CN204549922U - The portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot - Google Patents

The portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot Download PDF

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Publication number
CN204549922U
CN204549922U CN201520144139.3U CN201520144139U CN204549922U CN 204549922 U CN204549922 U CN 204549922U CN 201520144139 U CN201520144139 U CN 201520144139U CN 204549922 U CN204549922 U CN 204549922U
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China
Prior art keywords
dolly chassis
cleaning robot
lifting appliance
obstacle detouring
wireless remote
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CN201520144139.3U
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Chinese (zh)
Inventor
郝高林
郝志国
王垚
冯雷
陈清
杨振海
陈�峰
王自希
孙娟芳
冯赛
李伟
王超
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Katyuan Development Zone Handan Development In Science And Technology Co Ltd
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Katyuan Development Zone Handan Development In Science And Technology Co Ltd
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Abstract

The utility model discloses the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot, relate to lifting device technical field, comprise winding plant, dolly chassis, suspension obstacle surmounting control setup, suspension arm one end of winding plant is hinged on the front cross rail of dolly chassis, dolly chassis is that framed structure intersection is provided with articulated mounting, the bar that removably connects is provided with between articulated mounting, the support of winding plant, counterweight water tank, high pressure pump, water pipe cable winding unit is placed on dolly chassis, dolly chassis is also provided with castor, winding plant is provided with lifting elevator motor and pitching elevator motor.This device can fold minimizing device volume, is transported to top layer flooring, wireless remote control Long-distance Control quickly through elevator or manpower by the manhole of top layer, significantly crosses over wall obstacle.

