CN118168712A - Underwater pipeline inspection robot - Google Patents
Underwater pipeline inspection robot Download PDFInfo
- Publication number
- CN118168712A CN118168712A CN202410322075.5A CN202410322075A CN118168712A CN 118168712 A CN118168712 A CN 118168712A CN 202410322075 A CN202410322075 A CN 202410322075A CN 118168712 A CN118168712 A CN 118168712A
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- underwater pipeline
- circular arc
- inspection robot
- robot
- driving
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- 238000007689 inspection Methods 0.000 title claims abstract description 43
- 238000004140 cleaning Methods 0.000 claims abstract description 50
- 238000007790 scraping Methods 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 206010024796 Logorrhoea Diseases 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 12
- 229920000742 Cotton Polymers 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- Cleaning In General (AREA)
Abstract
The invention relates to the technical field of pipeline detection, in particular to an underwater pipeline inspection robot, which comprises a robot body and a cleaning mechanism connected with the robot body, wherein the cleaning mechanism comprises a telescopic part connected with the robot body, a cleaning part and a dirt scraping part, the movable end of the telescopic part is provided with two circular arc-shaped tracks at intervals, the cleaning part and the dirt scraping part are respectively and movably connected with the two circular arc-shaped tracks, when the robot body moves along the preset direction of an underwater pipeline, and the telescopic part drives the cleaning part and the dirt scraping part to be attached to the outer wall of the underwater pipeline, the dirt scraping part is used for scraping attachments on the underwater pipeline through the circular arc-shaped tracks, and the cleaning part is used for cleaning the scraped attachments. The problem of the inconvenient clearance of attachment of submarine pipeline outer wall among the prior art has been solved.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to an underwater pipeline inspection robot.
Background
The underwater pipeline is an indispensable ring in energy transmission and communication transmission, and has important significance for the modern development of human society. In recent years, the maintenance work requirements of the underwater pipelines in China are huge, as the underwater pipelines are few in supporting structures in water and even exposed in the air, the underwater pipelines can generate vortex-induced resonance phenomena under the action of water waves and water flows, so that materials are tired, cracks and even breaks are generated, and some attachments are accumulated on the underwater pipelines.
As in the patent document with the existing patent application number 201811134641.0, an underwater pipeline inspection robot and an inspection method are disclosed, and the inspection robot comprises a shell, a power supply, an image acquisition device, a driving device, a magnetic adsorption device, a sensor assembly and a controller; through the scheme, the underwater pipeline inspection robot can effectively inspect the underwater pipeline, acquire the condition of the underwater pipeline and acquire the image information of the pipeline leakage point; however, the underwater pipeline inspection robot does not have a function of cleaning attachments collected on the underwater pipeline, and if the attachments are cleaned irregularly, the attachments are easy to corrode the underwater pipeline, so that the service life of the underwater pipeline is influenced.
Disclosure of Invention
The invention aims to overcome the technical defects, provides an underwater pipeline inspection robot, and solves the problem that attachments on the outer wall of an underwater pipeline are inconvenient to clean in the prior art.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
The invention provides an underwater pipeline inspection robot which comprises a robot body and a cleaning mechanism connected with the robot body, wherein the cleaning mechanism comprises a telescopic part connected with the robot body, a cleaning part and a dirt scraping part, two circular arc-shaped rails are arranged at the movable end of the telescopic part at intervals, the cleaning part and the dirt scraping part are respectively and movably connected with the two circular arc-shaped rails, and when the robot body moves along the preset direction of an underwater pipeline, the telescopic part drives the cleaning part and the dirt scraping part to be respectively moved along the circular arc-shaped rails when being attached to the outer wall of the underwater pipeline, and the cleaning part is used for scraping attachments on the underwater pipeline through the dirt scraping part and cleaning the dirt scraping part.
In some embodiments, the robot body includes the mounting bracket, and locates power, image acquisition unit, actuating mechanism and the controller on the mounting bracket, the power be used for to the robot is patrolled and examined to the pipeline under water supplies power, image acquisition unit is used for gathering the condition of pipeline under water, actuating mechanism is used for the drive the robot is patrolled and examined to the pipeline under water removes along preset route, the controller respectively with power, image acquisition unit, actuating mechanism, extensible member, clean piece and scrape dirty piece electric connection.
In some embodiments, the driving mechanism includes at least one vertical pushing member fixed on the mounting frame, and four vector pushing members arranged around the mounting frame, where the vertical pushing members are used to control the underwater pipeline inspection robot to float up or dip down, and the four vector pushing members are used to control the underwater pipeline inspection robot to advance and turn.
