CN207228203U - A kind of remote control environment-protective desilting machine people - Google Patents

A kind of remote control environment-protective desilting machine people Download PDF

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Publication number
CN207228203U
CN207228203U CN201720790779.0U CN201720790779U CN207228203U CN 207228203 U CN207228203 U CN 207228203U CN 201720790779 U CN201720790779 U CN 201720790779U CN 207228203 U CN207228203 U CN 207228203U
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CN
China
Prior art keywords
component
dredging
remote control
machine people
nacelle
Prior art date
Application number
CN201720790779.0U
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Chinese (zh)
Inventor
张振
袁春波
李振
王松庆
郝志香
齐伟
王建波
刘桐
王守春
陆梅
王云仓
赵莉莉
陈奕铭
卢津津
董建克
张春辉
Original Assignee
天津市水利科学研究院
Priority date (The priority date 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 date listed.)
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Application filed by 天津市水利科学研究院 filed Critical 天津市水利科学研究院
Priority to CN201720790779.0U priority Critical patent/CN207228203U/en
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Publication of CN207228203U publication Critical patent/CN207228203U/en

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Abstract

The utility model provides a kind of remote control environment-protective desilting machine people, it is characterised in that:The remote control environment-protective desilting machine people includes:Traveling component, the traveling component form the chassis of the remote control environment-protective desilting machine people, dredging trolley body are provided with the traveling component;Dredging component, the mud conveying assembly being connected with the dredging component, rotation knife assembly, monitor component and control and drive component are connected with the dredging trolley body;The control and drive component are connected with the traveling component, dredging component, sludge conveying assembly, rotation knife assembly and monitor component respectively, meanwhile, the control and drive component are connected by communication cable with the ground control box being arranged on ground.

