1 - Fixation d'aube avec dispositif de blocage pour aubes de turbine - Google Patents
Fixation d'aube avec dispositif de blocage pour aubes de turbineInfo
- Publication number
- EP3212895A1 EP3212895A1 EP16700042.1A EP16700042A EP3212895A1 EP 3212895 A1 EP3212895 A1 EP 3212895A1 EP 16700042 A EP16700042 A EP 16700042A EP 3212895 A1 EP3212895 A1 EP 3212895A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rotor
- recess
- turbine blade
- projection
- holding piece
- 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
Links
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000000295 complement effect Effects 0.000 claims description 2
- 238000011161 development Methods 0.000 description 7
- 230000018109 developmental process Effects 0.000 description 7
- 239000002184 metal Substances 0.000 description 7
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 241000937413 Axia Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D5/00—Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
- F01D5/30—Fixing blades to rotors; Blade roots ; Blade spacers
- F01D5/32—Locking, e.g. by final locking blades or keys
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D5/00—Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
- F01D5/30—Fixing blades to rotors; Blade roots ; Blade spacers
- F01D5/32—Locking, e.g. by final locking blades or keys
- F01D5/323—Locking of axial insertion type blades by means of a key or the like parallel to the axis of the rotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D5/00—Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
- F01D5/30—Fixing blades to rotors; Blade roots ; Blade spacers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D5/00—Blades; Blade-carrying members; Heating, heat-insulating, cooling or antivibration means on the blades or the members
- F01D5/30—Fixing blades to rotors; Blade roots ; Blade spacers
- F01D5/3007—Fixing blades to rotors; Blade roots ; Blade spacers of axial insertion type
- F01D5/3015—Fixing blades to rotors; Blade roots ; Blade spacers of axial insertion type with side plates
-
- 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
- F04D29/26—Rotors specially for elastic fluids
- F04D29/32—Rotors specially for elastic fluids for axial flow pumps
- F04D29/34—Blade mountings
-
- 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
- F05D2220/00—Application
- F05D2220/30—Application in turbines
- F05D2220/32—Application in turbines in gas turbines
-
- 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
- F05D2260/00—Function
- F05D2260/30—Retaining components in desired mutual position
- F05D2260/36—Retaining components in desired mutual position by a form fit connection, e.g. by interlocking
-
- 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
- F05D2260/00—Function
- F05D2260/30—Retaining components in desired mutual position
- F05D2260/38—Retaining components in desired mutual position by a spring, i.e. spring loaded or biased towards a certain position
Definitions
- the invention relates to a rotor comprising at least one turbine blade and a securing device for axial and radial securing of the turbine blade, wherein the rotor comprises a blade groove and the turbine blade comprises a turbine blade root, wherein the blade groove and the turbine blade root is adapted to the blade groove Si ⁇ insurance device has a holding piece which is arranged between the blade groove and the turbine blade root.
- Blade fasteners are typically used to secure rotor blades to a rotor of a turbomachine, particularly a steam turbine. Due to the comparatively high ⁇ as the rotation of the rotor on the rotor is arranged ⁇ rotor blades are subjected to high centrifugal forces.
- the turbine blade root of the turbine blades must therefore withstand high forces and is urged radially outward in the blade groove.
- strong vibration loads pose a further problem, which can result in mechanical damage or material fatigue.
- Corrosion and migration of the blade root by the Dmpfbeetzung or vibrations within the blade groove pose further problems.
- Lö ⁇ solutions such as metal wedges, spring washers or sealing pieces known.
- the object of the invention is to provide a blade fastening in a turbomachine in which a precise and firm support of blades, the associated blade holders, is ensured over a long period of operation.
- a rotor comprising at least one turbine blade and a securing device for axi ⁇ alen and radially secure the turbine blade, the rotor having a blade groove and the turbine blade comprises a Turbi ⁇ nenschaufelfuß, wherein the blade groove and the Turbi ⁇ nenschaufelfuß adapted to the blade groove
- the securing means comprises a holding piece, which is arranged between the blade groove and the turbine blade root, wherein the holding piece has a projection which is arranged in a recess in the turbine blade root, wherein the projection engages in the recess such that a displacement of the Holding member is prevented in the axial direction
- the securing means comprises a force spring which exerts a radially acting force from the rotor to the turbine blade.
