EP3333356B1 - Perforatrice rotative et procédé de fabrication d'un trou dans le sol - Google Patents

Perforatrice rotative et procédé de fabrication d'un trou dans le sol Download PDF

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Publication number
EP3333356B1
EP3333356B1 EP16202683.5A EP16202683A EP3333356B1 EP 3333356 B1 EP3333356 B1 EP 3333356B1 EP 16202683 A EP16202683 A EP 16202683A EP 3333356 B1 EP3333356 B1 EP 3333356B1
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EP
European Patent Office
Prior art keywords
drilling tool
rotary drilling
air
base body
drain valve
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.)
Active
Application number
EP16202683.5A
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German (de)
English (en)
Other versions
EP3333356A1 (fr
Inventor
Sebastian Bauer
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.)
Bauer Maschinen GmbH
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Bauer Maschinen GmbH
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 Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Priority to EP16202683.5A priority Critical patent/EP3333356B1/fr
Priority to CN201780075947.0A priority patent/CN110036177B/zh
Priority to US16/466,613 priority patent/US10927624B2/en
Priority to PCT/EP2017/076019 priority patent/WO2018103919A1/fr
Publication of EP3333356A1 publication Critical patent/EP3333356A1/fr
Application granted granted Critical
Publication of EP3333356B1 publication Critical patent/EP3333356B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B6/00—Drives for drilling with combined rotary and percussive action
    • E21B6/02—Drives for drilling with combined rotary and percussive action the rotation being continuous
    • E21B6/04—Separate drives for percussion and rotation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B10/00—Drill bits
    • E21B10/02—Core bits
    • E21B10/06—Roller core bits
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
    • E21B21/01—Arrangements for handling drilling fluids or cuttings outside the borehole, e.g. mud boxes
    • E21B21/011—Dust eliminating or dust removing while drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
    • E21B21/01—Arrangements for handling drilling fluids or cuttings outside the borehole, e.g. mud boxes
    • E21B21/015—Means engaging the bore entrance, e.g. hoods for collecting dust
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
    • E21B21/16—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor using gaseous fluids
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/003—Drilling with mechanical conveying means
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B10/00—Drill bits
    • E21B10/46—Drill bits characterised by wear resisting parts, e.g. diamond inserts
    • E21B10/48—Drill bits characterised by wear resisting parts, e.g. diamond inserts the bit being of core type
    • E21B10/485—Drill bits characterised by wear resisting parts, e.g. diamond inserts the bit being of core type with inserts in form of chisels, blades or the like

