CN106475374A - A kind of automatic pipe profile inner chamber flusher and control system - Google Patents
A kind of automatic pipe profile inner chamber flusher and control system Download PDFInfo
- Publication number
- CN106475374A CN106475374A CN201610941256.1A CN201610941256A CN106475374A CN 106475374 A CN106475374 A CN 106475374A CN 201610941256 A CN201610941256 A CN 201610941256A CN 106475374 A CN106475374 A CN 106475374A
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- spray head
- module
- driving module
- washing
- walking
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- 238000011010 flushing procedure Methods 0.000 claims abstract description 52
- 239000007921 spray Substances 0.000 claims description 75
- 238000005406 washing Methods 0.000 claims description 65
- 230000003287 optical effect Effects 0.000 claims description 16
- 238000004140 cleaning Methods 0.000 claims description 9
- 238000005260 corrosion Methods 0.000 claims description 5
- 230000007797 corrosion Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 description 25
- 230000000694 effects Effects 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 239000000126 substance Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000004381 surface treatment Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 241001127637 Plantago Species 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000005554 pickling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a kind of automatic pipe profile inner chamber flusher, including：Rinse car；Nozzle component, its pass through flexible pipe and are connected to be rinsed the inner chamber of pipe profile with high-pressure wash source；With component of dividing a word with a hyphen at the end of a line, which is fixedly installed on flushing car and is connected with the nozzle component.The invention also discloses a kind of control system for the flusher, including computer, PLC, the hoofing part module being arranged in parallel with PLC, shower nozzle are divided a word with a hyphen at the end of a line drive module, shower nozzle rotation driving module, walking encoder module and ultrasonic sensor modules.The flusher of the present invention is applied widely, is applicable to different shape, the flushing of different bore pipe profile inner chambers, effectively increases production efficiency and product quality, meet the efficiency requirements of industrial mass production；And easy to operate, save human cost, it is achieved that intelligentized control method and production.
Description
Technical Field
The invention relates to the technical field of surface treatment of metal pipe profiles, in particular to an automatic pipe profile inner cavity flushing device and a control system.
Background
In the surface treatment line of the metal pipe section, metal materials are put into various treatment tanks for chemical treatment according to the requirements of the treatment process. After a certain chemical treatment process, such as pickling, is completed, it is often necessary to rinse the surface of the material with water to remove solid residues, which would otherwise have a serious impact on the quality of the subsequent process. The cleanliness of the inner cavity of the material is a key factor of the quality of the pipe section.
The pipe section has a through pipe and a blind pipe, and has various calibers and stacking modes, and the inner cavity washing modes are different. The inner cavity flushing device has the advantages that the design meeting a certain flushing mode can be selected according to the process requirement of the treatment line, or the flushing mode can be flexibly adjusted according to the pipe information by the intelligent identification and control function, so that the efficiency requirement of industrial mass production can be met.
The current inner cavity washing mode is only manual washing, a water spray washing gun is manually operated to aim at the inner cavity of the material to wash the material one by one, the problems of severe working environment and high labor intensity exist, and serious hidden troubles exist in the stability and reliability of the surface quality.
Disclosure of Invention
The invention provides an automatic pipe section inner cavity flushing device and a control system for solving the problems in the prior art.
The invention provides an automatic pipe section inner cavity flushing device, which adopts a totally-enclosed waterproof corrosion-resistant flushing vehicle, and walks on two racks laid in parallel through wheels to adjust the distance between a spray head and a material port; meanwhile, the spray head assembly can adopt a plurality of nozzles, can be used for enhancing the washing effect by rotating the spray head during washing, and is driven by two servo motors to do two-dimensional movement up and down, left and right.
The invention also provides a control system of the automatic pipe section inner cavity flushing device, information is transmitted between the computer and the PLC and among the connecting modules through a data network, the control system is electromechanical integrated equipment, and the automatic pipe section inner cavity flushing device is fully automatically flushed.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an automatic pipe section inner cavity flushing device, which comprises:
a washing vehicle;
the spray head assembly is positioned at the front end of the washing vehicle and is connected with a high-pressure cleaning source through a hose to wash the inner cavity of the pipe profile; and
and the moving assembly is fixedly arranged on the washing vehicle and is connected with the spray head assembly to control the spray head assembly to move.
Furthermore, the flushing vehicle adopts a fully-closed waterproof corrosion-resistant shell, and wheels are arranged at the bottom of the flushing vehicle.
Furthermore, the front end of the washing vehicle is provided with a waterproof movable panel, and the spray head assembly is arranged on the waterproof movable panel.
