CN111594065A - Composite sucker rod centering device for oil field - Google Patents
Composite sucker rod centering device for oil field Download PDFInfo
- Publication number
- CN111594065A CN111594065A CN202010521494.3A CN202010521494A CN111594065A CN 111594065 A CN111594065 A CN 111594065A CN 202010521494 A CN202010521494 A CN 202010521494A CN 111594065 A CN111594065 A CN 111594065A
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- China
- Prior art keywords
- centralizer
- sucker rod
- righting
- centering device
- piece
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- 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.)
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- 239000002131 composite material Substances 0.000 title claims abstract description 15
- 210000005056 cell body Anatomy 0.000 claims abstract description 9
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 claims 2
- 241000561734 Celosia cristata Species 0.000 claims 1
- 210000001520 comb Anatomy 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000000605 extraction Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 125000004122 cyclic group Chemical group 0.000 abstract 2
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- BVKZGUZCCUSVTD-UHFFFAOYSA-L Carbonate Chemical compound [O-]C([O-])=O BVKZGUZCCUSVTD-UHFFFAOYSA-L 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/10—Wear protectors; Centralising devices, e.g. stabilisers
- E21B17/1071—Wear protectors; Centralising devices, e.g. stabilisers specially adapted for pump rods, e.g. sucker rods
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the technical field of oil extraction equipment, in particular to a composite sucker rod centering device for an oil field, when in use, the instrument connected with the centralizer does not need to be disassembled, the workload of maintenance personnel can be reduced, and the roller type centralizer and the columnar centralizer are combined in a breakthrough manner, so that the inner wall of the oil pipe can abrade the centralizing block, make the difficult easy foreign matter lug that is adhered of cylinder block and unable the roll for the centralizer goes upward, has better smoothness nature down, has practical meaning and spreading value, expects to produce good economic benefits, including centralizer body, mount pad and a plurality of piece of rightting, the centralizer body is equipped with cyclic annular breach, and the cover is equipped with the rotating ring on the cyclic annular breach, and the piece of righting is installed on the mount pad equidistance, and the piece of righting is provided with the cell body with the oil pipe contact surface, and the equidirectional rotationally is provided with a plurality of cylinders in the cell body.
Description
Technical Field
The invention relates to the technical field of oil extraction equipment, in particular to a composite sucker rod centering device for an oil field.
Background
The eccentric wear phenomenon can appear between sucker rod and oil pipe, leads to the life of sucker rod to descend by a wide margin, and in order to prevent that the sucker rod from carrying out the in-process of up-and-down motion in oil pipe and oil pipe appear the eccentric wear problem, can use the centralizer to solve this problem on the sucker rod at present.
The mainstream centralizer can be divided into roller centralizers and columnar centralizers according to the structure, the roller centralizers and an oil pipe have large overflowing area, more centralizing points and less abrasion to the oil pipe, and are more and more widely applied to oil pumping operation, but because the underground environment is more complex, carbonate crystals which are tightly adhered to the inner wall of the oil pipe and organic matters which are separated out along with temperature reduction can appear in the working process of an oil well, protruding attachments of the type can limit the rolling of the roller, when two sides of the roller are clamped by foreign matters, the roller cannot roll, the motion mode of the roller can be changed from rolling friction to sliding friction, the abrasion between the roller and the inner wall of the oil pipe is increased, and the risk of roller damage is also increased; and column type centralizer mainly adopts the tight oil pipe inner wall of elastic column centralizer card to realize righting the function, it is great with the wearing and tearing of righting piece and oil pipe inner wall, need often maintain righting the piece, change, otherwise it will lose the function and can't right the sucker rod to right the piece, because need dismantle many when changing righting the piece simultaneously and link to each other with the centralizer together, it is comparatively troublesome to operate, maintainer's working strength and operating time have been increased, and it is also easy that righting the piece is blocked by the foreign matter of oil pipe inner wall and leads to righting the piece not smooth operation, if improve current centralizer, research and develop a neotype centralizer in order to overcome the not enough of current centralizer, will have positive meaning to trade development.
