CN105567334A - Sealing system for a container closure - Google Patents
Sealing system for a container closure Download PDFInfo
- Publication number
- CN105567334A CN105567334A CN201510654044.0A CN201510654044A CN105567334A CN 105567334 A CN105567334 A CN 105567334A CN 201510654044 A CN201510654044 A CN 201510654044A CN 105567334 A CN105567334 A CN 105567334A
- Authority
- CN
- China
- Prior art keywords
- lock
- pressure
- sealing face
- sealing member
- opening
- 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
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Classifications
-
- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10J—PRODUCTION OF PRODUCER GAS, WATER-GAS, SYNTHESIS GAS FROM SOLID CARBONACEOUS MATERIAL, OR MIXTURES CONTAINING THESE GASES; CARBURETTING AIR OR OTHER GASES
- C10J3/00—Production of combustible gases containing carbon monoxide from solid carbonaceous fuels
- C10J3/02—Fixed-bed gasification of lump fuel
- C10J3/20—Apparatus; Plants
- C10J3/30—Fuel charging devices
-
- C—CHEMISTRY; METALLURGY
- C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
- C10J—PRODUCTION OF PRODUCER GAS, WATER-GAS, SYNTHESIS GAS FROM SOLID CARBONACEOUS MATERIAL, OR MIXTURES CONTAINING THESE GASES; CARBURETTING AIR OR OTHER GASES
- C10J2200/00—Details of gasification apparatus
- C10J2200/09—Mechanical details of gasifiers not otherwise provided for, e.g. sealing means
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Organic Chemistry (AREA)
- Examining Or Testing Airtightness (AREA)
- Gasket Seals (AREA)
Abstract
A sealing system for a container closure, comprising a first and a second sealing surface and at least two concentric seals connected with one sealing surface each or formed by the design of one of the sealing surfaces, wherein the sealing surfaces and the seals are designed and arranged relative to each other such that in the closed condition of the sealing system both seals are exposed to the closing pressure with which the sealing surfaces are pressed against each other, wherein a gas-tight space is formed.
Description
Technical field
The present invention relates to a kind of tightness system for container-closure, it comprises the first and second sealing face and at least two concentric seal, and each in concentric seal is connected to a sealing face or is formed by the design of a sealing face.Tightness system according to the present invention is especially suitable for coal lock and/or the ash lock of fixed-bed type pressure gasification reactor, and this pressure gasification reactor is used for by utilizing gasifying medium conversion of carbonaceous fuel such as coal, coke or block biomass to manufacture synthesis gas.
The invention still further relates to a kind of for being equipped with the method for the leak-testing of the latch enclosure according to tightness system of the present invention.
Background technology
The basic structure of the closure member through being usually used in fixed-bed type pressure gasification reactor has been shown in document DE4041445A1.Such closure member is made up of with conical or Frusto-conical enclosed body the seat with circular open.The circumference of opening of seat comprises the periphery forming sealing face, enclosed body against this periphery to close described closure member.
The problem being filled with into the stopping property of the closure member of the container of the material such as coal or coke of block, locking piece and reactor is, sealing face described in the material contamination of this one-tenth block.The nubbin deposition of frequent generation agglomerated materials is on the sealing surface or in enclosed body, and therefore overslaugh is airtight.
Patent document DE3239841C2 describes a kind of conical closure part being equipped with nozzle, to be blown off by settling sealing face by nozzle when closed closure member.Actual sealing member is made of metal, and in order to further salable closure, the invention provides a kind of lip seal of flexible materials, and this flexible materials is placed on the pressure side, concentric with metal primary seal.This lip seal is formed it is not pressed against between metallic surface, but is only pressed against the conical surface of seal body by gaseous tension.