Definitions

  • the invention relates to a rotary drilling tool for creating a hole in the ground with a base body, a removal device for removing soil material arranged on an underside of the base body, a feed device for supplying purge air into the area of the removal device and a discharge line for removing removed soil material and drilling suspension, which can be conveyed into the receiving area by means of the purge air, according to the preamble of claim 1.
  • the invention further relates to a method for creating a bore with a rotary drilling tool, in which soil material is removed with a removal device on an underside of a base body of the rotary drilling tool, purging air is fed into the bore filled with drilling suspension in the area of the removal device and by means of the Soil material removed from the purge air is discharged through a discharge line, according to the preamble of claim 11.
  • a generic rotary drilling tool is from the AU 6026173 A or the EP 2 592 214 A1 known.
  • the removed soil material is removed from the borehole by means of purge air via a discharge line. With large drilling depths, there is a high need for compressed air as purge air.
  • AU 6026173 A has a base body of the rotary drilling tool with a removal device arranged on an underside of the base body for removing soil material and with a receiving area arranged in the upper region of the base body.
  • this document has an air purge, which transports the removed soil material out of a borehole through an air duct without sedimentation.
  • a core drilling tool with inner and outer coils for generating a flushing flow emerges from the DE 20 02015 102 848 U1 out.
  • the scavenging air serves first for flushing out the removal device, in particular roller chisels when removing hard rock.
  • the purge air serves as a conveying medium in order to convey the removed soil material upward to the receiving space on the rotary drilling tool.
  • the flushing air flows further upward through the drilling suspension in the borehole, even if the soil material gradually settles into the receiving space on the rotary drilling tool.
  • the air flowing upwards can loosen soil material from the bore wall and destabilize it.
  • the invention has for its object to provide a rotary drilling tool and a method for creating a hole in the ground, with which a hole can be made efficiently when using purging air.
  • the object is achieved on the one hand by a drilling tool with the features of claim 1 and on the other hand by a method with the features of claim 11.
  • Preferred embodiments of the invention are specified in the respective dependent claims.
  • the rotary drilling tool according to the invention is designed in such a way that the removed soil material is conveyed to a receiving area for sedimentation and receiving on an intermediate floor, which is arranged in an upper section of the base body, that a collecting hood is provided above the receiving area, which adjoins an air collecting space above the receiving area closes at the top, and that a drain valve is arranged on the collecting hood, which is designed for the targeted removal of air from the air collection space by opening the drain valve.
  • the removed soil material is removed from the bottom of the borehole by means of the flushing air introduced and can settle in an upper area of the rotary drilling tool in a receiving space.
  • the rotary drilling tool is pulled out of the borehole and emptied at the bottom surface. The drilling process can then be continued.
  • the invention is based on the knowledge that purging air flowing freely upwards can also tear floor material from the bore wall upwards. This can make the bore wall unstable.
  • a bentonite film forms on the bore wall. This bentonite film has a stabilizing effect on the bore wall. This stabilizing bentonite film, in particular, can be damaged by flushing air flowing upward and the stability of the bore as a whole can be impaired.
  • a discharge valve is provided on the collecting hood, with which air can be discharged from the air collecting space at specific times or under certain circumstances.
  • Another advantage of the invention can be seen in the fact that the air collected and discharged in this way can in principle be reused and directed back into the bore as flushing air.
  • This purge air circuit is particularly environmentally friendly.
  • An annular seal in particular an inflatable annular seal, can be provided on the outer circumference of the collecting hood in order to seal a gap to the borehole wall.
  • a preferred embodiment of the invention is that the drain valve is connected to an exhaust air line with which air can be removed from the bore to the floor surface.
  • the exhaust air duct can be a hose or a pipe.
  • the drain valve can be operated by an operator, for example in a drilling machine.
  • a control device is provided for the controlled actuation of the drain valve.
  • the control device can have sensors, for example level or pressure sensors, at a suitable point in time or state for discharging Air.
  • the control device preferably has a sensor, which actuates the control device to open the drain valve when a predetermined fill level is reached in the collecting hood. When a predetermined condition is reached, air can then be removed automatically by the control device.
  • the control device it is particularly expedient for the control device to have a float which floats at the interface between a drilling suspension and a flushing air under the collecting hood, the control device being operable to open the drain valve when the float reaches a predetermined level in the collecting hood is.
  • the control device With increasing operation, more and more air accumulates under the hood. This gradually lowers the float that floats at the interface between the drilling suspension and the air plenum.
  • the control device is actuated, the drain valve being opened. The drain valve can be opened until the float reaches an upper limit or an upper level again. The drain valve can then be closed again by means of the control device.
  • the rotary drilling tool according to the invention is further developed in that a supply line for purging air is provided, which leads from outside the borehole to the underside of the base body with the removal device.
  • purging air can be continuously fed into the borehole to the ablation device from outside the borehole by means of a compressor.
  • the feed line can have a plurality of outlet openings on the annular removal device in order to convey soil material from the bottom of the borehole as comprehensively as possible.
  • the removal device can be designed in any manner. It is particularly preferred according to one embodiment variant of the invention that the removal device has at least one rotatably mounted roller chisel and / or at least one fixed round shank chisel and / or at least one fixed removal tooth.
  • a preferred development of the invention also consists in the fact that several rotatably mounted roller chisels and / or fixed round shank chisels and / or fixed removal teeth are attached to the underside of the base body.
  • the combination of different removal elements enables particularly good drilling progress to be achieved even with changing soil conditions.