Disclosure of Invention
The invention aims to provide a composite sucker rod centering device for an oil field, which solves the problems that a cylindrical centering device centering block is easy to wear and a roller centering device is easy to be clamped by foreign matters in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme that the oil pipe centralizer comprises a centralizer body, an installation seat and a plurality of centralizing blocks, wherein the centralizer body is provided with an annular gap, a rotating ring is sleeved on the annular gap, the centralizing blocks are equidistantly installed on the installation seat, a groove body is arranged on the contact surface of the centralizing blocks and the oil pipe, a plurality of rollers are rotatably arranged in the groove body in the same direction, and the height of the rollers is matched with that of the front surface of the centralizing blocks.
Preferably, the front surface of the centralizing block is matched with the inner surface of the oil pipe.
Preferably, the mounting seat is formed by combining 3 mounting seat pieces, the left side and the right side of each mounting seat piece are in a mutually matched sawtooth shape, the left end and the right end of each mounting seat piece are respectively provided with a clamping block and a clamping groove which are matched with each other, the mounting seat pieces are provided with a plurality of screw holes which penetrate through the clamping blocks and the clamping grooves, and bolts are screwed into the screw holes and are in threaded connection with the rotating rings to realize that the mounting seat is mounted on the rotating rings.
Preferably, the number of the screw holes on the clamping block and the clamping groove is 2.
Preferably, counterbores are formed in the two ends of the centering block, and bolts enter the counterbores to be in threaded connection with the mounting seat piece, so that the centering block is mounted on the mounting seat.
Preferably, the left side and the right side of the groove body are provided with a plurality of telescopic rods with springs in a sleeved mode, and the two ends of the roller are rotationally connected with the top ends of the telescopic rods.
Preferably, the rotating ring is a bearing.
Preferably, the number of the centering blocks is 3.
Preferably, both ends of the centralizing block are in a pointed shape.
Preferably, the roller surface is rollably embedded with balls.
From the above description of the structure of the present invention, compared with the prior art, the present invention has the following advantages:
according to the composite sucker rod centering device for the oil field, the mounting seat is formed by combining the mounting seat pieces, when the mounting seat is damaged, only the mounting seat pieces at the damaged part need to be replaced, and the mounting seat can be mounted by screwing the bolts into the screw holes after the clamping blocks of the mounting seat pieces are inserted into the clamping grooves; when the centering block is damaged, the centering block can be taken down from the mounting seat only by screwing out the bolt in the countersunk head hole, the centering block can be mounted by screwing in the bolt in the countersunk head hole and connecting the bolt with the mounting seat through threads after a new centering block is replaced, and an instrument connected with the centering device does not need to be detached in the replacement process; the two ends of the centering block are in a pointed shape, when the centralizer ascends and descends in the pipeline, if the tail end of the centering block is in contact with foreign matters and bumps adhered to the inner wall of the oil pipe, the rotating ring can rotate on the annular notch, the inclined planes on the two sides of the pointed end of the centering block are beneficial to the sliding of the centering block and the bumps, so that the rotating ring is forced to rotate, and the centering block can avoid the bumps on the inner wall of the oil pipe to a certain degree;
set up the cylinder in the cell body of seting up on the piece of righting, it can reduce the area of contact of piece of righting and oil pipe inner wall, thereby reduce the wearing and tearing of piece of righting, the cylinder can improve through rolling and right the piece and go upward along oil pipe, descending smoothness nature, when cylinder and foreign matter contact, the telescopic rod that the cover was equipped with the spring can be compressed, make the cylinder can not blocked and unable the roll by the foreign matter, the ball that sets up on the cylinder lies in reducing the frictional force of cylinder when centralizer rotates, become rolling friction with sliding friction, avoid the cylinder impaired.
