CN115723156A - Multifunctional underwater garbage fishing robot - Google Patents
Multifunctional underwater garbage fishing robot Download PDFInfo
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- CN115723156A CN115723156A CN202211524527.5A CN202211524527A CN115723156A CN 115723156 A CN115723156 A CN 115723156A CN 202211524527 A CN202211524527 A CN 202211524527A CN 115723156 A CN115723156 A CN 115723156A
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Abstract
The invention discloses a multifunctional underwater garbage fishing robot, which comprises: a main body housing; a lower support frame installed at the lower end of the main body case; an upper support frame installed at the upper end of the main body case; the bottom gripping and clamping device is arranged on the lower supporting frame and can grip an object; the upper grabbing and clamping device is arranged on the upper supporting frame and can grab an object; the advancing device is arranged at the front end of the main body shell and can drive the main body shell to move; elevating gear sets up in main body cover's both sides, and elevating gear can drive main body cover and go up and down, when can realizing rubbish clearance under water, observes submarine condition through infrared camera and realizes nimble removal through the motion control device.
Description
Technical Field
The invention belongs to the technical field of garbage treatment, and particularly relates to a multifunctional underwater garbage salvaging robot.
Background
A lot of polluted garbage enters water areas such as rivers, lakes, oceans and the like every day, most of garbage sinks to the water bottom to cause certain influence on the environment, and the salvage of the garbage at the water bottom becomes a large environmental problem. At present, the underwater garbage can be salvaged by full manual operation or underwater machines. The manual operation is mostly salvage of water surface driving ships and manual diving, which wastes time and labor, and is costly and dangerous; the salvaging of the underwater robot mostly depends on the automation of high degree, a shovel or a telescopic device is used for collecting garbage, the moving mode mostly depends on a crawler belt, and the steering needs to have a larger moving range.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
1. the manual salvage of the garbage by using the salvage net for ordinary driving ships is only suitable for the garbage on the water surface or shallower water areas, and the garbage cannot be salvaged due to lower visibility than the deeper water areas;
2. the manual diving salvage is time-consuming, labor-consuming, financial-consuming and has certain danger coefficient;
3. most of existing underwater garbage salvaging robots rely on a crawler belt in a moving mode, the underwater garbage salvaging robots are extremely inconvenient to move, a large moving range is required for steering, the flatness of the bottom of a complex water area is poor, rollover is easy to occur, and the underwater garbage salvaging robots cannot restore to normal positions automatically;
4. the existing underwater garbage fishing robot has single function.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multifunctional underwater garbage salvaging robot which can realize underwater garbage cleaning, observe underwater conditions through an infrared camera and realize flexible movement through a motion control device.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a multifunctional underwater garbage fishing robot is provided with:
a main body housing;
a lower support frame installed at a lower end of the main body case;
an upper support frame installed at an upper end of the main body case;
the bottom gripping and clamping device is arranged on the lower supporting frame and can grip an object;
the upper grabbing and clamping device is arranged on the upper supporting frame and can grab an object;
the advancing device is arranged at the front end of the main body shell and can drive the main body shell to move;
and the lifting devices are arranged on two sides of the main body shell and can drive the main body shell to lift.
The bottom gripper device has:
a landing support bar mounted on the lower support frame;
the hydraulic cylinder is arranged on the landing support rod;
the upper connecting cover and the lower connecting cover are connected with each other and connected with a piston rod of the hydraulic cylinder;
the first ends of the long connecting rod and the short connecting rod are hinged with the upper connecting cover and the lower connecting cover;
the second ends of the long connecting rod and the short connecting rod are hinged with the large clamping jaw;
and two ends of the clamping cylinder are respectively hinged with the two end connecting rods.
The upper gripper device has:
the grabbing and clamping arm is arranged on the upper supporting frame;
the small gripping clamp is arranged on the clamping jaw arm;
and the small gripper driving mechanism can drive the small gripper to clamp or release.