Further, the spray head assembly comprises a spray head and a rotating asynchronous motor, the rotating asynchronous motor is connected with the moving assembly through a support, and the rotating asynchronous motor is connected with the spray head and used for controlling the spray head to rotate.
Further, the moving assembly is composed of a horizontal screw rod and a vertical screw rod which are respectively provided with a servo motor and used for controlling the spray head assembly to move on a vertical surface.
Further, still including set up in the ultrasonic sensor of washing plantago end, ultrasonic sensor is used for surveying the washing car with the interval of pipe section bar.
Further, still including set up in wash the optical camera of front end top position, optical camera and control system remote connection are used for long-range real-time supervision the shape of pipe section bar and the condition of washing of its inner chamber.
The second aspect of the invention provides a control system of the automatic pipe profile inner cavity flushing device, which comprises a computer, a PLC (programmable logic controller) connected with the computer, and a walking driving module, a spray head moving driving module, a spray head rotating driving module, a walking encoder module and an ultrasonic sensor module which are connected with the PLC in parallel; wherein,
the computer is used for controlling the PLC, the walking driving module, the spray head moving driving module, the spray head rotating driving module, the walking encoder module and the ultrasonic sensor module to work;
the PLC is used for receiving or processing signals or data fed back by the walking driving module, the spray head moving driving module, the spray head rotating driving module, the walking encoder module and the ultrasonic sensor module;
the walking driving module is connected with the PLC in series through a first frequency converter by a walking asynchronous motor arranged on the washing vehicle and is used for controlling the washing vehicle to move;
the spray head moving driving module is connected with the PLC in series through a servo motor arranged on the moving component through a servo controller and is used for controlling the spray head component to move;
the spray head rotation driving module is connected with the PLC in series through a second frequency converter by a rotation asynchronous motor arranged on the spray head assembly and is used for controlling the spray head to rotate;
and the walking encoder module is used for detecting the walking position of the washing vehicle and transmitting the walking position to the PLC to control the position of the washing vehicle.
Furthermore, the spray head moving driving module consists of a horizontal moving module and a vertical moving module and is respectively used for controlling the spray head assembly to move up and down or left and right.
Further, the control system also comprises an optical camera module, and the optical camera module is connected with the computer and is used for monitoring the shape of the pipe section and the flushing condition of the inner cavity of the pipe section in real time.
By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:
the automatic pipe profile inner cavity flushing device is an electromechanical integrated device, can realize intelligent identification and flexible adjustment of a flushing mode with a control function according to the information of a pipe, is suitable for flushing inner cavities of pipe profiles of different types and different calibers, has a wide application range, and meets the efficiency requirement of industrial mass production; the problems of severe working environment, high labor intensity and serious hidden danger of the stability and reliability of the surface quality in the conventional manual one-by-one flushing mode are solved; the device realizes efficient and reliable full-automatic surface treatment of the metal tube profile with lower equipment investment cost, and effectively improves the production efficiency and the reliability of product quality; meanwhile, the corresponding control system is adopted, so that the flushing device is convenient to operate, the labor cost is saved, and intelligent control and production are realized.
Drawings
FIG. 1 is a schematic structural diagram of an automatic device for washing an inner cavity of a tubular section according to the present invention;
FIG. 2 is an electrical control schematic diagram of a control system of an automatic tubular profile inner cavity flushing device according to the present invention;
FIG. 3 is a schematic diagram of the operation track of the nozzle of the automatic device for washing the inner cavity of the tubular section according to the present invention;
the device comprises a pipe material 1, a pipe material 2, a pipe material bracket 3, a flushing vehicle 4, wheels 5, tracks 6, a vertical screw rod 7, a horizontal screw rod 8, a spray head 9, a rotary asynchronous motor 10, a waterproof movable panel 11, a hose 11, a cleaning source 12, an ultrasonic sensor 13 and an optical camera 14.
Detailed Description
The present invention will be described in detail and specifically with reference to the following examples to facilitate better understanding of the present invention, but the following examples do not limit the scope of the present invention.
Embodiment 1 as shown in fig. 1, this embodiment provides an automatic pipe-section lumen flushing device, which comprises: a washing vehicle 3; the spray head assembly is positioned at the front end of the washing vehicle 3 and is connected with a high-pressure washing source 12 through a hose 11 to wash the inner cavity of the pipe material 1 formed by piling pipe sectional materials; and the moving assembly is fixedly arranged on the washing vehicle 3 and is used for controlling the spray head assembly to move and wash. The hose is a flexible water pipe or a flexible steel pipe; the cleaning source selects water or other chemical cleaning liquid according to actual cleaning requirements.