- the invention is thus proposed to dispose a Siche ⁇ inference means in a space between the rotor and the turbine blade root.
- This space is preferably arranged in the rotor.
- the formed by the space Notch in a radially inner direction to the axis of rotation shifted.
- the forces acting on the rotor are better distributed.
- the holding piece is directly in the
- Integrated blade foot This is seen in the axial direction optionally pronounced on the leading edge of the blade root or preferably at the trailing edge of the blade root in the radially inner direction.
- An occurrence of the leading edge and trailing edge is here possible for the imple ⁇ Zung an axial recess, which also allows the axial insertion of the modified blade.
- the securing device is a plate on which is disposed in a second recess in the holding piece and in a rotor cavity, wherein the sheet is engaged in the second recess and in the Ro ⁇ torausinstituung such that a displacement of the sheet in the axial Direction is prevented.
- the sheet is in this case arranged in a rotor recess and in a second recess in the holding piece and thus forms a barrier for the holding piece to be moved in the axial direction can.
- a force spring is arranged between the blade groove and the holding piece.
- the force spring is arranged next to the holding piece between the blade groove and the blade root.
- Blade foot seen in the axial direction arranged front edge and seen in the axial direction to the front edge opposite rear edge, wherein the holding piece from the front edge to the trailing edge protrudes.
- a first locking plate is arranged on the front edge and a second securing plate on the rear edge.
- a first force spring is arranged on the front edge and a second force spring on the rear edge. This allows symmetric distributions of forces and
- Vibrations are further minimized that occur especially when starting or during transport.
- the projection in the circumferential direction is elongate.
- An elongated training is usually a Featureswei ⁇ se simple production process, which will lead to cost savings here.
- the projection has a rectangular cross-section.
- the projection is designed as a cylinder and engages in a recess designed as a blind hole ⁇ hole.
- This provides an alterna- tive to the elongated shape of the protrusion.
- the blind hole ⁇ bore in which the protrusion formed as a cylinder is engaged acts selectively engaging a force.
- the rotor recess and the second recess are arranged one above the other in the radial direction.
- Figure 1 is a perspective view of a Fuse L ⁇ direction
- Figure 2 is a cross-sectional view of a first variant of
- FIG. 3 is a perspective view of the holding piece according to the first variant from FIG. 2,
- Figure 4 is a further perspective view of the holding ⁇ piece of Figure 3
- Figure 5 is a perspective view of a sheet
- FIG. 6 shows a cross-sectional view of a securing device according to a second variant
- FIG. 7 shows a perspective view of the holding piece according to the second variant from FIG. 6,
- FIG 8 is a further perspective view of the holding ⁇ piece of Figure 7,
- FIG. 10 shows a cross-sectional view of a securing device according to a third variant
- FIG. 11 is a perspective view of the holding piece according to the third variant
- FIG. 12 shows a further perspective view of the holding piece according to FIG. 11 for the third variant
- FIG. 13 shows the sheet for the third variant
- FIG. 14 shows a cross-sectional view of the securing device according to a fourth variant
- Figure 15 is a cross-sectional view of a part of the securing device according to the fourth variant.
- FIG. 1 shows a securing device 1. According to FIG. 1, a part of a rotor 2 and of a turbine blade root 3 can be seen. For clarity, the blade of the turbine blade is not shown.
- the rotor has a
- This blade groove 4 may be a blade groove 4 formed parallel to a rotation axis 5 of the rotor.
- the blade groove 4 may also be a curved blade groove 4, which is then arranged at a front edge in the axial direction 7.
- the rotation axis 5 and the axial direction 7 are arranged parallel to each other.
- the rotor 2 rotates about the rotation axis 5 at a rotational speed.