Usually be harmful for healthy and environment because closure member remains on process gas in container or reactor, therefore guarantee that the sealing of closure member is important.For in the locking piece of filling reactor under stress, as shown in document DE4041445A1 and WO2014/026908A1, the stopping property of the closure member between reactor and locking piece can be detected, because the closed upper part part directly leading to the locking piece of air is also closed and pressure in locking piece is monitored.Because reactor pressure is apparently higher than barometric point, the increase of pressure represents the leakage of the bottom closure member directly leading to reactor.Correspondingly, the stopping property of top locking closure member can be detected, because locking piece was placed in pressure, if possible utilizes innocuous gas to produce this overvoltage.The decline of pressure represents the leakage of closed upper part part.This testing method is lost time on the one hand very much, unreliable on the other hand, due to the large volume of locking piece, so when two closure members to same extent leak, invariable locking piece pressure also can be monitored to.
Therefore, the object of this invention is to provide a kind of tightness system for container-closure, its stopping property can by reliably and spend and lessly to detect temporally.
Summary of the invention
Above-mentioned purpose is solved according to the leakage detection method of tightness system of the present invention by the purposes of the present invention's tightness system according to the present invention according to claim 1 tightness system according to claim 8 and utilization according to claim 9.
Tightness system for container-closure according to the present invention comprises the first and second sealing face and at least two concentric seal, each in concentric seal is connected to a sealing face or is formed by the design of a sealing face, wherein, described sealing face and sealing member relative to each other are designed and are arranged, make under the closed state of tightness system, airtight space is formed by sealing face and described sealing member, when being present in the gaseous tension in airtight space and being greater than environmental stress, airtight space still keeps airtight.
Described tightness system is so designed into and makes two sealing members all be exposed to confining pressure, and utilize this confining pressure, sealing face is pressed against each other, and in the closed state, forms airtight space by sealing face and sealing member.
Preferred aspect of the present invention
The feature of preferred aspect of the present invention is, described sealing member has the cross section of the circle of the opposition side convergent in mounting surface, ellipse, semicircle or general triangular.Due to this design, sealing member remains less with the surface in contact of relative sealing face, and the settling be therefore present on sealing face damages less to stopping property.Compared with having the sealing member of larger surface in contact, same pressure also can cause the elevated pressures against relative sealing face.
Except described at least two sealing members, other sealing member is provided to be favourable, the same arranged concentric of described other sealing member, but relative to the first sealing member further inner side in radial directions and further outside.Because the sealing member describing type through frayed, therefore will provide back-up seal, to guarantee the secure closed of container.
The feature of present invention further optimization aspect is, sealing member dimensionally stable, but can recoverable deformation.By this way, the extruding of sealing member between sealing face and enclosed body is avoided, but still can compensate the slight inaccuracy on closure arrangement and a small amount of settling on sealing face by the distortion of sealing member.
The feature of another preferred aspect of the present invention is, sealing member can move into the inside of assembly of carrying sealing face and sealing member, so that the impact protecting described sealing member to make it from heat and grinding medium.By this way, extend the work-ing life of sealing member.
The feature of present invention further optimization aspect is, sealing face can be cooled by heat-eliminating medium.By the method, the work-ing life of sealing member is also extended.
The feature of another preferred aspect of the present invention is, at least one sealing face in sealing face between sealing member is provided with the first opening, this first opening is designed such that fluid can be transferred by this first opening, or can be introduced into for the device of measuring stress or temperature the airtight space formed by sealing face and sealing member.
The feature of another preferred aspect of the present invention is, at least one sealing face in sealing face between sealing member is provided with the first and second openings, device wherein for measuring stress or temperature is introduced into through described first opening, and the second opening is connected with the feeding mechanism for fluid, fluid is such as Purge gas, or liquid, such as water, and wherein the first opening is communicated with same airtight space fluid with the second opening.This makes the stopping property detecting tightness system become possibility.
Advantageously, the first opening and the second opening also may be used for introducing and discharging as the gas of flushing medium or liquid, with the space cleaning sealing member and/or formed by sealing face and sealing member.Due to higher surging force, recommendation liquid, such as water here.
Also can introduce as the fluid blocking medium in the space formed by sealing face and sealing member.Block the pressure that medium has the processing pressure higher than container or reactor, thus avoid processing gas when seal leakage and enter air.When a certain amount of blocking-up medium enters container or reactor, block medium and must be selected as making it can not disturb described process.