The washing vehicle 3 is made of a totally-enclosed waterproof corrosion-resistant shell, and wheels 4 are arranged at the bottom of the washing vehicle. The washing vehicle runs on two rails 5 laid in parallel to adjust the distance between a spray head of the spray head assembly and a port to be washed of a material pipe 1 placed on a pipe material support 2. The front end of the washing vehicle 3 is provided with a waterproof movable panel 10, and the spray head assembly is arranged on the waterproof movable panel 10.
The spray head assembly in the device comprises a spray head 8 and a rotary asynchronous motor 9, wherein the rotary asynchronous motor 9 is connected with the traveling assembly through a support, and the rotary asynchronous motor 9 is connected with the spray head 8 and is used for controlling the spray head 8 to carry out rotary flushing. Preferably, a plurality of nozzles are arranged on the spray head 8, and the spray head 8 is controlled to rotate by the rotating asynchronous motor 9 during washing so as to enhance the washing effect. The moving assembly consists of a horizontal screw rod 7 and a vertical screw rod 6 which are respectively provided with a servo motor and is used for controlling a spray head on the spray head assembly to move on a vertical surface. Preferably, the horizontal screw 7 and the vertical screw 6 adopt a sliding screw or a ball screw; more preferably, the traveling assembly employs a three-dimensional moving platform.
Embodiment 2 as shown in fig. 1, this embodiment provides an automatic pipe-section lumen flushing device, which includes: a washing vehicle 3; the spray head assembly is positioned at the front end of the washing vehicle 3 and is connected with a high-pressure washing source 12 through a hose 11 to wash the inner cavity of the pipe material 1 formed by piling pipe sectional materials; and the moving assembly is fixedly arranged on the washing vehicle 3 and is used for controlling the spray head assembly to move and wash. The hose is a flexible water pipe or a flexible steel pipe; the cleaning source selects water or other chemical cleaning liquid according to actual cleaning requirements.
Different from the embodiment 1, the flushing device further comprises an ultrasonic sensor 13 arranged at the front end of the flushing vehicle 3, and the ultrasonic sensor 13 is used for detecting the distance between the flushing vehicle 3 and the pipe section material 1. In addition, still including setting up the optical camera 14 that washes car 3 front end upper position, install lighting device and windscreen wiper on this optical camera 14, optical camera 14 is connected with control system remote and is used for the washing condition of the shape of long-range real-time supervision pipe section bar and its inner chamber, can realize long-range manual observation washing condition on the computer. If the production process needs, the optical camera 14 can also be used for automatically judging the shape of the material pipe 1 by machine vision or transmitting shape information through a data network to realize automatic control.
Embodiment 3 as shown in fig. 2, this embodiment provides a control system of the above automatic pipe profile inner cavity flushing device, including a computer, a PLC controller connected to the computer, a walking driving module, a nozzle moving driving module, a nozzle rotation driving module, a walking encoder module, and an ultrasonic sensor module, which are arranged in parallel with the PLC controller; wherein,
the computer is used for controlling the PLC, the walking driving module, the nozzle moving driving module, the nozzle rotating driving module, the walking encoder module and the ultrasonic sensor module to work;
the PLC is used for receiving or processing signals or data fed back by the walking driving module, the spray head moving driving module, the spray head rotating driving module, the walking encoder module and the ultrasonic sensor module;
the walking driving module is connected with the PLC in series through a first frequency converter by a walking asynchronous motor arranged on the washing vehicle and is used for controlling the washing vehicle to move;
the spray head moving driving module is composed of two groups of sliding screw rods and a servo, is connected with the PLC in series through a servo controller by a servo motor arranged on the moving component and is used for controlling the spray head component to move;
the spray head rotation driving module is connected with the PLC in series through a second frequency converter by a rotation asynchronous motor arranged on the spray head assembly and is used for controlling the spray head to rotate;
and the walking encoder module is used for detecting the walking position of the washing vehicle and transmitting the walking position to the PLC to control the position of the washing vehicle.
The control system of this embodiment, through computer and PLC controller remote control walking drive module, shower nozzle travel drive module, shower nozzle rotary driving module, walking encoder module and ultrasonic sensor module work to realize among this washing unit that washing car 3 walks on track 5 and is close to pipe 1, and through shower nozzle travel drive module control perpendicular lead screw or horizontal lead screw on the subassembly of traveling drive shower nozzle subassembly and move the position of adjusting washing. The control system transmits information among all the connecting modules through a data network, is an electromechanical integrated device and realizes full-automatic washing.