According to the invention, an instrument connected with the centralizer does not need to be disassembled, the workload of maintenance personnel can be reduced, the roller type centralizer and the columnar type centralizer are combined in a breakthrough manner, the inner wall of the oil pipe can be used for wearing the centralizing block, so that the roller is not easy to be blocked by the adhered foreign matter lug and cannot roll, the centralizer is enabled to move upwards and downwards with better fluency, the practical significance and the popularization value are realized, and good economic benefits can be expected to be generated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic cross-sectional configuration of the mount;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is an enlarged view of the portion B in FIG. 2;
in the figure: the centering device comprises a centering device body 1, an annular notch 11, a rotating ring 12, an installation seat 2, an installation seat sheet 21, a clamping block 22, a clamping groove 23, a screw hole 24, a centering block 3, a groove body 31, a roller 32, a ball 321, a counter bore 33, a spring 34 and a telescopic rod 35.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-3, a composite sucker rod centering device for oil field comprises a centering device body 1, a mounting seat 2 and 3 centering blocks 3, wherein the centering device body 1 is provided with an annular gap 11, the annular gap 11 is sleeved with a rotating ring 12, the mounting seat 2 is formed by combining 3 mounting seat sheets 21, the left side and the right side of each mounting seat sheet 21 are in a mutually matched sawtooth shape, the left end and the right end of each mounting seat sheet 21 are respectively provided with a clamping block 22 and a clamping groove 23 which are mutually matched, the mounting seat sheet 21 is provided with 2 screw holes 24 which penetrate through the clamping block 22 and the clamping groove 23, bolts are screwed into the screw holes 24 and are in threaded connection with the rotating ring 12 to realize that the mounting seat 2 is mounted on the rotating ring 12, the two ends of each centering block 3 are in a pointed shape, the centering blocks 3 are equidistantly mounted on the mounting seat 2, righting piece 3 both ends and all being equipped with counter bore 33, the bolt get into counter bore 33 with mount pad piece 21 threaded connection realize will righting piece 3 is installed on mount pad 2, right 3 front and the matching of oil pipe internal surface of piece, it is provided with cell body 31 with the oil pipe contact surface to right piece 3, the syntropy rotationally is provided with a plurality of cylinders 32 in cell body 31 and the telescopic link 35 that the complex root cover was equipped with spring 34, telescopic link 35 locates the cell body 31 both sides, a plurality of ball 321 has been inlayed on cylinder 32 surface rollably, cylinder 32 both ends rotationally with but telescopic link 35 top links to each other, cylinder 32 highly with right the positive high phase-match of piece 3.
The centralizer body 1 belongs to the prior art, and two ends of the centralizer body can be connected and fixed with a sucker rod to be centralized; the rotating ring 12 refers to a rotatable annular component, and a bearing is adopted in the specific implementation; the mounting seat 2 refers to a base for mounting the righting block 3; the righting block 3 is a block-shaped component with a righting function, and the specific material of the righting block is an elastic rubber block; the ball 321 is specifically a steel ball which can be embedded with the surface of the roller 32 in a rolling manner; the extendable rod 35 refers to a cylinder column made of metal and having an extendable length in the prior art.
The working principle of the invention is as follows: the mounting seat 2 is formed by combining mounting seat sheets 21, when the mounting seat 2 is damaged, only the mounting seat sheet 21 at the damaged part needs to be replaced, and the mounting seat 2 can be mounted by inserting the fixture block 22 of the mounting seat sheet 21 into the clamping groove 23 and then screwing the bolt into the screw hole 24; when the centering block 3 is damaged, the centering block 3 can be taken down from the mounting seat 2 only by screwing out the bolt in the counter bore 33, the centering block 3 can be mounted by screwing in the bolt in the counter bore 33 and in threaded connection with the mounting seat 2 after a new centering block 3 is replaced, and an instrument connected with the centering device does not need to be detached in the replacement process;
the two ends of the centering block 3 are in a pointed shape, when the centralizer ascends and descends in the pipeline, if the tail end of the centering block 3 is in contact with foreign matters and bumps adhered to the inner wall of the oil pipe, the rotating ring 12 can rotate on the annular notch 11, the inclined planes on the two sides of the pointed end of the centering block 3 are beneficial to the sliding of the centering block 3 and the bumps, so that the rotating ring 12 is forced to rotate, and the centering block 3 can avoid the bumps on the inner wall of the oil pipe to a certain degree;
righting and being provided with cylinder 32 in the cell body 31 of seting up on the piece 3, it can reduce the area of contact of righting piece 3 and oil pipe inner wall, thereby reduce the wearing and tearing of righting piece 3, cylinder 32 can improve righting piece 3 and go upward along oil pipe through rolling, descending smoothness nature, when cylinder 32 and foreign matter contact, the telescopic rod 35 that the cover was equipped with spring 34 can be compressed, make cylinder 32 can not blocked and can't roll by the foreign matter, the ball 321 that sets up on cylinder 32 lies in reducing the frictional force of cylinder 32 when centralizer rotates, become rolling friction with sliding friction, it is impaired to avoid cylinder 32.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an oil field is with compound sucker rod righting device, includes centralizer body (1), its characterized in that:
the centralizer body (1) is provided with an annular gap (11), and a rotating ring (12) is sleeved on the annular gap (11);
the device also comprises a mounting seat (2) and a plurality of righting blocks (3);
the mounting seat (2) is formed by combining a plurality of mounting seat sheets (21), and the mounting seat (2) is mounted on the rotating ring (12);
the oil pipe centralizer is characterized in that the centralizing blocks (3) are equidistantly installed on the installation seat (2), a groove body (31) is arranged on the contact surface of the centralizing blocks (3) and an oil pipe, a plurality of rollers (32) are rotatably arranged in the groove body (31) in the same direction, and the heights of the rollers (32) are matched with the height of the front surface of the centralizing blocks (3).