- the turbine blade is adapted in the blade groove 4, so that as little as possible clearance between the turbine blade root 3 and the Schau ⁇ felnut 4 is formed. Without safety device 8, the turbine blade could be moved freely in the axial direction 7.
- the rotor 2 and the turbine blade may be part of a turbo ⁇ machine, such as a steam turbine.
- a turbo machine such as a steam turbine.
- the centrifugal forces are still comparatively low, during transport no centrifugal forces are present. Thereby, there is the possibility that the turbine blade can shift in the axial direction 7. This is prevented by a safety device 8. From a certain rotational frequency, the centrifugal forces are so great that the turbine blade presses in the blade groove 4 against so-called support flanks 9 and thereby receives a stable ⁇ le position. From this particular rotational frequency, axial displacement is difficult to achieve. With the securing device 8 is a displacement of the turbine blade effectively prevented in the axial 7 and radial directions.
- the securing device 8 comprises a holding piece 10.
- FIGS. 1 to 5 show a first embodiment of the holding piece 10.
- the holding piece 10 is arranged between the blade groove 4 and the turbine blade root 3.
- the holding piece 10 comprises a front side 11, which is arranged on the front edge 6.
- the holding piece 10 has an upper side 13 and a lower side 14.
- the top 13 is arranged opposite the bottom 14 at ⁇ .
- the top 13 abuts against an underside of the door ⁇ binenschaufelfußes 3, as shown in FIG. 2
- the front 11 and the front edge 6 are hereby flush.
- the underside 14 of the holding piece 10 points in the direction of the axis of rotation 5.
- the holding piece On the upper side 13, the holding piece on a projection 15 which is elongated in a circumferential direction 16 according to a first variant of the invention.
- the projection 15 has a rectangular cross-section.
- the projection 15 is formed over the entire top 13 and protrudes into a recess 17 in the turbine blade root 3.
- the recess 17 is in this case formed complementary to the projection 15. That is, the recess 17 also has an elongated shape and a rectangular cross section.
- a displacement of the holding piece, when the projection is arranged in the recess 17, in the axial direction 7 is no longer possible, so that a displacement of the holding piece 10 in the axial direction 7 is prevented.
- the securing device 10 has a metal sheet 19, which engages in a rotor recess 20 and in a second recess 21, so that a displacement of the sheet 19 in axia ⁇ ler direction 7 is prevented.
- the second recess 21 is arranged in the holding piece 10. The sheet 19 is thereby inserted from the side.
- the sheet 19 is shaped so as to face in the circumferential direction 16.
- FIG. 2 shows a cross-sectional view of this first Va ⁇ riante of the retaining piece 10 and the entire security facility 8.
- Figures 3 and 4 show a perspective view on ⁇ of the retaining piece 10 in its first variant.
- FIG. 5 shows the metal sheet 19, which is formed in a circumferential direction 16. The sheet has a top sheet 22 which projects into the second recess 21. The sheet bottom 23 protrudes into the rotor recess 20th
- Figures 6 to 9 show a second variant of the Siche ⁇ inference means 8.
- the projection 15 is not an elongated shape but is designed as a cylinder 24 and in projects a blind ⁇ hole in the turbine blade root 3.
- the cylinder 24 in this case has a similar mode of action as the projection 15 according to FIG. 1, namely that displacement in the axial direction 7 is prevented.
- FIGS. 7 and 8 show a perspective view of the holding piece 10 according to variant 2.
- the sheet 19 is arranged circumferentially in the circumferential direction 16 and is executed here segmented. This means that the sheet 19 consists of individual segments.
- the sheet 19 is positively arranged in the rotor recess 20 and in the two ⁇ th recess.
- the plates 19 are introduced via a milled opening of the circumferential groove on a doctorssspositi- on and pushed to its final position, after insertion of the last segment, the segments are joined together at the divisions by spot welding.
- the force spring 18 serves to ensure the installation of the turbine blade to the rotor 2 at a standstill, z. B. during transport.