Tightness system according to the present invention is especially suitable for coal lock and/or the ash lock of fixed-bed type pressure gasification reactor, this pressure gasification reactor is used for by utilizing gasifying medium conversion of carbonaceous fuel, such as coal, coke or block biomass manufacture synthesis gas, and gasifying medium comprises oxygen and steam.This purposes relates to the problem of the deposition of the high degree on the sealing face of closure member, and meanwhile, because the hazardness of the process gas occurred here, that is hazardness of synthesis gas composition carbon monoxide and hydrogen, the stopping property of closure member is even more important.
Method according to the leak-testing for the latch enclosure that the fuel in fixed-bed type pressure gasification reactor is locked or ash is locked of the present invention comprises the steps:
A) the fixed-bed type pressure gasification reactor with coal lock or ash lock is provided, wherein said coal lock or ash lock or both tightness system according to any one of foregoing Claims is equipped with,
B) filling fuels is entered fuel lock or discharge dust from ash lock,
C) closed fuel lock or ash lock is come by engaging the first and second sealing face,
D) utilize stress measuring device to measure pressure in the airtight space formed by sealing face and sealing member, be introduced into through the first opening during the time period t of described stress measuring device during closing described lock and after closing described lock,
E) pressure of closed period to be increased and pressure during time period t after closing reduces and pressure increases setting point and pressure and reduces setting point and compare, wherein, when the pressure increase recorded be greater than pressure increase setting point and/or the pressure that records reduce be less than pressure reduce setting point time, infer the stopping property of lock.
According to prior art, the pressure of lock space is monitored to detect stopping property at present.Due to the size in space, fluctuate less in the situation overdraft of minute leakage and only can detect after the Measuring Time extended.
On the other hand, the space formed by sealing face and sealing member monitored during leak-testing according to the present invention is less, makes little leakage cause the obvious discernible fluctuation of pressure.Because therefore the test duration of leak-testing is shortened, because this increasing manufacturing time.
Feature for the special aspect of the method for leak-testing is, after locked closing, Purge gas is introduced into same airtight space via the second opening, until reach goal pressure p and pressure reduce measurement carry out from goal pressure p.By which, can use harmless Purge gas, when tightness system is leaked, this harmless Purge gas can in entered environment and without any harm.
Alternatively, airtight space also can utilize vacuum pump to vacuumize through the second opening, wherein utilizes stress measuring device to increase, in order to inferring stopping property in this way according to time-tracking pressure subsequently.
In another is special, the method according to the leak-testing for the locked closing member that the fuel in fixed-bed type pressure gasification reactor is locked or ash is locked of the present invention comprises the steps:
A) the fixed-bed type pressure gasification reactor with coal lock or ash lock is provided, wherein said coal lock or ash lock or both be equipped with according to tightness system of the present invention,
B) filling fuels is entered fuel lock or discharge dust from ash lock,
C) closed fuel lock or ash lock is come by engaging the first and second sealing face,
D) by the airtight space that utilizes feeding mechanism Purge gas to be fed to be formed by sealing face and sealing member, feeding mechanism is connected with the first opening, and wherein feeding mechanism comprises conduit and flow measurement devices,
E) utilizing flow measurement devices to carry out measure flow rate when supplying Purge gas, when the flow velocity wherein recorded when Purge gas is supplied is reduced to 0, inferring the stopping property of lock.
Due to this design of method according to the present invention, the entrance in the measurement of the pressure in the space formed by sealing face and sealing member and the space needed for described pressure survey can omit.
Also can in steps d) in Purge gas in hybrid test gas, such as helium, and the detector being used for test gas is installed, specifically on the direction of air at tightness system rear.When using helium as test gas, such as, be advantageously employed by the measurement of mass spectrometry.By this way, leakage will be detected.The flow measurement of Purge gas in the aspect of the invention illustrated can be omitted.
Accompanying drawing explanation
Further feature of the present invention, advantage and possible application can from obtaining the description of exemplary embodiment and accompanying drawing below.Describe and/or all features itself of illustrating or define theme of the present invention in any combination, the reference in comprising in the claims independent of them perhaps before them.