In some embodiments, the vector propulsion member comprises a rotating base fixed on the mounting frame and a propeller connected with the rotating base, wherein the rotating base has a first degree of freedom for the propeller to rotate around a vertical direction and a second degree of freedom for the propeller to rotate around a horizontal direction.
In some embodiments, the telescopic member includes lead screw, ball nut, backup pad, two helical pitch axles and driving motor, the lead screw with ball nut screw thread rotates to be connected, ball nut rotates to be located on the mounting bracket, the lower extreme of lead screw with the backup pad rotates to be connected, two helical pitch axle with mounting bracket sliding connection, and the lower extreme with the backup pad is connected, driving motor set firmly in the backup pad, driving motor's output has set firmly driving sprocket, last driven sprocket that has set firmly of ball nut, be connected with the chain between driving sprocket and the driven sprocket, two arc track is located in the backup pad.
In some embodiments, the cleaning element and the dirt scraping element both comprise driving parts movably connected with two circular arc-shaped tracks on the supporting plate, and the output ends of the two driving parts are respectively connected with a brush head and a dirt scraping disc.
In some embodiments, the circular arc track comprises a first circular arc connecting hole, a second circular arc connecting hole arranged on one side of the first circular arc connecting hole, and a circular arc rack arranged on the other side of the first circular arc connecting hole;
The driving part comprises a double-shaft motor which is arranged in the first circular arc connecting hole in a rolling way, one end of the double-shaft motor is arranged in the second circular arc connecting hole in a rolling way, a driven bevel gear is fixedly arranged on the rotary shaft, one output end of the double-shaft motor is provided with a driving bevel gear meshed with the driven bevel gear, the other output end of the double-shaft motor is provided with a transmission gear meshed with the circular arc rack, and the other end of the rotary shaft can be connected with the brush head or the scraper disk.
In some embodiments, the device further comprises a sealed cabin fixedly arranged on the mounting frame, and the power supply and the controller are arranged in the sealed cabin.
In some embodiments, the mounting frame is further provided with a sonar.
In some embodiments, the image acquisition unit is a USB camera.
Compared with the prior art, the underwater pipeline inspection robot provided by the invention comprises the telescopic part connected with the robot body, the cleaning part and the dirt scraping part, wherein the movable end of the telescopic part is provided with the two circular arc tracks at intervals, the cleaning part and the dirt scraping part are respectively and slidably connected with the two circular arc tracks, when the robot body moves along the preset direction of the underwater pipeline, the telescopic part drives the cleaning part and the dirt scraping part to be attached to the outer wall of the underwater pipeline, the dirt scraping part and the cleaning part respectively move along the circular arc tracks, so that the cleaning area of the dirt scraping part and the cleaning part is effectively increased, the dirt scraping part can effectively scrape attachments on the underwater pipeline, the adhesive force of the attachments and the underwater pipeline is reduced, the cleaning part is convenient for cleaning the attachments, and the attachments on the outer wall of the underwater pipeline can be effectively cleaned.
Drawings
FIG. 1 is a schematic structural view of an underwater pipeline inspection robot provided by the invention;
Fig. 2 is a front view of an underwater pipeline inspection robot provided by the invention;
FIG. 3 is a schematic structural view of an underwater pipeline inspection robot according to another view angle;
FIG. 4 is a schematic view of the cleaning mechanism of the present invention;
FIG. 5 is a schematic view of a partial structure of the cleaning mechanism of the present invention;
FIG. 6 is a schematic view of the construction of the cleaning and dirt-scraping elements of the present invention;
Fig. 7 is a schematic view of the structure of the vector pushing member of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 7, the present invention provides an underwater pipeline inspection robot. The underwater pipeline inspection robot can detect the underwater pipeline, detect whether the position of the underwater pipeline is leaked or not, and meanwhile, can clean attachments on the underwater pipeline.
In this embodiment, an underwater pipeline inspection robot, the underwater pipeline inspection robot includes a robot body 1, and a cleaning mechanism 2 connected with the robot body 1, the cleaning mechanism 2 includes a telescopic member 21 connected with the robot body 1, and a cleaning member 22 and a dirt scraping member 23, a movable end of the telescopic member 21 is spaced by two circular arc tracks 210, the cleaning member 22 and the dirt scraping member 23 are respectively slidingly connected with the two circular arc tracks 210, when the robot body 1 moves along a preset direction of an underwater pipeline, and the telescopic member 21 drives the cleaning member 22, the dirt scraping member 23 and an outer wall of the underwater pipeline are attached, the cleaning member 23 and the cleaning member 22 respectively move along the circular arc tracks 210, so that the dirt scraping member 23 scrapes attachments on the underwater pipeline, and the cleaning member 22 cleans the scraped attachments.