Description

A kind of remote control environment-protective desilting machine people
Technical field
It the utility model is related to middle-size and small-size waters desilting equipment technical field, and in particular to a kind of remote control environment-protective desilting Robot.
Background technology
At present, for middle-size and small-size waters, main desilting mode is that water therein is drained, directly in anhydrous situation Under, dredging work is carried out with excavator or silt remover, this working method is needed to make river diversion, also have to used sometimes The method in interim river is excavated to solve, quantities had both had greatly cumbersome, but also can make dredging target in longer period of time Work production cannot be carried out, causes certain economic loss;So this working method low production efficiency, labor intensity is big, Method is more original, and under many circumstances, due to deep, landform, many large-scale engineering machinery can not riverbed Realize operation.
Utility model content
In view of this, the utility model provides a kind of remote control environment-protective desilting machine people, and the remote control environmental protection is clear Silt robot can carry out operation under water, without draining river, it is not required that drainage, brings greatly to channel cleanout work Convenience.
The utility model provides a kind of remote control environment-protective desilting machine people, it is characterised in that:The remote control environmental protection Dredging robot includes:Traveling component, the traveling component forms the chassis of the remote control environment-protective desilting machine people, described Dredging trolley body is provided with traveling component;
Dredging component, the mud conveying assembly being connected with the dredging component, rotation are connected with the dredging trolley body Rotor component, monitor component and control and drive component;
The dredging trolley body front end is provided with tiltler, the centre position opening of the tiltler, and the dredging is small The rear end of car body is sealing cabin;
The sealing cabin includes the first nacelle and the second nacelle setting up and down, first nacelle and second cabin Body is separately set;
The opening position adjacent with the sealing cabin in the dredging trolley body slopes portion is vertical mounting portion, institute The top for stating mounting portion is connected with dredging component by linking arm;The lower part of the mounting portion is provided with telescopic rotating knife group Part;
The rotation knife assembly includes telescopic arm, the telescopic cylinder being connected with described telescopic arm one end and stretches with described First rotation axis of the other end connection of arm, is provided with spiral helicine blade in first rotation axis;
The first obliquity sensor is provided with the linking arm, for measuring the gradient of the linking arm;The rotation Knife assembly is arranged in second nacelle, when the linking arm and the dredging trolley body are when on same horizontal line, The rotation knife assembly can be stretched out out of described second nacelle;
It is described control and drive component respectively with the traveling component, dredging component, sludge conveying assembly, rotation knife assembly And monitor component connection, meanwhile, the control and drive component are controlled by communication cable and the ground being arranged on ground Case connects.
Preferably, the traveling component includes crawler rack, crawler driving whell and the second drive motor, and described second drives Dynamic motor drives the rotation of the crawler driving whell, so as to drive the crawler belt to rotate;
The second obliquity sensor is provided with the crawler rack, second obliquity sensor is used to measure the crawler belt The gradient of stent.
Preferably, the dredging component includes scraper bowl, and the blind end of the scraper bowl passes through the second rotation axis and the connection Arm connects, meanwhile, driving cylinder is additionally provided with the linking arm, one end of the driving cylinder is connected with the mounting portion, The other end connects the side wall of the scraper bowl;
The scraper bowl is internally provided with agitating shaft, and the agitating shaft left end is provided with hobboing cutter, the inside in the middle part of the scraper bowl Mud suction mouth is provided with side wall.
Preferably, the mud conveying assembly includes:Sludge hose, the sludge pump being connected with the sludge hose and row Mud pipeline;
One end of the sludge hose connects the dredging component, and the other end connects the sludge pump, by the dredging group The mud that part is collected is delivered to the sludge pump;
The sludge pump is connected with the 3rd drive motor;The sludge pump and the 3rd drive motor may be contained within described In first nacelle;
One end of the spoil disposal pipeline connects the sludge pump, and the other end is arranged at ground.
Preferably, the dredging trolley body top is additionally provided with monitor component, and the monitor component includes monitoring support And camera;
The monitoring support is arranged at the top of the sealing cabin, and the monitoring support passes through rotating base and the sealing Connection at the top of cabin, the monitoring support is in door shape;
The camera is arranged on the crossbeam of the monitoring support, and LED shadowless lamps are set inside the camera.
Preferably, ground control box includes manipulating control unit, display unit and signal processing unit.
The utility model has the advantages and positive effects of:In the technical program, the remote control environmental protection dredging machine Device people can carry out operation in the presence of water, without draining river, it is not required that drainage;In the technical program, it is provided with Knife assembly is rotated, when running into the obstinate sludge that the dredging component can not be collected, starts the rotation knife assembly, described in assistance Dredging component operation;In addition it is provided with dredging cover on the dredging component so that the dredging component during the work time will not Secondary pollution is caused to river;In addition, by ground control box, the operating personnel can be to the robot of progress underwater operation It is controlled, and understands the operating condition of equipment in real time, so as to making correct judgement, so as to carries out next step operation.