Description

The portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot
Technical field
The utility model relates to lifting device technical field.
Background technology
The utility model relates to a kind of suspension obstacle surmounting device being applied to building outside wall surface cleaning robot, particularly relates to a kind of Different field condition and selects different modes it to be transported to fast the suspension obstacle surmounting device of the building outside wall surface cleaning robot of top layer flooring.
A kind of safety protection mechanism of robot for cleaning wall of high building of Shanghai Communications University's research and development, patent of invention publication number is CN 1559760A, the strut bar of this mechanism arranges multiple pin hole at differing heights, be used for supporting the different luffing angle of suspension arm (crossbeam), realize the horizontal throw between robot that it suspends in midair and wall, reach the object of crossing over wall obstacle, its mechanism design is simple, but suspension arm is having under load condition, exchange latch and insert differing heights jack inconvenience, fine setting can not be realized, being difficult to realization body suspention makes cleaning robot accurately press close to wall, easy generation longitudinal oscillation, single-unit curved suspension arm (crossbeam) designs, suspension arm limited length, so its obstacle climbing ability is also not too large, in addition this mechanism how to be transported to top layer flooring also not mentioned.
Utility model content
The technical problems to be solved in the utility model is to provide the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot, this device can fold minimizing device volume, top layer flooring is transported to by the manhole of top layer quickly through elevator or manpower, wireless remote control Long-distance Control, significantly crosses over wall obstacle.
The technical scheme taked for the utility model that solves the problem is: the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot, comprise winding plant, dolly chassis, suspension obstacle surmounting control setup, suspension arm one end of described winding plant is hinged on the front cross rail of dolly chassis, the front cross rail of dolly chassis, after cross member and two longerons form framed structure, the intersection of described front cross rail and after cross member and two longerons is provided with articulated mounting, the bar that removably connects is provided with between the articulated mounting of two diagonal positions, the support of winding plant, counterweight water tank, high pressure pump, water pipe cable winding unit to be placed on dolly chassis and and for removably connecting between dolly chassis, described dolly chassis is also provided with castor and is provided with the deviator of castor, the support of described winding plant is provided with lifting elevator motor and pitching elevator motor, described lifting elevator motor is connected with the steel rope walking around suspension arm top fixed pulley by cable drum, described pitching elevator motor is connected with suspension arm by steel wire tow line.
Preferably, described suspension arm inside is telescopic hollow stem, and described suspension arm is consistent with the cross sectional shape of each joint hollow stem.
Preferably, the two ends of the described bar that removably connects are welded with articulated mounting respectively, described in the bar that removably connects be segment type structure, connected by detachable latch between two merogenesis of the bar that removably connects.
Preferably, the support of described winding plant comprises vertical bar and brace, and be detachable connection between described vertical bar two ends and the front and back crossbeam of dolly chassis, the described top of vertical bar and the top of brace are rotationally connected by jointed shaft.
Preferably, described counterweight water tank is provided with water inlet and drain gutter.
Preferably, the drive motor of described water pipe cable winding unit is moment brake snub motor.
Preferably, described deviator comprises worm reduction gear, and worm reduction gear input shaft is provided with the manual break-in wheel of manpower shake, is connected with universal driving shaft above described castor, described universal driving shaft is provided with sprocket wheel, is connected with transmission loop chain between the clutch end of described worm reduction gear and sprocket wheel.
Preferably, the horizontal point midway of described jointed shaft is provided with auxiliary castor.
Preferably, described suspension obstacle surmounting control setup comprises wireless remote control emitter, wireless remote controlled receiver, for radiowave is connected between wireless remote control emitter with wireless remote controlled receiver, be electrically connected between wireless remote controlled receiver, frequency converter, lifting elevator motor, be electrically connected between wireless remote controlled receiver, relay, pitching elevator motor, be electrically connected between wireless remote controlled receiver with negative pressure generator motor.