- the power spring 18 is formed for example as a plate spring. But the spring 18 can also be performed as a clamping piece.
- FIGS 10 to 13 show a third variant of the Siche ⁇ inference means 8.
- the third variant is characterized in that the holding piece 10 and the power spring 18 are disposed side by side in the axial direction. 7 This means that the force spring 18 is arranged directly on the rotor 2 and directly on the turbine blade root 3 and the force is transmitted directly from the rotor 2 to the turbine blade root 3.
- the holding piece 10 is arranged in the axial direction 7 next to the force spring 18.
- the holding piece 10 also has a projection 15 and a second recess 21.
- the projection 15 may be elongated according to the first variant.
- the projection 15 may be formed according to the second variant as a cylinder.
- FIG. 10 shows a cross-sectional view of the securing device 8 according to the third variant.
- Figures 11 and 12 show a perspective view of the holding member 10.
- Figure 13 shows a perspective view of the sheet at ⁇ 19th
- Figures 14 and 15 show a fourth variant of the Siche ⁇ inference means 8.
- the locking means 8 according to the fourth variant is characterized in that the holding ⁇ piece 10 to the trailing edge of the turbine blade root out now from the front edge 6 of the turbine blade root 3 ⁇ is forming.
- This means that the holding piece 10 is arranged completely from the front edge 6 to the trailing edge.
- the holding piece 10 likewise has a projection 15 which is located in a ne recess 17 engages.
- a metal plate 19 is likewise provided, which engages in a second recess 21 and in a rotor recess 20.
- the force spring 18 is also arranged between the holding piece 10 and the rotor 2.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Turbine Rotor Nozzle Sealing (AREA)
Abstract
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15151806.5A EP3048256A1 (fr) | 2015-01-20 | 2015-01-20 | Rotor comportant une aube de turbine avec un dispositif de verrouillage |
PCT/EP2016/050066 WO2016116285A1 (fr) | 2015-01-20 | 2016-01-05 | Fixation d'aube avec dispositif de blocage pour aubes de turbine |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3212895A1 true EP3212895A1 (fr) | 2017-09-06 |
EP3212895B1 EP3212895B1 (fr) | 2021-03-17 |
Family
ID=52358662
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15151806.5A Withdrawn EP3048256A1 (fr) | 2015-01-20 | 2015-01-20 | Rotor comportant une aube de turbine avec un dispositif de verrouillage |
EP16700042.1A Active EP3212895B1 (fr) | 2015-01-20 | 2016-01-05 | Rotor comportant une aube de turbine avec un dispositif de verrouillage |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15151806.5A Withdrawn EP3048256A1 (fr) | 2015-01-20 | 2015-01-20 | Rotor comportant une aube de turbine avec un dispositif de verrouillage |
Country Status (7)
Country | Link |
---|---|
US (1) | US10487674B2 (fr) |
EP (2) | EP3048256A1 (fr) |
JP (1) | JP6527959B2 (fr) |
KR (1) | KR101942209B1 (fr) |
CN (1) | CN107208490B (fr) |
RU (1) | RU2668512C1 (fr) |
WO (1) | WO2016116285A1 (fr) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT201600130088A1 (it) * | 2016-12-22 | 2018-06-22 | Nuovo Pignone Tecnologie Srl | Pala di turbina e set di fissaggio |