  • Active removal tools can also be provided, preferably axially movable hammers for working off the soil material. By supplying energy, such as compressed air or a hydraulic fluid, they exert an axial impact movement on the hard ground material.
  • a connecting device for connecting the rotary drilling tool to a drilling drive means is arranged above the collecting hood.
  • the connecting device can in particular be designed as a Kelly box, with which a drill rod, in particular a Kelly rod for transmitting a torque and a feed force, can be releasably and non-positively fastened.
  • the connecting device can be arranged centrally on the top of the collecting hood.
  • the rotary drilling tool can thus be used on conventional drilling equipment.
  • a center shaft can be provided, at the upper end of which the connecting device for torque transmission is fastened.
  • the collecting hood is preferably axially adjustable on the center shaft.
  • the rotary drilling tool is advantageous for the rotary drilling tool to be a core drill which is designed to produce a drilling core and to receive the drilling core in the interior of the tubular base body.
  • the soil material is expediently worked off in a ring shape by the removal device, which has an annular configuration with cutting means or removal elements.
  • a cylindrical drilling core is hereby generated in the borehole by the annular removal of solid soil material.
  • a core is preferably held in the interior of the base body in a force-locking manner by means of a core catching device and furthermore separated from the bottom of the borehole by the action of force.
  • the drill core can be operated using a separate tool or are conveyed to a subsoil surface together with the rotary drilling tool.
  • the invention further comprises a drilling device for drilling a hole in the ground with a mast and a drill drive for rotatably driving a rotary drilling tool, the rotary drilling tool being designed as set out above.
  • the object mentioned at the outset is achieved according to the invention in that the removed soil material is conveyed to a receiving area which is arranged in an upper section of the base body, that a collecting hood is provided above the receiving area and forms the receiving area upwards closes an air collection space, in which air accumulates, and that a drain valve is arranged on the collecting hood, with which air is discharged from the collection space.
  • the advantages described above can be achieved with the method according to the invention.
  • the method is preferably carried out with the rotary drilling tool described above, which has a collecting hood with an air collecting space above a receiving space for the removed soil material.
  • the collecting hood is preferably conical or dome-shaped, the discharge valve for discharging the air being arranged at an upper tip.
  • a preferred embodiment variant of the method according to the invention consists in that the drain valve is opened and closed controlled by a control device.
  • An automatic control ensures that air is reliably discharged from the rotary drilling tool and that predefined threshold levels of the filling level within the rotary drilling tool are not exceeded or undershot.
  • the rotary drilling tool 10 has a base body 12 with a removal device 20 on the underside of the base body 12.
  • the cylindrical base body 12 is tubular with a central drill core receptacle 14.
  • the removal device 20 is designed in a ring shape with a plurality of disk-shaped hammers 22.
  • the hammers 22 are designed as so-called air hammers, which are moved axially back and forth via the supply of compressed air, with impact impulses being exerted on the ground in order to remove hard soil material.
  • the rotary drilling tool 10 has a central drill rod 40 with an upper connecting device 42 on an upper side of the base body 12, which is designed as a so-called Kelly box. This serves to connect further drill string elements in order to transmit a torque to the rotary drilling tool 10 from a drilling device (not shown).
  • Compressed air is fed from the drilling device to the base body 12 via a feed device 30.
  • Compressed air is fed into an inner conduit 44 in the drill pipe 40 via an upper feed line 32.
  • the inner line channel 44 in the drill pipe 40 is connected to a transverse channel 35 in the base body 12. From the transverse duct 35, the compressed air can be passed further through a central tube 36 on the base body 12 to a transverse distribution line 38 and then to the vertical distribution lines 39, which lead to the drive units of the hammers 22.
  • the compressed air consumed when the hammers 22 are actuated is conducted into the bore filled with suspension in order to remove the processed soil material.
  • the pressure fluid emerging at the lower end regions of the hammers 22 directs the removed soil material to discharge openings 24 on the underside of the base body 12. From the discharge openings 24, the removed soil material with the escaping flushing air and sucked-in drilling suspension can move vertically upward through a discharge line 25 to the upper end of the flow cylindrical body 12.
  • compressed air can flow directly from the vertical distribution line 39 into the vertical discharge line 26 via one or more connecting channels 26.
  • a collecting hood 50 with a sliding sleeve 51 is vertically displaceably and rotatably mounted along a cylindrical guide section 41 of the drill pipe 40.
  • the collecting hood 50 has a circular entry region 53, the outer diameter of which essentially corresponds to the bore diameter.
  • the collecting hood 50 encloses an air collecting space 52, in which air flowing upward is received.
  • An upper area of the collecting hood 50 is provided with a taper 54, which opens into an exhaust air line 62 with a drain valve 60.
  • the collecting hood 50 is rotatably mounted relative to the base body 12. Alternatively, this can also be connected to the base body 12 in a rotationally fixed manner.
  • the drain valve 60 is initially closed until a sufficient amount of air has accumulated in the air collecting space 52 of the collecting hood 50.
  • a control not shown, is used at certain times or when it is reached a certain air pressure or a quantity of air in the collecting hood 50, the drain valve 60 is opened, so that air can flow out of the bore in a controlled manner through the exhaust air line 62.
  • an inflatable ring seal 58 is preferably provided on an outer circumference of a cylindrical section of the collecting hood 50.
  • the inflatable ring seal 58 is supplied with compressed air via a supply line 57, which in the exemplary embodiment shown are designed as simple openings to the air collection space 52.
  • a compressed air supply line can also be provided from the outside, so that the inflatable ring seal 58 can be actuated at any time by means of a controller.
  • the entire lower region of the bore below the collecting hood 50 can basically serve as an air collecting space 52.
  • the collecting hood 50 can be adjusted vertically along the guide section 41 of the drill pipe 40, as can be seen in FIG Fig. 3 is shown.
  • the adjustment can be carried out by an adjustment device, not shown, for example by means of an adjustment cylinder, or automatically during operation by the rising and accumulated air in the collecting hood 50.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Claims (13)