The small gripper driving mechanism is a gear connecting rod driving mechanism, the gear connecting rod driving mechanism comprises gears, a first connecting rod and a second connecting rod, the two gears are rotatably arranged on the gripper arms and are meshed with each other, the first end of the first connecting rod is fixedly connected with the gears, and the second end of the first connecting rod is hinged with the small gripper; two ends of the second connecting rod are respectively hinged with the gripping and clamping arm and the clamping jaw; the device also comprises a gear motor for driving the gear to rotate.
The upper grabbing and clamping device is also provided with a rotating mechanism, the rotating mechanism comprises a grabbing and clamping base, the grabbing and clamping base is arranged on the upper supporting frame, a rotating motor is arranged on the grabbing and clamping base, and a lower chassis is arranged on a rotating shaft of the rotating motor; the upper chassis is arranged on the lower chassis, and the gripper arms are arranged on the upper chassis.
The advancing device is provided with an advancing driving fan blade, the advancing driving fan blade is rotatably arranged on the main body shell, and an advancing motor for driving the advancing driving fan blade is further arranged on the main body shell.
The lifting device is provided with:
the left supporting rod and the right supporting rod are arranged on two sides of the main body shell;
the large motor is arranged at two ends of the left supporting rod and the right supporting rod;
the lifting propeller is arranged on a rotating shaft of the large motor;
the small motor is arranged in the middle of the left supporting rod and the right supporting rod;
and the auxiliary propeller is arranged on a rotating shaft of the small motor.
The upper supporting frame is further provided with a fixing frame, and the fixing frame is provided with a garbage storage basket.
The upper supporting frame is further provided with a camera mounting table and a searchlight, and the camera mounting table is provided with an infrared camera.
One of the technical scheme has the following advantages or beneficial effects that the multifunctional and flexible moving selection is provided for underwater garbage cleaning, the underwater garbage cleaning device can observe underwater conditions through the infrared camera while underwater garbage cleaning is achieved, and flexible moving is achieved through the motion control device. The problem of current rubbish salvage robot under water function singleness is solved, the basic demand of its rubbish salvage has been satisfied.
Drawings
FIG. 1 is a schematic structural diagram of a multifunctional underwater garbage fishing robot provided in the embodiment of the invention;
FIG. 2 is a schematic structural view of the multifunctional underwater garbage fishing robot of FIG. 1;
FIG. 3 is a schematic structural view of the multifunctional underwater garbage fishing robot of FIG. 1;
FIG. 4 is a schematic structural view of the multifunctional underwater garbage fishing robot of FIG. 1;
the labels in the above figures are: 1. the device comprises a bottom clamping device, 1-1 parts of a large clamping device, 1-2 parts of a short connecting rod, 1-3 parts of a lower connecting cover, 1-4 parts of an upper connecting cover, 1-5 parts of a long connecting rod, 1-6 parts of a clamping cylinder, 2 parts of a camera placing table, 3 parts of an infrared camera, 4 parts of a forward driving fan blade, 5 parts of a searchlight, 6 parts of an upper clamping device, 6-1 parts of a small clamping device, 6-2 parts of a gear, 6-3 parts of a clamping arm, 6-4 parts of a clamping base, 6-5 parts of a lower base plate, 6-6 parts of an L-shaped support, 6-7 parts of an upper base plate, 7 parts of a garbage storage basket, 8 parts of a fixing frame, 9 parts of an upper support frame, 10 parts of a left support rod, 11 parts of a right support rod, 12 parts of a lifting device, 13 parts of a large motor, 14 parts of an undercarriage, 15 parts of a small motor, 16 parts of a main body shell, 17 parts of a lower support frame, 18 parts of a landing support rod, 19 parts of a sealing box, 20 parts of a hydraulic cylinder and the like.
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1 to 4, a multifunctional underwater garbage fishing robot has:
a main body housing; a lower support frame installed at the lower end of the main body case; and an upper support 9 installed at the upper end of the main body case. The main body shell, the lower support frame and the upper support frame 9 form the main body of the robot.