The beneficial effect adopting technique scheme to produce is: 1, suspension arm pitch angle is 0 to 75 degree, and obstacle climbing ability is 0 to 4.2 meters, pulls suspension arm by pitching elevator motor, makes the complete angled adjustment of suspension arm; 2, be provided with without elevator available, this device can fold, and reduces its volume, and after dismounting is folding, each parts all can be transported to top layer flooring and use from top layer hole, adapt to China's actual conditions; 3, the castor of 4 dolly chassis can carry out break-in, transmission ring chain is driven by the manual break-in wheel rotated on worm reduction gear input shaft, realize castor become simultaneously identical direction be especially suitable for dolly chassis in length and breadth both direction turn to and low-angle tuning needs, braking locate simple and easy.4, high pressure pump is arranged on the dolly of top layer flooring, makes full use of high potential energy, reduces the delivery pressure of high pressure pump, saves the energy, reduces cost; 5, torque motor drives water pipe cable winding unit, efficiently freely, realizes machine shape refined, conveniently moving.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
Fig. 1 structural representation of the present utility model;
The structural representation of Fig. 2 dolly chassis;
Fig. 3 control block diagram of the present utility model.
Wherein, 1, suspension arm, 2, front cross rail, 3, after cross member, 4, longeron, 5, removably connect bar, 6, counterweight water tank, 7, high pressure pump, 8, water pipe cable winding unit, 9, castor, 10, elevator motor is elevated, 11, pitching elevator motor, 12, hollow stem, 13, detachable latch, 14, vertically bar, 15, brace, 16, jointed shaft, 17, water inlet, 18, drain gutter, 19, manual break-in wheel, 20, worm reduction gear, 21, sprocket wheel, 22, transmission loop chain, 23, auxiliary castor, 24, steel wire tow line, 25, pin hole.
Detailed description of the invention
As Fig. 1, shown in Fig. 2 and Fig. 3: the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot, comprise winding plant, dolly chassis, suspension obstacle surmounting control setup, described suspension arm 1 one end is detachably hinged on the front cross rail 2 of dolly chassis, the front cross rail 2 of dolly chassis, after cross member 3 and two longerons 4 form framed structure, the intersection of described front cross rail 2 and after cross member 3 and two longerons 4 is provided with articulated mounting, the bar 5 that removably connects is provided with between the articulated mounting of two inner opposite angle positions, the support of winding plant, counterweight water tank 6, high pressure pump 7, water pipe cable winding unit 8 to be placed on dolly chassis and and for removably connecting between dolly chassis, described dolly chassis is also provided with castor 9 and is provided with the deviator of castor 9, the support of described winding plant is provided with lifting elevator motor 10 and pitching elevator motor 11, described lifting elevator motor 10 is connected with the steel rope walking around suspension arm 1 top fixed pulley by cable drum, described pitching elevator motor 11 is connected with suspension arm 1 front portion by steel wire tow line 24.
Suspension arm 1 inside is the hollow stem 12 of Multi-section retractable, and the cross sectional shape of more piece hollow stem 12 is consistent.The two ends of the described bar 5 that removably connects are welded with articulated mounting respectively, described in removably connect bar 5 for segment type structure, connected by detachable latch 13 between two merogenesis of the bar 5 that removably connects.The support of described winding plant comprises vertical bar 14 and brace 15, be connected for detachable between one end of described vertical bar 14 and the after cross member 3 of dolly chassis, also be connected for detachable between one end of described brace 15 and the front cross rail 2 of dolly chassis, described vertical bar 14 is linked by jointed shaft 16 with brace 15 intersection.
Counterweight water tank 6 is provided with water inlet 17 and drain gutter 18.The drive motor of described water pipe cable winding unit 8 is moment brake snub motor.Described deviator comprises worm reduction gear 20, and be connected with universal driving shaft above described castor 9, described universal driving shaft is provided with sprocket wheel 21, is connected with transmission loop chain 22 between the clutch end of described worm reduction gear 20 and sprocket wheel 21.Worm reduction gear 20 input shaft is provided with manual break-in wheel 19, and the horizontal point midway of described jointed shaft 16 is provided with auxiliary castor 23.Described suspension obstacle surmounting control setup comprises wireless remote control emitter, wireless remote controlled receiver, for radiowave is connected between wireless remote control emitter with wireless remote controlled receiver, be electrically connected between wireless remote controlled receiver, frequency converter, lifting elevator motor 10, be electrically connected between wireless remote controlled receiver, relay, pitching elevator motor 11, be electrically connected between wireless remote controlled receiver with negative pressure generator motor.
Suspension arm 1 is hinged on the front cross rail 2 of dolly chassis, suspension arm 1 is Multi-section retractable hollow rod, namely its length can change, suspension arm 1 is consistent with the cross sectional shape of each joint hollow stem 12, in different size but shape is similar, suspension arm 1 is provided with multiple pin hole 25, the front and back crossbeam of dolly chassis and two longerons 4 surround parallelogram, dolly chassis corner arranges articulated mounting, the bar 5 that removably connects is provided with between two articulated mountings at two non-conterminous interior angles i.e. diagonal angle, the support of winding plant, counterweight water tank 6, high pressure pump 7 and water pipe cable winding unit 8 detouchable are located on dolly chassis, dolly chassis is with castor 9, the output shaft of worm reduction gear 20 is provided with chain gearing, worm reduction gear 20 is provided with to turn to and regulates manual break-in wheel 19, 4 castors 9 can be driven to turn to unanimously by rotation manual break-in wheel 19, and direction is identical.