Brief description of the drawings
Fig. 1 is the structure diagram of the remote control environment-protective desilting machine people of the utility model;
Fig. 2 is the structure diagram of the traveling component of the utility model;
Fig. 3 is the internal structure signal of the dredging trolley body of the remote control environment-protective desilting machine people of the utility model Figure.
Embodiment
In order to be better understood from the utility model, with reference to specific embodiments and the drawings to the utility model into advance one The description of step.
As shown in Figure 1, the utility model provides a kind of remote control environment-protective desilting machine people, the remote control environmental protection is clear Silt robot includes:Traveling component 1 and dredging trolley body 2;The dredging trolley body 2 is arranged at the traveling component 1 On.
The traveling component 1 forms the chassis of the remote control environment-protective desilting machine people, and the traveling component 1 drives and sets The dredging trolley body 2 being placed on the traveling component 1 is advanced, retreats or is turned to.
Further, the traveling component 1 includes crawler rack 101, crawler body 102, is arranged at the crawler rack Crawler belt 103,104 and second drive motor (not depending on going out in figure) of crawler driving whell on 101, the second drive motor driving The rotation of the crawler driving whell 104, so as to drive the crawler belt to rotate.
Further, the crawler rack 101 is arranged to two, and two crawler racks 101 or so are set, by described Crawler body 102 is fixedly connected, and is both provided with crawler belt 103 and crawler driving whell 104 on described two crawler racks 101, each Crawler driving whell 104 is connected with second drive motor, and described two second drive motors rotate forward at the same time, the traveling component 1 moves ahead, and described two second drive motors invert at the same time, and the traveling component 1 retreats, described two second drive motors one When rotating forward a reversion, the traveling component 1 is turned.
Further, the second obliquity sensor 105, second obliquity sensor are provided with the crawler rack 101 105 gradient for measuring the crawler rack.
Further, dredging component 3, the mud being connected with the dredging component 3 are connected with the dredging trolley body 2 Conveying assembly 4, rotation knife assembly 6, monitor component 7 and control and drive component.
2 front end of dredging trolley body is provided with tiltler 201, the centre position opening 202 of the tiltler 201, The rear end of the dredging trolley body 2 is sealing cabin 203.
The sealing cabin 203 includes the first nacelle 2031 and the second nacelle 2032 setting up and down, first nacelle 2031 and second cabin 2032 be separately set.
The opening 202 of the tiltler 201 of the dredging trolley body 2 position adjacent with the sealing cabin 203 is perpendicular Straight mounting portion 204, the top of the mounting portion 204 are connected with dredging component 3 by linking arm 205;The mounting portion 204 Lower part is provided with telescopic rotation knife assembly 6.
Further, the dredging component 3 includes scraper bowl 301, and the blind end of the scraper bowl 301 passes through the second rotation axis 302 are connected with the linking arm 205, meanwhile, driving cylinder 206, the driving cylinder are additionally provided with the linking arm 205 206 one end is connected with the mounting portion 204, and the other end connects the side wall of the scraper bowl 301.
The flexible of driving cylinder 206 can drive the scraper bowl 301 to be rotated around second rotation axis 302, when The scraper bowl 301 around the rotation axis 302 rotate to a certain extent when, the linking arm 205 can follow the driving cylinder 206 flexible is swung up and down.
Specifically, the 3rd rotation axis is provided with the side wall of the scraper bowl 301, the driving cylinder passes through the described 3rd rotation Shaft is connected with the scraper bowl 301.
Further, the linking arm 205 is additionally provided with limiting plate with one end that the scraper bowl 301 is connected so that described Scraper bowl 301 can only rotate in the range of limiting plate restriction around the rotation axis 302.
Further, the scraper bowl 301 is internally provided with agitating shaft 303, and 303 left end of agitating shaft is provided with hobboing cutter, The side of the agitating shaft 303 is connected with stirring shaft drive motor, and the stirring shaft drive motor is used to drive the agitating shaft 303 rotations;Mud suction mouth 304 is provided with the internal side wall at the middle part of scraper bowl 301, dredging is additionally provided with the scraper bowl 301 Cover 305.
When the scraper bowl 301 works, the driving cylinder 206 is driven so that the 301 subaerial side of scraper bowl Side wall be bonded with ground, then, the traveling component 1 drives the dredging trolley body 2 to move forward, by sludge collect into Enter the scraper bowl 301, then drive the driving cylinder to shrink, so as to drive the scraper bowl 301 around second rotation axis 302 rotations so that, the openend of the scraper bowl 301 is upward, simultaneously closes off the dredging cover 305 being arranged on the scraper bowl 301, Start the stirring shaft drive motor, so as to drive the agitating shaft 303 to rotate, the sludge in the scraper bowl 301 is blended.Institute The setting for stating dredging cover 305 is that the sludge through blending is re-introduced into river in order to prevent, and secondary pollution is caused to river.
Further, the flexible gas that the rotation knife assembly 6 includes telescopic arm 601, is connected with described 601 one end of telescopic arm Cylinder 604 and the first rotation axis 602 being connected with the other end of the telescopic arm 601, are provided with first rotation axis 602 Spiral helicine blade 603.