2. The composite sucker rod centering device for the oil field according to claim 1, characterized in that: the front surface of the centralizing block (3) is matched with the inner surface of the oil pipe.
3. The composite sucker rod centering device for the oil field according to claim 1, characterized in that: mount pad (2) are by 3 mount pad piece (21) combination constitutes, the mount pad piece (21) left and right sides is the cockscomb structure of mutually supporting, both ends are equipped with fixture block (22) and draw-in groove (23) that matches each other respectively about mount pad piece (21), be equipped with a plurality of on mount pad piece (21) and link up fixture block (22) with screw (24) of draw-in groove (23), bolt screw in screw (24) with swivel becket (12) threaded connection realizes will mount pad (2) are installed on swivel becket (12).
4. The composite sucker rod centering device for the oil field according to claim 3, characterized in that: the number of the clamping blocks (22) and the number of the screw holes (24) on the clamping groove (23) are 2.
5. The composite sucker rod centering device for the oil field according to claim 1, characterized in that: righting piece (3) both ends and all being equipped with counter bore (33), the bolt get into counter bore (33) with mount pad piece (21) threaded connection realize with righting piece (3) is installed on mount pad (2).
6. The compound sucker rod centralizer for oil fields according to any one of claims 1 to 5, characterized in that: the utility model discloses a telescopic slot, including cell body (31), cell body (31) left and right sides are equipped with plural root cover and are equipped with telescopic rod (35) of spring (34), cylinder (32) both ends rotationally with telescopic rod (35) top links to each other.
7. The composite sucker rod centering device for the oil field according to claim 1, characterized in that: the rotating ring (12) is a bearing.
8. The composite sucker rod centering device for the oil field according to claim 1, characterized in that: the number of the righting blocks (3) is 3.
9. The composite sucker rod centering device for the oil field according to claim 1, characterized in that: the two ends of the righting block (3) are in a pointed shape.
10. The composite sucker rod centering device for the oil field according to claim 1, characterized in that: the surface of the roller (32) is embedded with balls (321) in a rolling way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010521494.3A CN111594065A (en) | 2020-06-10 | 2020-06-10 | Composite sucker rod centering device for oil field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010521494.3A CN111594065A (en) | 2020-06-10 | 2020-06-10 | Composite sucker rod centering device for oil field |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111594065A true CN111594065A (en) | 2020-08-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010521494.3A Pending CN111594065A (en) | 2020-06-10 | 2020-06-10 | Composite sucker rod centering device for oil field |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111594065A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112127810A (en) * | 2020-10-26 | 2020-12-25 | 南通市华业石油机械有限公司 | Wear-resistant roller for centralizing rod body |
| CN113756729A (en) * | 2021-11-01 | 2021-12-07 | 南通市华业石油机械有限公司 | Bead string type sucker rod abrasion-proof centralizer |