  1. Perforatrice rotative pour la fabrication d'un trou dans le sol comportant :
    - un corps de base (12),
    - un dispositif d'enlèvement (20) agencé au niveau d'un côté inférieur du corps de base (12) pour l'enlèvement de matériau de sol,
    - un dispositif d'amenée (30) pour l'amenée d'air de rinçage dans la zone du dispositif d'enlèvement (20) et
    - une conduite d'évacuation (25) pour l'évacuation de matériau de sol enlevé et de suspension de forage, lesquels sont évacuables au moyen de l'air de rinçage,
    dans laquelle
    - une zone de réception (18) est prévue dans une section supérieure du corps de base (12) pour la sédimentation et la réception du matériau de sol enlevé de la conduite d'évacuation (25) sur un sol intermédiaire (16),
    - un capot collecteur (50) est agencé au-dessus de la zone de réception (18), lequel termine un espace collecteur d'air (52) au-dessus de la zone de réception (18) vers le haut, et
    - une vanne de vidange (60) est agencée au niveau du capot collecteur (50), laquelle est réalisée pour l'évacuation ciblée d'air de l'espace collecteur d'air (52) par ouverture de la vanne de vidange (60).
  2. Perforatrice rotative selon la revendication 1,
    caractérisée en ce que
    la vanne de vidange (60) est reliée à une conduite d'air sortant (62), avec laquelle de l'air peut être évacué du trou vers la surface du sol.
  3. Perforatrice rotative selon la revendication 1 ou 2,
    caractérisée en ce que
    un dispositif de commande est prévu pour l'actionnement commandé de la vanne de vidange (60).
  4. Perforatrice rotative selon la revendication 3,
    caractérisée en ce que
    le dispositif de commande présente un capteur, lequel actionne, lors de l'atteinte d'un niveau de remplissage prédéfini dans le capot collecteur (50), le dispositif de commande pour ouvrir la vanne de vidange (60).
  5. Perforatrice rotative selon l'une des revendications 1 à 4,
    caractérisée en ce que
    une conduite d'amenée (32) est prévue pour de l'air de rinçage, laquelle va de l'extérieur du trou de forage au côté inférieur du corps de base (12) avec le dispositif d'enlèvement (20).
  6. Perforatrice rotative selon l'une des revendications 1 à 5,
    caractérisée en ce que
    le dispositif d'enlèvement (20) présente au moins un trépan à molette logé en rotation et/ou au moins un trépan à queue cylindrique fixe et/ou au moins une dent d'enlèvement fixe.
  7. Perforatrice rotative selon l'une des revendications 1 à 6,
    caractérisée en ce que
    le dispositif d'enlèvement (20) présente des marteaux axialement mobiles (22).
  8. Perforatrice rotative selon l'une des revendications 1 à 7,
    caractérisée en ce que
    un dispositif de raccordement (42) pour le raccordement de la perforatrice rotative (10) avec un moyen d'entraînement de forage est agencé au-dessus du capot collecteur (50).
  9. Perforatrice rotative selon l'une des revendications 1 à 8,
    caractérisée en ce que
    la perforatrice rotative (10) est un carottier, lequel est réalisé pour la génération d'une carotte et pour la réception de la carotte à l'intérieur du corps de base (12) tubulaire.
  10. Appareil de forage pour la fabrication d'un trou dans le sol avec un mât et un entraînement de forage pour l'entraînement rotatif d'une perforatrice rotative (10),
    caractérisé en ce que
    une perforatrice rotative (10) selon l'une des revendications 1 à 9 est prévue.
  11. Procédé de fabrication d'un trou dans le sol avec une perforatrice rotative (10), en particulier selon l'une quelconque des revendications 1 à 9, dans lequel
    - du matériau de sol est enlevé avec un dispositif d'enlèvement (20) au niveau d'un côté inférieur d'un corps de base (12) de la perforatrice rotative (10),
    - de l'air de rinçage est amené dans le trou rempli de suspension de forage dans la zone du dispositif d'enlèvement (20) au moyen d'un dispositif d'amenée (30) et
    - du matériau de sol enlevé au moyen de l'air de rinçage est évacué par le biais d'une conduite d'évacuation (25),
    dans lequel
    - le matériau de sol enlevé est transporté vers une zone de réception (18), laquelle est agencée dans une section supérieure du corps de base (12), dans lequel le matériau de sol enlevé sédimente sur un sol intermédiaire (16) de la perforatrice rotative (10),
    - un capot collecteur (50) est prévu au-dessus de la zone de réception (18), lequel termine la zone de réception (18) vers le haut en formant un espace collecteur d'air (52), dans lequel de l'air s'accumule, et
    - une vanne de vidange (60) est agencée au niveau du capot collecteur (50), avec laquelle de l'air est évacué de l'espace collecteur d'air (52) par ouverture de la vanne de vidange (50).
  12. Procédé selon la revendication 11,
    caractérisé en ce
    que la vanne de vidange (60) est ouverte et fermée de manière commandée par un dispositif de commande.
  13. Procédé selon la revendication 11 ou 12,
    caractérisé en ce que
    lors de l'atteinte d'un remplissage déterminé la perforatrice rotative (10) est tirée hors du trou et vidée au niveau de la surface de sol.
EP16202683.5A 2016-12-07 2016-12-07 Perforatrice rotative et procédé de fabrication d'un trou dans le sol Active EP3333356B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP16202683.5A EP3333356B1 (fr) 2016-12-07 2016-12-07 Perforatrice rotative et procédé de fabrication d'un trou dans le sol
CN201780075947.0A CN110036177B (zh) 2016-12-07 2017-10-12 用于在地面中产生孔的旋转钻孔工具和方法
US16/466,613 US10927624B2 (en) 2016-12-07 2017-10-12 Rotary drilling tool and method for producing a bore in the ground
PCT/EP2017/076019 WO2018103919A1 (fr) 2016-12-07 2017-10-12 Outil de forage rotatif et procédé de réalisation d'un trou de forage dans le sol