Preferably, the nozzle moving driving module consists of a horizontal moving module and a vertical moving module, and is respectively used for controlling the nozzle assembly to move up and down or left and right. The horizontal moving module consists of a horizontal servo motor and a horizontal servo controller and is used for controlling the horizontal screw rod to move; the vertical moving module consists of a vertical servo motor and a vertical servo controller and is used for controlling the vertical screw rod to move. Thereby control shower nozzle subassembly and move on vertical face, the orbit of shower nozzle promptly, simultaneously through rotatory asynchronous motor of shower nozzle rotation drive module control further shower nozzle rotation in order to strengthen washing effect shower nozzle 8 rotatory, as 3a, 3b and 3c in 3 show, be three kinds of orbits of shower nozzle 8 to can be according to different pipe material shapes, the shower nozzle orbit makes corresponding adjustment through software in order to ensure best washing effect.
As a preference of this embodiment, the control system further comprises an optical camera module, which is connected with the computer for monitoring the shape of the tube profile and the flushing condition of the inner cavity thereof in real time. The flushing condition can be remotely and manually observed on a computer. If the production process needs, the camera can also be used for automatically judging the shape of the material by machine vision or transmitting shape information through a data network.
Embodiment 4 as shown in fig. 1 to 3, this embodiment provides an automatic pipe profile cavity flushing device and a control system thereof, wherein a flushing vehicle 3 adopts a fully-closed waterproof corrosion-resistant shell, and the device runs on two rails 5 laid in parallel to adjust the distance between a spray head 8 and a port of a material pipe 1 placed on a material pipe support 2. The spray head 8 can be provided with a plurality of nozzles, and the spray head 8 rotates to strengthen the washing effect during washing. The spray head assembly is arranged on the moving assembly (the vertical screw rod 7 and the horizontal screw rod 6) and driven by two servo motors, and can do two-dimensional motion up and down, left and right, namely two-dimensional motion on a vertical plane.
Preferably, an ultrasonic sensor 13 may be installed in front of the flushing device for detecting the distance between the flushing vehicle 3 and the pipe material 1. An optical camera 14 with lighting and a wiper can be arranged at the front upper part of the flushing device so as to realize remote manual observation of the flushing condition on a computer, and the optical camera 14 can also be used for automatically judging the shape of the pipe material 1 by machine vision or transmitting shape information through a data network if the production process needs.
The working principle of the automatic pipe profile inner cavity flushing device is as follows: with reference to fig. 1 and 2, the traveling motor mounted on the platform of the washing vehicle 3 is driven by a first frequency converter, i.e. a traveling drive module; the traveling motor drives the wheels 4 to rotate through the gear box so as to enable the wheels to travel on the rails 5. The walking encoder module feeds back the walking position of the washing vehicle 3 to the PLC; the ultrasonic sensor module detects the distance between the washing vehicle 3 and the pipe material 1 and transmits data to the PLC. In the actual application process, when the distance between the washing vehicle 3 and the pipe material 1 is 10-40 cm (which can be manually set), the washing vehicle 3 stops.
The computer sends the coordinate data of the running track of the spray head 8 to the PLC according to the shape of the pipe material 1, the spray head assembly starts from the original point under the driving of the horizontal screw rod 6 and the vertical screw rod 7, and the PLC controls the horizontal servo controller and the vertical servo control through the spray head moving driving module to enable the spray head 8 on the spray head assembly to accurately run along the preset track, as shown in figure 3.
The rotating asynchronous motor with a support arranged on the moving component drives the spray head 8 to rotate. The optical camera 14 is turned on and the real-time image is transmitted to the computer through the network. After the washing task is completed, the nozzle assembly automatically returns to the original point, and the washing vehicle 3 also travels to the original point.
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (10)
1. An automatic tubular section inner chamber washing unit which characterized in that includes:
a washing vehicle;
the spray head assembly is positioned at the front end of the washing vehicle and is connected with a high-pressure cleaning source through a hose to wash the inner cavity of the pipe profile; and
and the moving assembly is fixedly arranged on the washing vehicle and is connected with the spray head assembly to control the spray head assembly to move.
2. The automatic pipe section inner cavity flushing device according to claim 1, wherein the flushing vehicle adopts a fully-closed waterproof corrosion-resistant shell, and wheels are arranged at the bottom of the flushing vehicle.
