CN105557337A - Obstacle-avoiding mechanism of hedge clipping knife rest - Google Patents

Obstacle-avoiding mechanism of hedge clipping knife rest Download PDF

Info

Publication number
CN105557337A
CN105557337A CN201510984869.9A CN201510984869A CN105557337A CN 105557337 A CN105557337 A CN 105557337A CN 201510984869 A CN201510984869 A CN 201510984869A CN 105557337 A CN105557337 A CN 105557337A
Authority
CN
China
Prior art keywords
knife rest
rod
spring
sleeve
support arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510984869.9A
Other languages
Chinese (zh)
Other versions
CN105557337B (en
Inventor
蒙艳玫
陈庆伟
沈道严
韦锦
董振
林远樟
于宁
孙玉玺
梁祥园
张颖东
孙启会
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangxi University
Original Assignee
Guangxi University
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.)
Filing date
Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201510984869.9A priority Critical patent/CN105557337B/en
Publication of CN105557337A publication Critical patent/CN105557337A/en
Application granted granted Critical
Publication of CN105557337B publication Critical patent/CN105557337B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01GHORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/04Apparatus for trimming hedges, e.g. hedge shears

Abstract

The invention discloses an obstacle-avoiding mechanism of a hedge clipping knife rest. The obstacle-avoiding mechanism comprises a supporting arm, a right knife rest, a left knife rest and a pre-tightening mechanism, wherein the back end of the right knife rest is rotatably arranged at the right end of the supporting arm, the front end of the right knife rest extends frontwards and rightwards, and a right knife plate is arranged at the front end of the right knife rest; the back end of the left knife rest is rotatably arranged at the right end of the supporting arm and a left knife plate is arranged at the front end of the supporting arm; the pre-tightening mechanism comprises a first spring, a first connecting rod, a second connecting rod, a pre-tightening rod, a sleeve and a second spring; the two ends of the first spring are connected with the back end of the right knife rest and the back end of the left knife rest respectively; the front end of the first connecting rod is hinged to the back end of the first knife rest; the front end of the second connecting rod is hinged to the right end of the supporting arm and the back end of the second connecting rod is hinged to the back end of the first connecting rod through a movable hinge pin; the right end of the pre-tightening rod is hinged to the movable hinge pin; the left end of the sleeve is hinged to the supporting arm and the left end of the pre-tightening rod is arranged in an inner cavity of the pre-tightening rod in a sleeving manner; and the second spring is clamped between the pre-tightening rod and the bottom wall of the sleeve. According to the invention, the obstacle-avoiding mechanism can automatically avoid obstacles, so as to improve the safety performance of the hedge clipping knife rest.