The rotation knife assembly 6 is arranged in the second nacelle of 2 bottom of dredging trolley body, in the rotating knife group When part 6 does not work, the component 6 that rotates to is shunk in second nacelle, but, it can not be received when running into the dredging component 3 During the obstinate sludge of collection, start the rotation knife assembly 6.
Further, the first obliquity sensor is provided with the linking arm 205, for measuring the linking arm 205 Gradient;When the linking arm 205 and the dredging trolley body 2 are when on same horizontal line, the rotation knife assembly 6 can To be stretched out out of described second nacelle.
, can be with specifically, the telescopic arm 601 is driven by the telescopic cylinder 604 for being arranged at described 601 one end of telescopic arm Elongation is shortened, and first rotation axis 602 is driven by being arranged at the first drive motor inside the telescopic arm 601, can To drive the spiral helicine blade 603 being arranged in first rotation axis 602 to blend obstinate sludge, so as to the dredging Component 3 works.
Further, the mud conveying assembly 4 includes:Sludge hose 401, the dirt being connected with the sludge hose 401 Dredge pump 402 and spoil disposal pipeline 403;One end of the sludge hose 401 connects the dredging component 3, described in other end connection Sludge pump 402, the sludge pump 402, one end of the spoil disposal pipeline 403 are delivered to by the mud that the dredging component 3 is collected The sludge pump 402 is connected, the other end is arranged at ground;The sludge pump 402 is connected with the 3rd drive motor and (does not show in figure Go out);The sludge pump 402 and the 3rd drive motor may be contained within first nacelle.
Further, the sludge hose 401 is connected with the sludge mouth 304, is stirred in 3 scraper bowl 301 of dredging component Broken sludge, enters the sludge hose 401 by the mud suction mouth 304, under the high pressure effect of the sludge pump 402, passes through The spoil disposal pipeline 403 is delivered to ground.
Further, 2 top of dredging trolley body is additionally provided with monitor component 7, and the monitor component 7 includes monitoring Stent 701 and camera 702;The monitoring support 701 is arranged at the top of the sealing cabin, and the monitoring support 701 is logical Rotating base 701 is crossed with being connected at the top of the sealed compartment, the monitoring support 701 is in door shape;The camera 702 is arranged at On the crossbeam of the monitoring support 701, the inside of camera 702 sets LED shadowless lamps.
Specifically, the camera 702 is high-definition CCD colour imagery shots, with zoom function, lens aperture can Manually and automatically to be adjusted, manually and automatically focus on, built-in LED shadowless lamps, 290 degree of camera radial rake and level 360 degree of rotations of having no limits.
Further, it is described control and drive component respectively with the traveling component 1, dredging component 3, sludge conveying assembly 4th, rotate knife assembly 6 and monitor component 7 connects, meanwhile, the control and drive component by communication cable 8 and are arranged at ground Ground control box 9 on face connects.
Further, the ground control box 9 includes manipulating control unit 901, display unit 902 and signal processing list Member.
It is described manipulate control unit 901 can be the control handle that is separately set with the ground control box 9 or The control panel being arranged on the ground control box 9;The manipulation control unit 901 is used to controlling the traveling component 1, clear Silt component 3, sludge conveying assembly 4, the work for rotating knife assembly 6 and monitor component 7;Further, it is described to manipulate control list Two the second drive motors of the control of the member 901 traveling component 1 rotate forward or reversion, so that before controlling the traveling component 1 Into, retreat and turn;It is described manipulation control unit 901 control it is described driving cylinder 206 so that control the scraper bowl 301 with And the swing of the linking arm 205;The start and stop for manipulating control unit 901 and controlling the stirring shaft drive motor at the same time, from And whether controlling the rotation of the agitating shaft 303;The manipulation control unit 901 controls the telescopic cylinder, so as to control institute The flexible of telescopic arm 601 is stated, while controls the start and stop of first drive motor, so as to control first rotation axis 602 Whether rotation;The manipulation control unit 901 controls the start and stop of the 3rd drive motor, so as to whether control the sludge pump Work.
The display unit 902 is used for the monitor video and first inclination angle for showing that the monitor component 7 is transmitted back to The inclination angle value that sensor and second obliquity sensor are transmitted back to.
On the one hand the signal processing unit is handled the operational order of operating personnel, and defeated by communication cable 8 Send to the control and drive component 5 to realize corresponding operation;On the other hand it is used to collect the monitor component 7 and described The signal that first obliquity sensor and second obliquity sensor are transmitted back to, and signal is handled, and treated Signal transmission is obtained to be shown to the display unit 902.
By the ground control box 9, the operating personnel can be controlled the robot for carrying out underwater operation, and And the operating condition of equipment is understood in real time, so as to making correct judgement, so as to carry out next step operation.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that Also there are other identical element in process, method, article or equipment including the key element.
Finally it should be noted that:Obviously, above-described embodiment is only intended to clearly illustrate the utility model example, And the restriction not to embodiment.For those of ordinary skill in the field, may be used also on the basis of the above description To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.And thus Among changes and variations that derived from are still in the scope of protection of the utility model.