It should be noted that, the robot body 1 is not limited to a specific structure, as long as the robot body 1 can float up and dip under water and move along a preset path of the underwater pipeline, so that the dirt scraping member 23 and the cleaning member 22 can conveniently clean attachments on the underwater pipeline, and other details will not be described herein.
In this specific embodiment, the robot body 1 includes the mounting bracket 11, and locates power 12, image acquisition unit 13, actuating mechanism 14 and the controller 15 on the mounting bracket 11, power 12 is used for to the robot is patrolled and examined to the pipeline under water, image acquisition unit 13 is used for gathering the condition of pipeline under water, actuating mechanism 14 is used for the drive the robot is patrolled and examined to the pipeline under water moves along preset path, the controller 15 respectively with power 12, image acquisition unit 13, actuating mechanism 14, extensible member 21, clean piece 22 and scrape dirty piece 23 electric connection.
It should be noted that, the mounting frame 11 is not limited to a specific structure, the mounting frame 11 has a strong structural strength and a strong corrosion resistance, the mounting frame 11 is provided with a sealed cabin, the power supply 12 and the controller 15 are both arranged in the sealed cabin, the sealing performance of the sealed cabin is good, and damage to power supply 12, the controller 15 and other electrical components caused by liquid entering into the sealed cabin can be avoided.
In this embodiment, the image acquisition unit 13 is fixedly arranged at one end of the mounting frame 11, wherein,
The image acquisition unit 13 is a USB camera, and the USB camera can recognize underwater images, and the recognition content includes a pipe shape, an attachment position and an attachment shape.
The driving mechanism 14 includes at least one vertical pushing member 141 fixedly disposed on the mounting frame 11, and four vector pushing members 142 disposed around the mounting frame 11, where the vertical pushing member 141 is used to control the underwater pipeline inspection robot to float up or dive, and the four vector pushing members 142 are used to control the underwater pipeline inspection robot to advance and turn.
It should be noted that, two vertical pushing members 141 are disposed on two opposite sides of the mounting frame 11, specifically, four vertical pushing members 141 are all propeller pushing mechanisms, and the lifting or the submerging of the underwater pipeline inspection robot can be controlled by the propeller pushing mechanisms, where a sonar or a distance sensor electrically connected to the controller 15 is further disposed on the mounting frame 11, and is used for detecting the submerging depth of the underwater pipeline inspection robot.
In this embodiment, the vector pushing member 142 includes a rotating base 1421 fixed on the mounting frame 11, and a propeller 1422 connected to the rotating base 1421, where the rotating base 1421 has a first degree of freedom for the propeller 1422 to rotate around a vertical direction and a second degree of freedom for the propeller 1422 to rotate around a horizontal direction.
It should be noted that, the rotating base 1421 includes an electric rotating table 142a fixedly connected with the mounting frame, a U-shaped connection block 124b connected with an output end of the electric rotating table 142a, a forward and reverse motor 142c, and a connection block 142d, one end of the connection block 142d is fixedly connected with the propeller 1422, the other end of the connection block 142d is rotatably disposed in the U-shaped connection block 124b, the forward and reverse motor 142c is fixedly disposed on the U-shaped connection block 124b, and an output end of the forward and reverse motor 142c is connected with a rotation shaft of the connection block 142d, and the connection block 142d can be driven to rotate around the rotation shaft by the forward and reverse motor 142 c.
Specifically, the vector pushing member 142 should be installed to ensure that the underwater pipeline inspection robot can be smoothly advanced and turned when the rotating base 1421 drives the propeller 1422 to adjust the posture.
The telescopic member 21 is not limited to a specific structure, and may be any structure as long as it can drive the cleaning member 22 and the scraping member 23 to move up or down, and other details will not be described herein.
In this embodiment, the telescopic member 21 includes a screw rod 211, a ball nut 212, a support plate 213, two lead shafts 214 and a driving motor 215, the screw rod 211 is in threaded rotation connection with the ball nut 212, the ball nut 212 is rotationally disposed on the mounting frame 11, the lower end of the screw rod 211 is rotationally connected with the support plate 213, two lead shafts 214 are in sliding connection with the mounting frame 11, the lower end is connected with the support plate 213, the driving motor 215 is fixedly disposed on the support plate 213, a driving sprocket is fixedly disposed at the output end of the driving motor 215, a driven sprocket is fixedly disposed on the ball nut 212, a chain is connected between the driving sprocket and the driven sprocket, and two circular arc-shaped rails 210 are disposed on the support plate 213.