In only accompanying drawing:
Fig. 1 shows the schematic diagram of the preferable configuration according to tightness system of the present invention.
Embodiment
The present invention is explained now with reference to accompanying drawing.
Closure member 1 is for relative to packing space 3 sealed vessel space 2, and when closure member 1 is opened, unshowned lumpy material slips into vessel space 2 from this packing space 3.Closure member 1 comprises closure member seat 4 and enclosed body 5.In top view, the shape that enclosed body 5 is the taper or frustum with round base portion.It is circular opening that described closure member seat 4 cooperatively has in top view.Enclosed body 5 is attached to bar 6, and is moved up and down by unshowned mechanism, to open and closed closure member 1.First sealing face 7 of described tightness system is provided by closure member seat 4, and the second sealing face 8 is provided by enclosed body 5.On sealing face 7, sealing member 9a and 9b installs concentrically with respect to one another, and sealing member is each all has leg-of-mutton cross section.They extend around the periphery of closure member seat 4, and are therefore the shape of the ring of two arranged concentric in top view.Via path 10, fluid such as rare gas element can be transported in the space formed by sealing face 7,8 and sealing member 9a and 9b, and described space is the shape of the inclination annulus with trapezoid cross section.Via pipeline 11, the pressure in this space can be measured.
Industrial applicibility
The invention provides a kind of tightness system for container and reactor, its stopping property can be detected by simple and efficient manner.Because the less desirable outflow processing gas must be avoided for reason that is economic and safety usually, therefore the present invention commercially can apply.Because the method for leak detection has improvement relative to method well known in the prior art, for the time shorten needed for leak detection, therefore for the production of equipment such as fixed-bed type pressure gasification reactor utilizability increase.
Reference numerals list
1 container-closure
2 vessel spaces
3 packing spaces
4 closure member seats
5 enclosed body
6 bars
7 sealing face
8 sealing face
9a, 9b sealing member
10 pipelines supplied for fluid
11 for tonometric pipeline
Claims (11)
1. the tightness system for container-closure (1), comprise the first sealing face and the second sealing face (7, 8) and at least two concentric seal (9a, 9b), each sealing member in described at least two concentric seal is connected to a sealing face or is formed by the design of a sealing face, it is characterized in that, described sealing face (7, 8) and described sealing member (9a, 9b) relative to each other designed and be arranged so that under the closed state of described tightness system, two sealing member (9a, 9b) be all exposed to confining pressure, utilize sealing face (7 described in described confining pressure, 8) be pressed against each other, wherein, airtight space is formed by described sealing face and described sealing member.
2. tightness system according to claim 1, is characterized in that, described sealing member (9a, 9b) has the cross section of the circle of the opposition side convergent in mounting surface, ellipse, semicircle or general triangular.
3. according to the tightness system described in claim 1 to 2, it is characterized in that, described sealing member dimensionally stable, but can recoverable deformation.
4. the tightness system according to claims 1 to 3; it is characterized in that; described sealing member (9a, 9b) can move into the inside of assembly of the described sealing face of carrying and described sealing member, so that the impact protecting described sealing member to make it from heat and grinding medium.
5. the tightness system according to Claims 1-4, is characterized in that, described sealing face can be cooled by heat-eliminating medium.
6. according to the tightness system described in claim 1 to 5, it is characterized in that, at least one sealing face in sealing face between described sealing member is provided with the first opening, and described first opening is designed such that fluid can be transferred can be introduced into by described first opening or for the device of measuring stress or temperature the described airtight space formed by described sealing face and described sealing member.
7. tightness system according to claim 6, it is characterized in that, at least one sealing face in sealing face between described sealing member is provided with the first opening and the second opening, wherein, described device for measuring stress or temperature is introduced into by described first opening, and described second opening is connected with the feeding mechanism for fluid, and wherein, described first opening and described second opening are connected with same airtight space fluid.