Claims (6)

  1. A kind of 1. remote control environment-protective desilting machine people, it is characterised in that:The remote control environment-protective desilting machine people includes:OK Into component, the traveling component forms the chassis of the remote control environment-protective desilting machine people, is provided with the traveling component Dredging trolley body;
    Dredging component, the mud conveying assembly, the rotating knife that are connected with the dredging component are connected with the dredging trolley body Component, monitor component and control and drive component;
    The dredging trolley body front end is provided with tiltler, the centre position opening of the tiltler, the dredging trolley sheet The rear end of body is sealing cabin;
    The sealing cabin includes the first nacelle and the second nacelle setting up and down, first nacelle and second nacelle point Body is set;
    The opening position adjacent with the sealing cabin in the dredging trolley body slopes portion is vertical mounting portion, the peace The top in dress portion is connected with dredging component by linking arm;The lower part of the mounting portion is provided with telescopic rotation knife assembly;
    The rotation knife assembly include telescopic arm, the telescopic cylinder that is connected with described telescopic arm one end and with the telescopic arm First rotation axis of other end connection, is provided with spiral helicine blade in first rotation axis;
    The first obliquity sensor is provided with the linking arm, for measuring the gradient of the linking arm;The rotating knife group Part is arranged in second nacelle, described when the linking arm and the dredging trolley body are when on same horizontal line Rotation knife assembly can be stretched out out of described second nacelle;
    It is described control and drive component respectively with the traveling component, dredging component, sludge conveying assembly, rotation knife assembly and Monitor component connects, meanwhile, the control and drive component are connected by communication cable and the ground control box being arranged on ground Connect.
  2. 2. remote control environment-protective desilting machine people according to claim 1, it is characterised in that:The traveling component includes carrying out Belt supporting frame, crawler driving whell and the second drive motor, second drive motor drive the rotation of the crawler driving whell, from And the crawler belt is driven to rotate;
    The second obliquity sensor is provided with the crawler rack, second obliquity sensor is used to measure the crawler rack Gradient.
  3. 3. remote control environment-protective desilting machine people according to claim 1, it is characterised in that:The dredging component includes shovel Bucket, the blind end of the scraper bowl are connected by the second rotation axis with the linking arm, meanwhile, drive is additionally provided with the linking arm Take offence cylinder, one end of the driving cylinder is connected with the mounting portion, the side wall of the other end connection scraper bowl;
    The scraper bowl is internally provided with agitating shaft, and the agitating shaft left end is provided with hobboing cutter, the internal side wall in the middle part of the scraper bowl On be provided with mud suction mouth.
  4. 4. remote control environment-protective desilting machine people according to claim 1, it is characterised in that:The mud conveying assembly bag Include:Sludge hose, the sludge pump and spoil disposal pipeline being connected with the sludge hose;
    One end of the sludge hose connects the dredging component, and the other end connects the sludge pump, and the dredging component is received The mud of collection is delivered to the sludge pump;
    The sludge pump is connected with the 3rd drive motor;The sludge pump and the 3rd drive motor may be contained within described first In nacelle;
    One end of the spoil disposal pipeline connects the sludge pump, and the other end is arranged at ground.
  5. 5. remote control environment-protective desilting machine people according to claim 1, it is characterised in that:In the dredging trolley body Portion is additionally provided with monitor component, and the monitor component includes monitoring support and camera;
    The monitoring support is arranged at the top of the sealing cabin, and the monitoring support passes through rotating base and the sealed compartment top Portion connects, and the monitoring support is in door shape;
    The camera is arranged on the crossbeam of the monitoring support, and LED shadowless lamps are set inside the camera.
  6. 6. remote control environment-protective desilting machine people according to claim 1, it is characterised in that:Ground control box includes manipulating Control unit, display unit and signal processing unit.
CN201720790779.0U 2017-07-03 2017-07-03 A kind of remote control environment-protective desilting machine people CN207228203U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720790779.0U CN207228203U (en) 2017-07-03 2017-07-03 A kind of remote control environment-protective desilting machine people

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720790779.0U CN207228203U (en) 2017-07-03 2017-07-03 A kind of remote control environment-protective desilting machine people

Publications (1)

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CN207228203U true CN207228203U (en) 2018-04-13

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108930328A (en) * 2018-07-05 2018-12-04 成都赋阳技术开发有限公司 A kind of robot clearing up storm sewer mud
CN109131795A (en) * 2018-08-27 2019-01-04 苏州市职业大学 Underwater operation robot
CN109267602A (en) * 2018-11-01 2019-01-25 吴超贞 A kind of hydraulic engineering dredging robot
CN109577400A (en) * 2018-11-30 2019-04-05 中船重工中南装备有限责任公司 Crawler body twists suction dredging robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108930328A (en) * 2018-07-05 2018-12-04 成都赋阳技术开发有限公司 A kind of robot clearing up storm sewer mud
CN108930328B (en) * 2018-07-05 2020-12-08 南通市金润市政工程有限公司 Robot for cleaning rainwater pipeline sludge
CN109131795A (en) * 2018-08-27 2019-01-04 苏州市职业大学 Underwater operation robot
CN109267602A (en) * 2018-11-01 2019-01-25 吴超贞 A kind of hydraulic engineering dredging robot
CN109577400A (en) * 2018-11-30 2019-04-05 中船重工中南装备有限责任公司 Crawler body twists suction dredging robot

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