The bottom gripping and clamping device 1 is arranged on the lower supporting frame, and the bottom gripping and clamping device 1 can grip an object; the function of clamping the bottom garbage is achieved.
The upper gripping and clamping device 6 is arranged on the upper supporting frame 9, and the upper gripping and clamping device 6 can grip an object; the function of clamping the garbage on the water surface is achieved.
The advancing device is arranged at the front end of the main body shell and can drive the main body shell to move; the function of pushing the robot to walk is achieved.
And the lifting devices 12 are arranged on two sides of the main body shell, and the lifting devices 12 can drive the main body shell to lift. The robot is pushed to lift in water.
The bottom gripper device 1 includes: the landing support rod is arranged on the lower support frame; the hydraulic cylinder is arranged on the landing support rod; the upper connecting cover and the lower connecting cover are connected with each other and connected with a piston rod of the hydraulic cylinder; the first ends of the long connecting rod and the short connecting rod are hinged with the upper connecting cover and the lower connecting cover; the second ends of the long connecting rod and the short connecting rod are hinged with the large clamping jaw; and two ends of the clamping cylinder are respectively hinged with the two end connecting rods. The bottom gripping and clamping device 1 comprises a hydraulic cylinder, a large gripping and clamping device, an L-shaped long connecting rod, a short connecting rod, an upper connecting cover and a lower connecting cover; the front part of the undercarriage is provided with a hollow cylinder which is internally provided with a hydraulic cylinder of the bottom gripping and clamping device 1; the hydraulic cylinder is connected with the upper connecting cover and the lower connecting cover through bolts; the front ends of the upper connecting cover and the lower connecting cover are connected with the two short connecting rods through polished rod bolts, and the rear ends of the upper connecting cover and the lower connecting cover are connected with the two L-shaped long connecting rods through polished rod bolts; the two L-shaped long connecting rods and the two short connecting rods are connected with the two large grippers through polished rod bolts. The two L-shaped long connecting rods, the two short connecting rods and the two large grippers are connected by polished rod bolts to form a connecting rod mechanism; a piston rod of the hydraulic bar is connected with the L-shaped long connecting rod, and when the hydraulic bar works, the piston rod moves in a reciprocating manner to further realize the gripping work of the bottom gripping device 1; the lower end of the undercarriage is provided with a groove, the landing support rods which are matched with the groove in shape are embedded in the groove, and the two landing support rods are respectively positioned at the left side and the right side of the undercarriage to play roles in buffering and supporting the landing of a machine; the landing support rod is made of hard rubber so as to play a better buffering role.
The upper gripper device 6 includes: the gripping and clamping arm is arranged on the upper supporting frame 9; the small gripping clamp is arranged on the clamping jaw arm; and the small gripper driving mechanism can drive the small gripper to clamp or loosen. The small gripper driving mechanism is a gear connecting rod driving mechanism, the gear connecting rod driving mechanism comprises gears, a first connecting rod and a second connecting rod, the two gears are rotatably arranged on the gripper arms and are meshed with each other, the first end of the first connecting rod is fixedly connected with the gears, and the second end of the first connecting rod is hinged with the small gripper; two ends of the second connecting rod are respectively hinged with the gripping and clamping arm and the clamping jaw; the device also comprises a gear motor for driving the gear to rotate. The upper gripping device 6 comprises an upper chassis, a lower chassis, an L-shaped bracket, a gripping arm, a small gripping clamp, a gripping clamp base, a gear and the like; an upper grabbing device 6 is arranged at the middle rear part of the front searchlight 5, and the bottom of the claw type upper grabbing device 6 is connected with the front side of the upper part of the main body shell through a bolt; the upper gripping and clamping device 6 is provided with six steering engines to ensure the working freedom degree, one steering engine main body is clamped on a lower chassis with holes with the same shape as the steering engines, and the output end of each steering engine is fixed with the upper chassis to control the left-right rotary swing of the upper gripping and clamping device 6; the gripping arms of the upper gripping device 6 are three sections, and the upper chassis is tightly connected with the L-shaped bracket through bolts; the other side of the L-shaped bracket is connected with two steering engines; two steering engines fixedly connected with the L-shaped bracket are respectively connected with the lower ends of the gripping and clamping arms to control the upper gripping and clamping device 6 to swing up and down; the gear controls the meshing through a steering engine, and then the gripping operation of the small gripping clamp of the upper gripping and clamping device 6 is controlled; the other two bending parts of the gripping and clamping arm are connected through a steering engine to realize the bending of the gripping and clamping arm.