8. the purposes of the tightness system according to any one in aforementioned claim in the coal lock and/or ash lock of fixed-bed type pressure gasification reactor, described pressure gasification reactor is used for by utilizing gasifying medium conversion of carbonaceous fuel such as coal, coke or block biomass to manufacture synthesis gas, and described gasifying medium comprises oxygen and steam.
9., for a method for the leak-testing of the latch enclosure that the fuel in fixed-bed type pressure gasification reactor is locked or ash is locked, comprise the steps:
A) the fixed-bed type pressure gasification reactor with coal lock or ash lock is provided, wherein, described coal lock or ash lock or both be equipped with according to tightness system in any one of the preceding claims wherein,
B) filling fuels is entered described fuel lock or discharges ash from described ash lock,
C) closed described fuel lock or described ash lock is come by interfacing first sealant surface and the second sealing face,
D) utilize stress measuring device to measure pressure in the airtight space formed by sealing face and sealing member, introduced by the first opening during the time period t of described stress measuring device during closing described lock and after closing described lock,
E) pressure of closed period to be increased and pressure during time period t after closing reduces and pressure increases setting point or pressure and reduces setting point and compare, wherein, when the pressure increase recorded be greater than described pressure increase setting point and/or the pressure that records reduce be less than described pressure reduce setting point time, infer the stopping property of described lock.
10. method according to claim 9, is characterized in that, closing after described lock, Purge gas is introduced into same airtight space via the second opening, until reach goal pressure p and the measurement making pressure reduce is carried out from goal pressure p.
The method of the leak-testing of 11. 1 kinds of locked closing member of locking for the fuel lock in fixed-bed type pressure gasification reactor or ash, comprises the steps:
A) the fixed-bed type pressure gasification reactor with coal lock or ash lock is provided, wherein, described coal lock or described ash lock or both tightness system according to any one in aforementioned claim is equipped with,
B) filling fuels is entered described fuel lock or discharges ash from described ash lock,
C) closed described fuel lock or described ash lock is come by interfacing first sealant surface and the second sealing face,
D) utilize feeding mechanism Purge gas to be fed in the airtight space formed by sealing face and sealing member, described feeding mechanism is connected with the first opening, and wherein, described feeding mechanism comprises conduit and flow measurement devices,
E) utilizing described flow measurement devices measure flow rate when supplying Purge gas, wherein, when the flow velocity recorded is reduced to 0, inferring the stopping property of described lock when supplying described Purge gas.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014115915.2A DE102014115915A1 (en) | 2014-10-31 | 2014-10-31 | Sealing system for a container closure |
| DE102014115915.2 | 2014-10-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105567334A true CN105567334A (en) | 2016-05-11 |
| CN105567334B CN105567334B (en) | 2020-06-05 |
Family
ID=54557368
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520784362.4U Active CN205295243U (en) | 2014-10-31 | 2015-09-30 | A sealing system for container closure member |
| CN201510654044.0A Active CN105567334B (en) | 2014-10-31 | 2015-09-30 | Sealing system for container closures |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520784362.4U Active CN205295243U (en) | 2014-10-31 | 2015-09-30 | A sealing system for container closure member |
Country Status (4)
| Country | Link |
|---|---|
| CN (2) | CN205295243U (en) |
| AU (1) | AU2015341098B2 (en) |
| DE (1) | DE102014115915A1 (en) |