Specifically, the driving sprocket is driven to rotate by the driving motor 215, so that the driven sprocket is driven to rotate, and the screw rod 211 is driven to ascend or descend when the ball nut 212 rotates. In other embodiments, the telescopic member 21 may be an electric push rod fixed on the mounting rack, and an output end of the electric push rod is connected with a support plate.
In this embodiment, the cleaning member 22 and the dirt scraping member 23 each include a driving portion 20 movably connected to two circular arc rails 210 on the supporting plate 213, and output ends of the driving portions 20 are respectively connected to a brush head 221 and a scraper disk 231.
The brush head 221 includes a connection board and a plurality of cotton ropes disposed on the connection board, and when the connection board is driven to rotate by the driving part 20, the plurality of cotton ropes can clean the outer wall of the underwater pipeline; the dirt scraping member 23 comprises a turntable and a plurality of scraping blades fixedly arranged on the turntable, and the scraping blades can scrape attachments on the outer wall of the underwater pipeline when the turntable is driven to rotate by the driving part 20.
Specifically, the circular arc rail 210 includes a first circular arc connecting hole 2101, a second circular arc connecting hole 2102 disposed at one side of the first circular arc connecting hole 2101, and a circular arc rack 2103 disposed at the other side of the first circular arc connecting hole 2101; the driving part 20 comprises a double-shaft motor 201 arranged in the first circular arc connecting hole 2101 in a rolling manner, one end of the double-shaft motor 201 is arranged in the second circular arc connecting hole 2102 in a rolling manner, a driven bevel gear 203 is fixedly arranged on the rotary shaft 202, a driving bevel gear 204 meshed with the driven bevel gear 203 is arranged at one output end of the double-shaft motor 201, a transmission gear 205 meshed with a circular arc rack 2103 is arranged at the other output end of the double-shaft motor 201, and the other end of the rotary shaft 202 can be connected with the brush head 221 or the scraper disk 231.
Specifically, a limiting ring block is arranged on the double-shaft motor 201, a limiting chute matched with the limiting ring block is arranged at a position corresponding to the first circular arc connecting hole 2101, and the limiting ring block is clamped in the limiting chute when the double-shaft motor 201 rolls in the first circular arc connecting hole 2101.
In addition, an annular clamping block is disposed at one end of the rotating shaft 202, a connecting chute matched with the annular clamping block is disposed at a position corresponding to the second circular arc connecting hole 2102, and the annular clamping block is clamped in the connecting chute when the rotating shaft 202 rolls in the second circular arc connecting hole 2102.
In the actual use process, the underwater pipeline inspection robot is placed in water, the submerging speed of the underwater pipeline inspection robot is regulated through four vertical pushing members 141, and when the underwater pipeline inspection robot submerges above an underwater pipeline, the underwater pipeline inspection robot is driven to move along the preset direction of the underwater pipeline through four vector pushing members 142; the underwater pipeline is identified through the image acquisition unit 13, and if the image acquisition unit 13 identifies that the underwater pipeline has leakage, the controller 15 can transmit the position where the leakage of the underwater pipeline is found to a technician on water; if the image acquisition unit 13 recognizes that the outer wall of the underwater pipeline has attachments, the telescopic piece 21 can drive the cleaning piece 22 and the dirt scraping piece 23 to be in contact with the outer wall of the underwater pipeline, and the cleaning piece 22 and the dirt scraping piece 23 are matched, so that the attachments can be easily treated.
Compared with the prior art, the underwater pipeline inspection robot provided by the invention comprises the telescopic part connected with the robot body, the cleaning part and the dirt scraping part, wherein the movable end of the telescopic part is provided with the two circular arc tracks at intervals, the cleaning part and the dirt scraping part are respectively and slidably connected with the two circular arc tracks, when the robot body moves along the preset direction of the underwater pipeline, the telescopic part drives the cleaning part and the dirt scraping part to be attached to the outer wall of the underwater pipeline, the dirt scraping part and the cleaning part respectively move along the circular arc tracks, so that the cleaning area of the dirt scraping part and the cleaning part is effectively increased, the dirt scraping part can effectively scrape attachments on the underwater pipeline, the adhesive force of the attachments and the underwater pipeline is reduced, the cleaning part is convenient for cleaning the attachments, and the attachments on the outer wall of the underwater pipeline can be effectively cleaned.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined to submarine pipeline, its characterized in that, the robot is patrolled and examined to submarine pipeline includes the robot body, and with the clean mechanism that the robot body is connected, clean the mechanism include with robot body coupling's extensible member, and clean piece and scrape dirty piece, the expansion end interval of extensible member has two convex tracks, clean piece and scrape dirty piece respectively with two convex track swing joint, works as the robot body moves along the preset direction of submarine pipeline, just the extensible member drive clean the piece, scrape dirty piece with when the outer wall of submarine pipeline is mutually attached, through scrape dirty piece and clean the piece and follow respectively circular orbit motion for scrape dirty piece and scrape garrulous attachment on the submarine pipeline, clean the piece and clean the attachment after scraping.