The upper gripping and clamping device 6 is also provided with a rotating mechanism, the rotating mechanism comprises a gripping and clamping base, the gripping and clamping base is arranged on the upper supporting frame 9, a rotating motor is arranged on the gripping and clamping base, and a lower chassis is arranged on a rotating shaft of the rotating motor; the upper chassis is arranged on the lower chassis, and the gripping and clamping arm is arranged on the upper chassis.
The advancing device is provided with an advancing driving fan blade 4, the advancing driving fan blade 4 is rotatably arranged on the main body shell, and an advancing motor for driving the advancing driving fan blade 4 is also arranged on the main body shell. The forward driving fan blade 4 penetrates through a rod piece at the front part of the sealing box and is arranged on the T-shaped structure, so that the forward movement of the machine is realized; the non-hollow parts on two sides of the main body shell are respectively connected with a small motor driving device, so that the steering and the auxiliary advancing movement of the machine are realized.
The lifting device 12 includes: the left support rod 10 and the right support rod 11 are arranged on two sides of the main body shell; the large motor is arranged at the two ends of the left supporting rod 10 and the right supporting rod 11; the lifting propeller is arranged on a rotating shaft of the large motor; the small motor is arranged in the middle of the left support rod 10 and the right support rod 11; and the auxiliary propeller is arranged on a rotating shaft of the small motor. The front part of the machine lower supporting frame is connected with two large motor driving devices through a rod piece at an interface, and the rear side of the machine lower supporting frame is connected with the two large motor driving devices through the rod piece at the interface, so that the ascending motion of the machine is realized; the two small motor driving devices are uniformly connected to the left side of the lower supporting frame of the machine, and the two small motor driving devices are uniformly connected to the right side of the lower supporting frame of the machine, so that the lifting motion of the auxiliary machine is realized; a motor is arranged in the large motor driving device to drive the propeller to move; a small motor is arranged in the small motor driving device to drive the propeller to move; the edges of the left side and the right side of the machine upper part supporting frame 9 are provided with rectangular hollows for lifting the machine; the front part of the main body shell and the rear side of the upper supporting frame 9 of the machine are respectively provided with two round holes which are in interference fit with a cylinder at the bottom of the searchlight 5 to realize connection and fixation.
The upper supporting frame 9 is also provided with a fixing frame 8, and the fixing frame 8 is provided with a garbage storage basket 7. The upper support frame 9 is also provided with a camera mounting table 2 and a searchlight 5, and the camera mounting table 2 is provided with an infrared camera 3. The bottom of the garbage storage basket fixing frame 8 is connected with the upper end of a machine upper supporting frame 9 through a bolt; the garbage storage basket is arranged in the garbage storage basket fixing frame 8; the main body shell is a hollow cuboid shell, the front and the back of the main body shell are communicated, and a sealing box is arranged in the middle of the main body shell; a control circuit board of the underwater machine is arranged in the seal box; a rod piece is arranged at the front end of the sealing box and is connected with the upper ends of the front sides of the lower supporting frames of the machines to form a T-shaped structure at the joint parts of the two sides; an infrared camera 3 is embedded on the T-shaped structure, and a placing table 2 is arranged; the mounting table 2 of the infrared camera 3 is a sealing structure, and a circuit board is arranged in the mounting table and used for the infrared camera 3 to work; the infrared camera 3 is fixed above the infrared camera 3 mounting table 2.