| WO (1) | WO2016066277A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107794092A (en) * | 2016-09-06 | 2018-03-13 | 乔治·克劳德方法的研究开发空气股份有限公司 | Cover for the obturator of the closure member of bulk material lock |
| CN110748653A (en) * | 2019-11-26 | 2020-02-04 | 深圳大学 | Pressure maintaining corer flap valve with multi-stage sealing structure |
| CN112754372A (en) * | 2020-12-28 | 2021-05-07 | 科沃斯商用机器人有限公司 | Sealing structure and self-moving cleaning robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4148405A (en) * | 1977-12-01 | 1979-04-10 | The United States Of America As Represented By The United States Department Of Energy | Solid feeder and method |
| CN2799561Y (en) * | 2005-06-24 | 2006-07-26 | 杨更辰 | Dust coal transformation-charging apparatus for gas generating stove |
| US20090188580A1 (en) * | 2008-01-29 | 2009-07-30 | Himmen Hans-Rudolf | Inert gas lock for filling a container with bulk material |
| CN201400663Y (en) * | 2009-05-05 | 2010-02-10 | 刘志禹 | Coal feeding mechanism of coal gas producer |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4140228A (en) * | 1977-12-01 | 1979-02-20 | The United States Of America As Represented By The United States Department Of Energy | Dry piston coal feeder |
| DE3229841A1 (en) | 1982-08-11 | 1984-02-16 | Davy McKee AG, 6000 Frankfurt | Conical seal between vessels |
| DD226005A1 (en) * | 1984-05-04 | 1985-08-14 | Freiberg Brennstoffinst | DEVICE FOR EXTRACTION AND COOLING OF FIXED RESIDUES FROM PRESSURE GAS GENERATORS |
| DE4041445A1 (en) | 1990-12-21 | 1992-07-02 | Schwarze Pumpe Energiewerke Ag | Safety arrangement for coal-charging closure system in pressure gas generator - has bunker shut=off slide plate arranged between upper sealing and lower support ring |
| GB201112885D0 (en) * | 2011-07-26 | 2011-09-07 | Sasol Tech Pty Ltd | Solids-handling equipment |
| DE102012107486B3 (en) | 2012-08-15 | 2014-01-23 | L'Air Liquide, Société Anonyme pour l'Etude et l'Exploitation des Procédés Georges Claude | Method for operating a bulk material lock |
-
2014
- 2014-10-31 DE DE102014115915.2A patent/DE102014115915A1/en not_active Withdrawn
-
2015
- 2015-09-30 CN CN201520784362.4U patent/CN205295243U/en active Active
- 2015-09-30 CN CN201510654044.0A patent/CN105567334B/en active Active
- 2015-10-08 AU AU2015341098A patent/AU2015341098B2/en active Active
- 2015-10-08 WO PCT/EP2015/025070 patent/WO2016066277A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4148405A (en) * | 1977-12-01 | 1979-04-10 | The United States Of America As Represented By The United States Department Of Energy | Solid feeder and method |
| CN2799561Y (en) * | 2005-06-24 | 2006-07-26 | 杨更辰 | Dust coal transformation-charging apparatus for gas generating stove |
| US20090188580A1 (en) * | 2008-01-29 | 2009-07-30 | Himmen Hans-Rudolf | Inert gas lock for filling a container with bulk material |
| CN201400663Y (en) * | 2009-05-05 | 2010-02-10 | 刘志禹 | Coal feeding mechanism of coal gas producer |
Non-Patent Citations (2)
| Title |
|---|
| 林引: "密闭容器气密性检测方法的仿真研究及应用", 《重庆大学硕士学位论文》 * |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107794092A (en) * | 2016-09-06 | 2018-03-13 | 乔治·克劳德方法的研究开发空气股份有限公司 | Cover for the obturator of the closure member of bulk material lock |
| CN110748653A (en) * | 2019-11-26 | 2020-02-04 | 深圳大学 | Pressure maintaining corer flap valve with multi-stage sealing structure |
| CN110748653B (en) * | 2019-11-26 | 2024-03-26 | 深圳大学 | Pressure-maintaining corer flap valve with multistage sealing structure |
| CN112754372A (en) * | 2020-12-28 | 2021-05-07 | 科沃斯商用机器人有限公司 | Sealing structure and self-moving cleaning robot |
| CN112754372B (en) * | 2020-12-28 | 2022-05-24 | 科沃斯商用机器人有限公司 | Sealing structure and self-moving cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016066277A1 (en) | 2016-05-06 |
| DE102014115915A1 (en) | 2016-05-04 |
| AU2015341098B2 (en) | 2020-11-26 |
| AU2015341098A1 (en) | 2017-06-01 |
| CN205295243U (en) | 2016-06-08 |
| CN105567334B (en) | 2020-06-05 |
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