| CN115370304A (en) * | 2022-10-25 | 2022-11-22 | 东营市源鑫石油科技有限公司 | Integral elastic centralizer with rotary obstacle avoidance function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106401500A (en) * | 2016-11-15 | 2017-02-15 | 曾成富 | Ball sucker rod centralizer |
| CN107100556A (en) * | 2017-04-20 | 2017-08-29 | 成都亨通兆业精密机械有限公司 | A kind of normal state stabilising arrangement of oil gas pumping system |
| CN207092981U (en) * | 2017-07-28 | 2018-03-13 | 中国石油集团渤海钻探工程有限公司 | One kind rotation well cementation rolling wheel centralizer |
| CN208024304U (en) * | 2018-01-17 | 2018-10-30 | 大庆市晟威机械制造有限公司 | A kind of big channel elasticity compensation proof-wear sucker rod centralising device |
| CN108756775A (en) * | 2018-06-13 | 2018-11-06 | 大庆市晟威机械制造有限公司 | A kind of elastic oil pumping rod centering device in oil field |
| CN208280920U (en) * | 2018-06-13 | 2018-12-25 | 大庆市晟威机械制造有限公司 | A kind of height-adjustable oil pumping rod centering device |
| CN109138864A (en) * | 2018-10-19 | 2019-01-04 | 陈永志 | A kind of Anti-grinding centering guide of sucker rod |
| CN109458142A (en) * | 2018-12-18 | 2019-03-12 | 新疆贝肯能源工程股份有限公司 | Righting connector |
| CN208777919U (en) * | 2018-07-31 | 2019-04-23 | 大庆市晟威机械制造有限公司 | A kind of oil pumping rod centering device being oriented to |
| CN209817964U (en) * | 2019-03-20 | 2019-12-20 | 淮安市井神钻采机具有限公司 | Sucker rod centralizer convenient to installation is dismantled |
-
2020
- 2020-06-10 CN CN202010521494.3A patent/CN111594065A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106401500A (en) * | 2016-11-15 | 2017-02-15 | 曾成富 | Ball sucker rod centralizer |
| CN107100556A (en) * | 2017-04-20 | 2017-08-29 | 成都亨通兆业精密机械有限公司 | A kind of normal state stabilising arrangement of oil gas pumping system |
| CN207092981U (en) * | 2017-07-28 | 2018-03-13 | 中国石油集团渤海钻探工程有限公司 | One kind rotation well cementation rolling wheel centralizer |
| CN208024304U (en) * | 2018-01-17 | 2018-10-30 | 大庆市晟威机械制造有限公司 | A kind of big channel elasticity compensation proof-wear sucker rod centralising device |
| CN108756775A (en) * | 2018-06-13 | 2018-11-06 | 大庆市晟威机械制造有限公司 | A kind of elastic oil pumping rod centering device in oil field |
| CN208280920U (en) * | 2018-06-13 | 2018-12-25 | 大庆市晟威机械制造有限公司 | A kind of height-adjustable oil pumping rod centering device |
| CN208777919U (en) * | 2018-07-31 | 2019-04-23 | 大庆市晟威机械制造有限公司 | A kind of oil pumping rod centering device being oriented to |
| CN109138864A (en) * | 2018-10-19 | 2019-01-04 | 陈永志 | A kind of Anti-grinding centering guide of sucker rod |
| CN109458142A (en) * | 2018-12-18 | 2019-03-12 | 新疆贝肯能源工程股份有限公司 | Righting connector |
| CN209817964U (en) * | 2019-03-20 | 2019-12-20 | 淮安市井神钻采机具有限公司 | Sucker rod centralizer convenient to installation is dismantled |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112127810A (en) * | 2020-10-26 | 2020-12-25 | 南通市华业石油机械有限公司 | Wear-resistant roller for centralizing rod body |
| CN113756729A (en) * | 2021-11-01 | 2021-12-07 | 南通市华业石油机械有限公司 | Bead string type sucker rod abrasion-proof centralizer |
| CN113756729B (en) * | 2021-11-01 | 2024-05-07 | 南通市华业石油机械有限公司 | Bead-type sucker rod wear-resistant centralizer |
| CN115370304A (en) * | 2022-10-25 | 2022-11-22 | 东营市源鑫石油科技有限公司 | Integral elastic centralizer with rotary obstacle avoidance function |
| CN115370304B (en) * | 2022-10-25 | 2023-01-24 | 东营市源鑫石油科技有限公司 | Integral elastic centralizer with rotary obstacle avoidance function |
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Application publication date: 20200828 |
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| RJ01 | Rejection of invention patent application after publication |