When the multifunctional underwater garbage salvaging robot is used for operation, the robot is lifted to be placed in a deeper water area through the rectangular hollows artificially arranged on the left side edge and the right side edge of the upper supporting frame 9 of the robot; after entering water, the water sinks to the water bottom through gravity, the motion control devices coordinate with each other to control the balance of the machine during sinking, and the motion control devices coordinate with each other to move the machine to a target water area for operation; after the underwater exploration system reaches a landing support rod on a landing gear of a target water area, the underwater situation is surveyed by the infrared camera 3, and the water area pictures are clearer due to the front two searchlights 5 of the searchlights 5 in deeper water areas; when the garbage is salvaged, firstly, a hydraulic cylinder of the bottom grabbing and clamping device 1 works, so that a piston rod pushes an L-shaped long connecting rod, and the short connecting rod and the large grabbing clamp move to grab garbage; after the target garbage is clamped by the large clamp, the upper clamp device 6 starts to work; when the upper grabbing clamp device 6 starts to work, a steering engine output end clamped on a lower chassis with holes with the same shapes as the steering engine is fixed with the upper chassis to control the left-right rotary swing of the upper grabbing clamp device 6; two steering engines connected and fixed with the L-shaped bracket are respectively connected with the lower ends of the gripping and clamping arms to control the upper gripping and clamping device 6 to swing up and down; the gear controls the meshing through a steering engine, and then the gripping operation of the small gripping clamp of the upper gripping and clamping device 6 is controlled; the small gripping clamp of the upper gripping and clamping device 6 grips the target garbage on the large gripping clamp, and then the steering engine on the gripping and clamping arm controls the upper gripping and clamping arm to throw the target garbage on the small gripping and clamping back into the garbage storage basket; after completion, the motion control device controls the machine to move to search the next target garbage and then salvage the garbage; the bottom gripping and clamping device 1 is used for fixing the garbage without being influenced by the flow of water, and if the bottom gripping and clamping device 1 cannot stably grip the garbage, the upper gripping and clamping device 6 directly grips the garbage; if the larger garbage cannot be stored, the garbage is clamped to the shore by the bottom clamping control device before the fishing is finished, so that the garbage is collected; after the machine finishes salvaging, the motion control device works to enable the machine to return to the water surface to manually pour out the garbage in the garbage storage basket; so as to finish the garbage salvage work of the machine.
The underwater garbage fishing robot has the beneficial effects that the underwater garbage fishing robot can realize in-situ or small-area steering through the motion control device, so that the underwater garbage fishing robot can move more flexibly; 2. the underwater garbage salvaging robot is provided with two searchlights 5 at the front and the back respectively, so that the underwater garbage salvaging robot can be conveniently found on the water surface at night, and can conveniently and quickly find out a machine which cannot move in a water area with lower visibility due to faults; 3. the garbage storage basket is designed in a hollow mode, and the garbage storage basket fixing support is only provided with the frame, so that water draining is not needed underwater, water is drained through the building empty holes on the bank, and the mode is simple and rapid; 4. the large garbage can be fished and finally transported to the water surface through the bottom gripping and clamping device 1; 5. each structure is comparatively independent, makes things convenient for the breakdown maintenance or changes the part.
After adopting foretell structure, provide the selection of a multi-functional and more nimble removal for rubbish clearance under water, the device can realize rubbish clearance under water and observe submarine condition through infrared camera 3 and realize nimble removal through motion control device simultaneously. The problem of current rubbish salvage robot function singleness under water is solved, the basic demand of its rubbish salvage has been satisfied.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like are used in the orientations and positional relationships indicated in the drawings only for the convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate agent, and may be used for communicating the inside of two elements or interacting relation of two elements, unless otherwise specifically defined, and the specific meaning of the terms in the present invention can be understood by those skilled in the art according to specific situations.