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16202683.5A EP3333356B1 (fr) 2016-12-07 2016-12-07 Perforatrice rotative et procédé de fabrication d'un trou dans le sol

Publications (2)

Publication Number Publication Date
EP3333356A1 EP3333356A1 (fr) 2018-06-13
EP3333356B1 true EP3333356B1 (fr) 2020-01-29

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EP16202683.5A Active EP3333356B1 (fr) 2016-12-07 2016-12-07 Perforatrice rotative et procédé de fabrication d'un trou dans le sol

Country Status (4)

Country Link
US (1) US10927624B2 (fr)
EP (1) EP3333356B1 (fr)
CN (1) CN110036177B (fr)
WO (1) WO2018103919A1 (fr)

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Publication number Priority date Publication date Assignee Title
EP4215715A1 (fr) * 2022-01-21 2023-07-26 BAUER Spezialtiefbau GmbH Foreuse à godet et procédé de création d'un trou de forage

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EP2592214A1 (fr) 2011-11-10 2013-05-15 Chuan Home Machinery Co., Ltd. Marteau perforateur pneumatique réutilisant la pression de l'air
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Publication number Priority date Publication date Assignee Title
US3684041A (en) * 1970-11-16 1972-08-15 Baker Oil Tools Inc Expansible rotary drill bit
AU6026173A (en) * 1972-10-06 1975-03-13 Taylor Woodrow International Limited Improvements in the drilling of large diameter holes in pile driving and the like
DE202015102848U1 (de) * 2014-08-12 2015-06-30 Bauer Maschinen Gmbh Kernbohrwerkzeug zum Gesteinsbohren

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CN110036177A (zh) 2019-07-19
US20190390519A1 (en) 2019-12-26
US10927624B2 (en) 2021-02-23
EP3333356A1 (fr) 2018-06-13
WO2018103919A1 (fr) 2018-06-14
CN110036177B (zh) 2021-06-04

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