Keep a public place clean scene when having elevator to utilize, suspension obstacle surmounting device can be turned on one's side 90 degree around dolly chassis after cross member 3 and two caster axle, two castors 9 and auxiliary castor 23 form Three-points supporting type structure, and are pushed elevator, to brake again location, steady safe lower one deck transporting to top layer, utilize Stairs to be transported to top layer flooring, another mistake is to rollover 90 degree, releasing of brake, shift correct position onto, recover the form that four-wheel supports, can cleaning of keeping a public place clean be carried out.
Keep a public place clean on-the-spot without the utilizable situation of elevator, swivel pin on suspension arm 1 under fast dismantling on dolly chassis, pull down the vertical bar 14 on the support of winding plant and brace 15, around jointed shaft 16 rotate make vertical bar 14 and brace 15 stretching, pull down the detachable latch 13 removably connected on bar 5, make the support of the winding plant of relative tubbiness, rod member that dolly chassis shape becomes opposite elongate, manhole the top layer of 0.6 meter is taken advantage of to be transported on top layer flooring from 0.6 meter successively each assembly, then packaged combination, become complete machine, save time, increase work efficiency.
The wireless monitor incorporated, wireless remote control, variable frequency control, transmission of video current technology coordinated accurately control for each motor steering speed, and robot body's device is significantly crossed over wall obstacle accurately, safely and established objective base safe and efficient keeping a public place clean.
The suspension arm 1 that more piece hollow stem 12 forms, its framework of articulated mounting is set between the front and back crossbeam of dolly chassis and longeron 4 and can be rectangle, triangle, in polygon any one, suspension arm 1 is arranged multiple pin hole 25, determine required length according to actual needs, the articulated mounting that dolly chassis two longerons 4 and front and back crossbeam intersection are arranged adopts hinge four, hinge position is separately positioned on the oblique relative interior angle of dolly chassis or exterior angle, for dolly chassis folded deformation is that stock lays the foundation, the bar 5 that removably connects ensures that when not extracting detachable latch 13 flame mode is immutable, the bar 5 that removably connects when extracting is divided into two sections, dolly chassis is made to be folded into slender rod piece, it is a kind of satisfactory to both parties scheme, dolly chassis arranges worm reduction gear 20, and the transmission device such as corresponding transmission loop chain 22, identical for ensureing the direction of 4 castors 9, for device lateral or longitudinal movement and brake location lay the foundation, vertical bar 14 and brace 15 intersection of the support of winding plant are provided with jointed shaft 16, pass through manhole on top layer done sufficient preparation for vertical bar 14 and brace 15 are folded into the elongated body of rod, counterweight water tank 6 on dolly chassis arranges water inlet 17 and drain gutter 18, during work, water-filling is convenient, when having kept a public place clean, water is bled off, make carrying lighter, the setting of high pressure pump 7 takes full advantage of high potential energy advantage, significantly can reduce the rated pressure of high pressure pump 7, save power consumption, reduce costs, water pipe cable winding unit 8 is driven by moment brake snub motor, water pipe cable is robot body's device provisioning water power by the pulley of suspension arm 1 front portion, operation freely, water pipe cable is wound on reel, overall image is refined, easy displacement is convenient, pitching elevator motor 11 connects suspension arm 1, by wireless remote control emitter and wireless remote controlled receiver by signal transmission to frequency converter and relay, and then control lifting elevator motor 10 and pitching elevator motor 11, regulate the pitch angle of rising or falling speed and suspension arm 1, pitch angle regulates and makes the how far of below robot body's device distance wall reach adjustment, robot body's device is provided with negative pressure sucker, negative pressure sucker and wall attract and running gear on sucker is walked in the enterprising every trade of wall, negative pressure generator motor is used to control negative pressure sucker, so also negative pressure generator motor can be controlled by wireless remote control emitter.
In sum, 1, suspension arm pitch angle be 0 to 75 degree, obstacle climbing ability is 0 to 4.2 meters, pulls suspension arm by pitching elevator motor, makes the complete angled adjustment of suspension arm; 2, be provided with without elevator available, this device can fold, and reduces its volume, and after dismounting is folding, each parts all can be transported to top layer flooring and use from top layer hole, adapt to China's actual conditions; 3, the castor of 4 dolly chassis can carry out break-in, transmission ring chain is driven by the manual break-in wheel rotated on worm reduction gear input shaft, realize castor become simultaneously identical direction be especially suitable for dolly chassis in length and breadth both direction turn to and low-angle tuning needs, braking locate simple and easy.4, high pressure pump is arranged on the dolly of top layer flooring, makes full use of high potential energy, reduces the delivery pressure of high pressure pump, saves the energy, reduces cost; 5, torque motor drives water pipe cable winding unit, efficiently freely, realizes machine shape refined, conveniently moving.