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 (9)
1. The utility model provides a multi-functional rubbish salvage robot under water which characterized in that has:
a main body housing;
a lower support frame installed at a lower end of the main body case;
an upper support frame installed at an upper end of the main body case;
the bottom gripping and clamping device is arranged on the lower supporting frame and can grip an object;
the upper grabbing and clamping device is arranged on the upper supporting frame and can grab an object;
the advancing device is arranged at the front end of the main body shell and can drive the main body shell to move;
and the lifting devices are arranged on two sides of the main body shell and can drive the main body shell to lift.
2. A multi-functional underwater garbage fishing robot as set forth in claim 1, wherein the bottom gripping and clamping means has:
a landing support bar mounted on the lower support frame;
the hydraulic cylinder is arranged on the landing support rod;
the upper connecting cover and the lower connecting cover are connected with each other and connected with a piston rod of the hydraulic cylinder;
the first ends of the long connecting rod and the short connecting rod are hinged with the upper connecting cover and the lower connecting cover;
the second ends of the long connecting rod and the short connecting rod are hinged with the large clamping jaw;
and two ends of the clamping cylinder are respectively hinged with the two end connecting rods.
3. A multi-functional underwater garbage fishing robot as claimed in claim 2, wherein the upper gripping device has:
the grabbing and clamping arm is arranged on the upper supporting frame;
the small gripping clamp is arranged on the clamping jaw arm;
and the small gripper driving mechanism can drive the small gripper to clamp or release.
4. A multifunctional underwater garbage salvaging robot as claimed in claim 3, wherein the small gripping clamp driving mechanism is a gear connecting rod driving mechanism, the gear connecting rod driving mechanism comprises a gear, a first connecting rod and a second connecting rod, the two gears are rotatably mounted on the gripping clamp arms and are meshed with each other, the first end of the first connecting rod is fixedly connected with the gear, and the second end of the first connecting rod is hinged with the small gripping clamp; two ends of the second connecting rod are respectively hinged with the gripping and clamping arm and the clamping jaw; the device also comprises a gear motor for driving the gear to rotate.
5. The multifunctional underwater garbage salvaging robot as claimed in claim 4, wherein the upper gripping and clamping device further comprises a rotating mechanism, the rotating mechanism comprises a gripping and clamping base, the gripping and clamping base is mounted on the upper supporting frame, a rotating motor is arranged on the gripping and clamping base, and a lower chassis is mounted on a rotating shaft of the rotating motor; the upper chassis is arranged on the lower chassis, and the gripping and clamping arm is arranged on the upper chassis.
6. A multi-functional underwater garbage fishing robot as claimed in claim 5, wherein the advancing device has an advancing driving fan which is rotatably mounted on the main body housing, and an advancing motor for driving the advancing driving fan is further provided on the main body housing.
7. A multi-functional underwater garbage fishing robot as claimed in claim 6, wherein the lifting means has:
the left supporting rod and the right supporting rod are arranged on two sides of the main body shell;
the large motor is arranged at two ends of the left supporting rod and the right supporting rod;
the lifting propeller is arranged on a rotating shaft of the large motor;
the small motor is arranged in the middle of the left supporting rod and the right supporting rod;
and the auxiliary propeller is arranged on a rotating shaft of the small motor.
8. A multifunctional underwater garbage fishing robot as claimed in claim 7, wherein the upper supporting frame is further provided with a fixing frame, and the fixing frame is provided with a garbage storage basket.
9. The multifunctional underwater garbage salvaging robot as claimed in claim 8, wherein a camera mounting table and a searchlight are further provided on the upper supporting frame, and an infrared camera is provided on the camera mounting table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211524527.5A CN115723156A (en) | 2022-11-30 | 2022-11-30 | Multifunctional underwater garbage fishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211524527.5A CN115723156A (en) | 2022-11-30 | 2022-11-30 | Multifunctional underwater garbage fishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115723156A true CN115723156A (en) | 2023-03-03 |
Family
ID=85299577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211524527.5A Pending CN115723156A (en) | 2022-11-30 | 2022-11-30 | Multifunctional underwater garbage fishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115723156A (en) |
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2022
- 2022-11-30 CN CN202211524527.5A patent/CN115723156A/en active Pending
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