3. The automatic pipe section inner cavity flushing device according to claim 1, wherein a waterproof movable panel is arranged at the front end of the flushing vehicle, and the spray head assembly is mounted on the waterproof movable panel.
4. An automatic pipe section inner cavity flushing device according to claim 1, wherein the spray head assembly comprises a spray head and a rotary asynchronous motor, the rotary asynchronous motor is connected with the traveling assembly through a support, and the rotary asynchronous motor is connected with the spray head and used for controlling the spray head to rotate.
5. An automatic pipe-section inner chamber flushing device according to claim 1, characterized in that the traveling assembly consists of a horizontal screw and a vertical screw, each provided with a servo motor, for controlling the movement of the spray head assembly on a vertical plane.
6. The automated pipe profile inner chamber washing device of claim 1, further comprising an ultrasonic sensor disposed at a front end of the washing cart, the ultrasonic sensor being configured to detect a distance between the washing cart and the pipe profile.
7. The automatic pipe section inner cavity flushing device according to claim 1, further comprising an optical camera arranged above the front end of the flushing vehicle, wherein the optical camera is remotely connected with a control system and used for remotely monitoring the shape of the pipe section and the flushing condition of the inner cavity of the pipe section in real time.
8. A control system of an automatic pipe section inner cavity flushing device according to any one of claims 1-7, characterized by comprising a computer, a PLC controller connected with the computer, and a walking driving module, a nozzle moving driving module, a nozzle rotating driving module, a walking encoder module and an ultrasonic sensor module which are arranged in parallel with the PLC controller; wherein:
the computer is used for controlling the PLC, the walking driving module, the nozzle moving driving module, the nozzle rotating driving module, the walking encoder module and the ultrasonic sensor module to work;
the PLC is used for receiving or processing signals or data fed back by the walking driving module, the spray head moving driving module, the spray head rotating driving module, the walking encoder module and the ultrasonic sensor module;
the walking driving module is connected with the PLC in series through a first frequency converter by a walking asynchronous motor arranged on the washing vehicle and is used for controlling the washing vehicle to move;
the spray head moving driving module is connected with the PLC in series through a servo motor arranged on the moving component through a servo controller and is used for controlling the spray head component to move;
the spray head rotation driving module is connected with the PLC in series through a second frequency converter by a rotation asynchronous motor arranged on the spray head assembly and is used for controlling the spray head to rotate;
and the walking encoder module is used for detecting the walking position of the washing vehicle and transmitting the walking position to the PLC to control the position of the washing vehicle.
9. The control system of claim 8, wherein the nozzle moving driving module comprises a horizontal moving module and a vertical moving module, and is used for controlling the nozzle assembly to move up and down or left and right respectively.
10. The control system of claim 8, further comprising an optical camera module connected to the computer for monitoring the shape of the tube profile and the flushing of its lumen in real time.
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| CN201610941256.1A CN106475374B (en) | 2016-10-26 | 2016-10-26 | A kind of automatic pipe profile inner cavity flusher and control system |
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| CN201610941256.1A CN106475374B (en) | 2016-10-26 | 2016-10-26 | A kind of automatic pipe profile inner cavity flusher and control system |
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| CN106475374B CN106475374B (en) | 2019-05-03 |
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| CN107363011A (en) * | 2017-08-28 | 2017-11-21 | 中信戴卡股份有限公司 | A kind of intelligent wheel hub cleaning device |
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| CN110686554A (en) * | 2019-11-15 | 2020-01-14 | 南通三圣石墨设备科技股份有限公司 | Heat exchanger cleaning device |
| CN111974767A (en) * | 2020-08-18 | 2020-11-24 | 昆山三一环保科技有限公司 | Robot system applied to heat exchanger tube array cleaning and cleaning method |
| CN113441255A (en) * | 2021-07-28 | 2021-09-28 | 天津海外海科技有限公司 | Intelligent deep sea pipeline emergency repair robot rotating mechanism and using method thereof |
| CN115254731A (en) * | 2022-07-14 | 2022-11-01 | 广州东塑石油钻采专用设备有限公司 | Automatic cleaning method and device for blowout preventer |
| CN116658997A (en) * | 2023-07-31 | 2023-08-29 | 苏州兴亚洁净科技有限公司 | Clean room air flow control method, system, device and storage medium |
| CN116658997B (en) * | 2023-07-31 | 2023-10-31 | 苏州兴亚洁净科技有限公司 | Clean room air flow control method, system, device and storage medium |
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