Claims (9)

1. the portable obstacle detouring lifting appliance of building exposed wall face cleaning robot, it is characterized in that: comprise winding plant, dolly chassis, suspension obstacle surmounting control setup, suspension arm (1) one end of described winding plant is hinged on the front cross rail (2) of dolly chassis, the front cross rail (2) of dolly chassis, after cross member (3) and two longerons (4) form framed structure, described front cross rail (2) and after cross member (3) are provided with articulated mounting with the intersection of two longerons (4), the bar (5) that removably connects is provided with between the articulated mounting of two diagonal positions, the support of winding plant, counterweight water tank (6), high pressure pump (7), water pipe cable winding unit (8) to be placed on dolly chassis and and for removably connecting between dolly chassis, described dolly chassis is also provided with castor (9) and is provided with the deviator of castor (9), the support of described winding plant is provided with lifting elevator motor (10) and pitching elevator motor (11), described lifting elevator motor (10) is connected with the steel rope walking around suspension arm (1) top fixed pulley by cable drum, described pitching elevator motor (11) is connected with suspension arm (1) by steel wire tow line (24).
2. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: be provided with telescopic hollow stem (12) in described suspension arm (1), described hollow stem (12) is consistent with the cross sectional shape of suspension arm (1).
3. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: the two ends of the described bar that removably connects (5) are welded with articulated mounting respectively, the described bar that removably connects (5) is segment type structure, is connected between two merogenesis of the bar that removably connects (5) by detachable latch (13).
4. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: the support of described winding plant comprises vertical bar (14) and brace (15), be connected for detachable between the bottom of described vertical bar (14) and the after cross member (3) of dolly chassis, also be connected for detachable between the bottom of described brace (15) and the front cross rail (2) of dolly chassis, the top of described vertical bar (14) and the top of brace (15) are rotationally connected by jointed shaft (16).
5. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, is characterized in that: described counterweight water tank (6) is provided with water inlet (17) and drain gutter (18).
6. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, is characterized in that: the drive motor of described water pipe cable winding unit (8) is moment brake snub motor.
7. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: described deviator comprises worm reduction gear (20), described castor (9) top is connected with universal driving shaft, described universal driving shaft is provided with sprocket wheel (21), transmission loop chain (22) is connected with, with manual break-in wheel (19) on the input shaft of described worm reduction gear (20) between the clutch end of described worm reduction gear (20) and sprocket wheel (21).
8. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 4, is characterized in that: the horizontal point midway of described jointed shaft (16) is provided with auxiliary castor (23).
9. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: described suspension obstacle surmounting control setup comprises wireless remote control emitter, wireless remote controlled receiver, for radiowave is connected between wireless remote control emitter with wireless remote controlled receiver, be electrically connected between wireless remote controlled receiver, frequency converter, lifting elevator motor (10), be electrically connected between wireless remote controlled receiver, relay, pitching elevator motor (11), be electrically connected between wireless remote controlled receiver with negative pressure generator motor.
CN201520144139.3U 2015-03-15 2015-03-15 The portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot Active CN204549922U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104671141A (en) * 2015-03-15 2015-06-03 邯郸开发区开元科技发展有限公司 Portable obstacle surmounting lifting appliance of building external wall surface cleaning robot
CN107350393A (en) * 2017-07-18 2017-11-17 卢星 A kind of security protection cable rapid cutting device
WO2018090158A1 (en) * 2016-11-15 2018-05-24 高建文 Extending/retracting suspension apparatus which may be movably mounted on floor of building roof
WO2019100180A1 (en) * 2017-11-27 2019-05-31 高建文 Improved support bracket structure for deploying-stowing type suspension apparatus

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104671141A (en) * 2015-03-15 2015-06-03 邯郸开发区开元科技发展有限公司 Portable obstacle surmounting lifting appliance of building external wall surface cleaning robot
CN106744447A (en) * 2015-03-15 2017-05-31 安徽鹰龙工业设计有限公司 A kind of portable obstacle detouring boom hoisting of building exposed wall face cleaning robot
WO2018090158A1 (en) * 2016-11-15 2018-05-24 高建文 Extending/retracting suspension apparatus which may be movably mounted on floor of building roof
CN107350393A (en) * 2017-07-18 2017-11-17 卢星 A kind of security protection cable rapid cutting device
WO2019100180A1 (en) * 2017-11-27 2019-05-31 高建文 Improved support bracket structure for deploying-stowing type suspension apparatus

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