2. The underwater pipeline inspection robot of claim 1, wherein the robot body comprises a mounting frame, a power supply, an image acquisition unit, a driving mechanism and a controller, wherein the power supply, the image acquisition unit, the driving mechanism and the controller are arranged on the mounting frame, the power supply is used for supplying power to the underwater pipeline inspection robot, the image acquisition unit is used for acquiring the condition of an underwater pipeline, the driving mechanism is used for driving the underwater pipeline inspection robot to move along a preset path, and the controller is respectively electrically connected with the power supply, the image acquisition unit, the driving mechanism, the telescopic part, the cleaning part and the dirt scraping part.
3. The underwater pipeline inspection robot of claim 2, wherein the driving mechanism comprises at least one vertical pushing member fixedly arranged on the mounting frame and four vector pushing members arranged around the mounting frame, the vertical pushing members are used for controlling the underwater pipeline inspection robot to float up or to submerge, and the four vector pushing members are used for controlling the underwater pipeline inspection robot to advance and turn.
4. A robot as claimed in claim 3, wherein the vector propulsion means comprises a rotatable base mounted on the mounting frame and a propeller connected to the rotatable base, the rotatable base having a first degree of freedom for rotation of the propeller about a vertical direction and a second degree of freedom for rotation about a horizontal direction.
5. The underwater pipeline inspection robot according to claim 2, wherein the telescopic piece comprises a screw rod, a ball nut, a supporting plate, two lead shafts and a driving motor, the screw rod is in threaded rotation connection with the ball nut, the ball nut is rotationally arranged on the mounting frame, the lower end of the screw rod is in rotational connection with the supporting plate, the two lead shafts are in sliding connection with the mounting frame, the lower end of the screw rod is connected with the supporting plate, the driving motor is fixedly arranged on the supporting plate, a driving sprocket is fixedly arranged at the output end of the driving motor, a driven sprocket is fixedly arranged on the ball nut, a chain is connected between the driving sprocket and the driven sprocket, and the two circular arc-shaped tracks are arranged on the supporting plate.
6. The underwater pipeline inspection robot of claim 5, wherein the cleaning piece and the dirt scraping piece comprise driving parts movably connected with two circular arc-shaped tracks on the supporting plate, and the output ends of the driving parts are respectively connected with a brush head and a dirt scraping disc.
7. The underwater pipeline inspection robot of claim 6, wherein the circular arc track comprises a first circular arc connecting hole, a second circular arc connecting hole arranged on one side of the first circular arc connecting hole, and a circular arc rack arranged on the other side of the first circular arc connecting hole;
The driving part comprises a double-shaft motor which is arranged in the first circular arc connecting hole in a rolling way, one end of the double-shaft motor is arranged in the second circular arc connecting hole in a rolling way, a driven bevel gear is fixedly arranged on the rotary shaft, one output end of the double-shaft motor is provided with a driving bevel gear meshed with the driven bevel gear, the other output end of the double-shaft motor is provided with a transmission gear meshed with the circular arc rack, and the other end of the rotary shaft can be connected with the brush head or the scraper disk.
8. The underwater pipeline inspection robot of claim 2, further comprising a sealed cabin fixedly arranged on the mounting frame, wherein the power supply and the controller are both arranged in the sealed cabin.
9. The underwater pipeline inspection robot of claim 2, wherein the mounting frame is further provided with a sonar.
10. The underwater pipeline inspection robot of claim 2, wherein the image acquisition unit is a USB camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410322075.5A CN118168712A (en) | 2024-03-20 | 2024-03-20 | Underwater pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410322075.5A CN118168712A (en) | 2024-03-20 | 2024-03-20 | Underwater pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118168712A true CN118168712A (en) | 2024-06-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410322075.5A Pending CN118168712A (en) | 2024-03-20 | 2024-03-20 | Underwater pipeline inspection robot |
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| Country | Link |
|---|---|
| CN (1) | CN118168712A (en) |
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- 2024-03-20 CN CN202410322075.5A patent/CN118168712A/en active Pending
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