FR3070423B1 (fr) * | 2017-08-22 | 2019-09-13 | Safran Aircraft Engines | Attache poignard avec joint et ressort d'une aube de redresseur |
KR102236266B1 (ko) | 2017-11-17 | 2021-04-05 | 한화에어로스페이스 주식회사 | 회전체 |
DE102019210647A1 (de) * | 2019-07-18 | 2021-01-21 | Siemens Energy Global GmbH & Co. KG | Schaufelkranz für eine axiale Turbomaschine |
KR102454379B1 (ko) * | 2020-09-08 | 2022-10-14 | 두산에너빌리티 주식회사 | 로터 및 이를 포함하는 터보머신 |
US11208903B1 (en) * | 2020-11-20 | 2021-12-28 | Solar Turbines Incorporated | Stiffness coupling and vibration damping for turbine blade shroud |
KR102478172B1 (ko) * | 2021-02-02 | 2022-12-14 | 두산에너빌리티 주식회사 | 회전 기계, 이를 포함하는 가스 터빈, 회전 기계의 조립 방법 |
US12012871B1 (en) | 2023-01-31 | 2024-06-18 | Doosan Enerbility Co., Ltd. | Blade fastening assembly and gas turbine including same |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2847187A (en) * | 1955-01-21 | 1958-08-12 | United Aircraft Corp | Blade locking means |
US3853425A (en) * | 1973-09-07 | 1974-12-10 | Westinghouse Electric Corp | Turbine rotor blade cooling and sealing system |
FR2586061B1 (fr) * | 1985-08-08 | 1989-06-09 | Snecma | Disque porte labyrinthe multifonction pour rotor de turbomachine |
JPS6469702A (en) * | 1987-09-09 | 1989-03-15 | Hitachi Ltd | Fixation of movable blade of axial flow rotary machine |
JPH01237304A (ja) | 1988-03-15 | 1989-09-21 | Toshiba Corp | 蒸気タービン動翼押上装置 |
US5236309A (en) | 1991-04-29 | 1993-08-17 | Westinghouse Electric Corp. | Turbine blade assembly |
US5431543A (en) * | 1994-05-02 | 1995-07-11 | Westinghouse Elec Corp. | Turbine blade locking assembly |
FR2807096B1 (fr) * | 2000-03-30 | 2002-05-31 | Abb Alstom Power Nv | Disque rotorique de turbine equipe d'ailettes a pied de sapin et procede de montage d'une ailette sur un disque |
EP1892380A1 (fr) * | 2006-08-25 | 2008-02-27 | Siemens Aktiengesellschaft | Fixation d'aubes de turbine |
EP1978211A1 (fr) | 2007-04-04 | 2008-10-08 | Siemens Aktiengesellschaft | Dispositif de sécurité axiale sur des aubes mobiles d'un moteur tout comme turbine à gaz dotée d'un tel dispositif |
EP2299060A1 (fr) * | 2009-09-17 | 2011-03-23 | Siemens Aktiengesellschaft | Fixation des aubes avec dispositif de verrouillage pour aubes de turbines |
JP5692994B2 (ja) * | 2009-12-08 | 2015-04-01 | 三菱重工業株式会社 | 動翼固定構造およびこれを備えた回転機械ならびに動翼着脱方法 |
-
2015
- 2015-01-20 EP EP15151806.5A patent/EP3048256A1/fr not_active Withdrawn
-
2016
- 2016-01-05 EP EP16700042.1A patent/EP3212895B1/fr active Active
- 2016-01-05 CN CN201680006607.8A patent/CN107208490B/zh active Active
- 2016-01-05 WO PCT/EP2016/050066 patent/WO2016116285A1/fr active Application Filing
- 2016-01-05 RU RU2017129253A patent/RU2668512C1/ru active
- 2016-01-05 JP JP2017555832A patent/JP6527959B2/ja active Active
- 2016-01-05 KR KR1020177023020A patent/KR101942209B1/ko active IP Right Grant
- 2016-01-05 US US15/542,510 patent/US10487674B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
KR101942209B1 (ko) | 2019-01-24 |
RU2668512C1 (ru) | 2018-10-01 |
KR20170103010A (ko) | 2017-09-12 |
JP6527959B2 (ja) | 2019-06-12 |
CN107208490B (zh) | 2019-08-06 |
EP3048256A1 (fr) | 2016-07-27 |
US20180266259A1 (en) | 2018-09-20 |
WO2016116285A1 (fr) | 2016-07-28 |
EP3212895B1 (fr) | 2021-03-17 |
JP2018505994A (ja) | 2018-03-01 |
CN107208490A (zh) | 2017-09-26 |
US10487674B2 (en) | 2019-11-26 |
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