Description

The Bi Zhang mechanism of hedge trimming knife rest
Technical field
The present invention relates to hedge trimming device field, particularly a kind of Bi Zhang mechanism of hedge trimming knife rest.
Background technology
To the pruning stroke of road both sides hedgerow is far away and workload is large, therefore the pruning for hedgerow adopts on-vehicle hedge clipping machine more, its operating efficiency is high and pruning quality is good, but on-vehicle hedge clipping machine is compared with the very flexible in artificial pruning, it prunes the function that knife rest does not carry out automatic obstacle-avoiding, some are arranged in the obstacle such as electric pole or lamp stand of hedgerow, it avoids mainly relying on the observation of driver to avoid in advance, when some barrier such as disconnected branch or trunk cannot be observed or driver is careless and inadvertent, prune knife rest and can not carry out automatic obstacle-avoiding neatly, thus easily cause pruning knife rest directly to bump against on barrier, thus cause device damage or security incident to occur.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of Bi Zhang mechanism of hedge trimming knife rest, thus the pruning knife rest overcoming existing hedgeclipper can not carry out the shortcoming of automatic obstacle-avoiding neatly.
For achieving the above object, the invention provides a kind of Bi Zhang mechanism of hedge trimming knife rest, wherein, comprising: support arm, it is arranged on manipulator; Right knife rest, its rear end is rotatably arranged at the right-hand member of described support arm, and the front end of this right knife rest extends to right front; The front end of this right knife rest is provided with a right cutterhead; Left knife rest, its rear end is rotatably arranged at the right-hand member of described support arm, and the front end of this left knife rest is positioned at the left side of the front end of described right knife rest; The front end of this left knife rest is provided with a left cutterhead corresponding with described right cutterhead; Described right cutterhead and left cutterhead are respectively driven by a cutter plate driver mechanism and rotate; And pre-tightening mechanism, it comprises: the first spring, and its one end is connected with the rear end of described right knife rest, and the other end of this first spring is connected with the rear end of described left knife rest; First connecting rod, its front end is articulated with the rear end of described first knife rest; Second connecting rod, its front end is articulated with the right-hand member of described support arm, and to be movably hinged the rear end of pin and described first connecting rod by one hinged in the rear end of this second connecting rod; Pretension bar, is movably hinged described in its right-hand member is articulated with on pin; Sleeve, its left end is articulated with on described support arm, and the right-hand member of this sleeve is provided with opening; The left end of described pretension bar is nested into the inner chamber of this sleeve from the opening activity of this sleeve; And second spring, it is located between the diapire of the left end of described pretension bar and the inner chamber of described sleeve.
Preferably, in technique scheme, the rear end of described right knife rest is convexly equipped with one first spacer pin, the right-hand member of described support arm is provided with two the first limited blocks be positioned on track that described first spacer pin carries out rotating along with described right knife rest, and described first spacer pin is between two described first limited blocks.
Preferably, in technique scheme, the rear end of described left knife rest is convexly equipped with one second spacer pin, the rear end of described right knife rest is provided with two the second limited blocks be positioned on track that described second spacer pin carries out rotating along with described left knife rest, and described second spacer pin is between two described second limited blocks.
Preferably, in technique scheme, the front end face of described right knife rest is arc surface, and the front end face of described left knife rest is also arc surface.
Preferably, in technique scheme, described right knife rest is by rear to the front meniscus shaped increased gradually, and the concave surface facing left side of described right knife rest; Described left knife rest is by rear to the front meniscus shaped increased gradually, and the concave surface facing right side of described left knife rest.
Preferably, in technique scheme, the front end face of described right knife rest and the front end face of described left knife rest are respectively convexly equipped with forward a guide triangular.
Compared with prior art, the present invention has following beneficial effect:
1, left knife rest of the present invention and right knife rest can rotate backward, when not meeting barrier, left knife rest and right knife rest keep motionless under the effect of the first spring and the second spring, to prune hedgerow, when running into barrier, left knife rest and right knife rest can swing backward under the effect of barrier, after right knife rest departs from barrier, just again reset at the effect bottom left knife rest of the first spring and the second spring and right knife rest.Therefore, the present invention can carry out automatic obstacle-avoiding neatly, to prevent the damage of cutter, thus improves the security performance of hedge trimming knife rest, and still can prune the hedgerow around barrier at the cutterhead keeping away two knife rests in barrier process.
2, the front end face of two knife rests of the present invention is arc surface, and two knife rests all in by rear to the front meniscus shaped increased gradually, it can prevent two to occur excessive impulsive force between knife rest and barrier, to improve the stationarity of keeping away barrier process.
Accompanying drawing explanation
Fig. 1 is the structural representation of the Bi Zhang mechanism according to hedge trimming knife rest of the present invention.
Fig. 2 is according to upward view of the present invention.
Fig. 3 is the structural representation according to right knife rest of the present invention.
Fig. 4 is the structural representation according to left knife rest of the present invention.
Fig. 5 is the structural representation according to support arm of the present invention.
Fig. 6 is the structural representation starting when keeping away barrier according to the present invention.
Fig. 7 is structural representation when keeping away barrier completely according to the present invention.
Main Reference Numerals illustrates:
1-support arm, the right hinged seat of 11-, the left hinged seat of 12-, 13-first limited block, 14-connecting axle; The right knife rest of 2-, 21-first pin, 22-articulated column, 23-first spacer pin, 24-second limited block; The right cutterhead of 3-; The left knife rest of 4-, 41-second pin, 42-second spacer pin; The left cutterhead of 5-; 6-pre-tightening mechanism, 61-first spring, 62-first connecting rod, 63-second connecting rod, 64-is movably hinged pin, 65-pretension bar, 66-sleeve; 7-guide triangular.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of embodiment.
Clearly represent unless otherwise other, otherwise in whole specification and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or part, and do not get rid of other element or other part.
Fig. 1 to Fig. 7 shows a kind of according to the preferred embodiment of the present invention structural representation of Bi Zhang mechanism of hedge trimming knife rest, the Bi Zhang mechanism of this hedge trimming knife rest comprises support arm 1, right knife rest 2, left knife rest 4 and pre-tightening mechanism 6, and pre-tightening mechanism 6 comprises the first spring 61, first connecting rod 62, second connecting rod 63, pretension bar 65 and sleeve 66.
Support arm 1 is arranged on manipulator, so that by manipulator control, it carries out work.With reference to figure 1, the right-hand member of support arm 1 is fixedly installed a connecting axle 14, and the rear end of right knife rest 2 is rotatably arranged at the lower end of connecting axle 14, and the front end of right knife rest 2 extends to right front, and the front end of right knife rest 2 is provided with a right cutterhead 3.The rear end of left knife rest 4 is rotatably arranged at the lower end of connecting axle 14, and the front end of left knife rest 4 is positioned at the left side of the front end of right knife rest 2.With reference to figure 3, the rear end of right knife rest 2 is provided with an open slot, and when right knife rest 2 and left knife rest 4 are arranged on connecting axle 14, the rear end of left knife rest 4 is movably set in the open slot of right knife rest 2.The front end of left knife rest 4 is provided with a left cutterhead 5 corresponding with right cutterhead 3, right cutterhead 3 and left cutterhead 5 are respectively driven by a cutter plate driver mechanism and rotate, cutter plate driver mechanism is motor, right knife rest 2 and left knife rest 4 are respectively fixedly installed a motor, and right cutterhead 3 and left cutterhead 5 are respectively arranged in the rotating shaft of corresponding motor.When not running into barrier, the present invention is in normal pruning state, together with the front end of right knife rest 2 and left knife rest 4 front end are leaned by pre-tightening mechanism 6, now with reference to figure 2, right cutterhead 3 and the symmetrical distribution of left cutterhead 5, and leave some spaces a little between right cutterhead 3 and left cutterhead 5, drive two cutterheads to rotate by motor, just jointly can be pruned hedgerow by two cutterheads.
Continue with reference to figure 1, in the concrete structure of pre-tightening mechanism 6, one end of first spring 61 is connected with the rear end of right knife rest 2, and the other end of the first spring 61 is connected with the rear end of left knife rest 4, with reference to figure 3 and Fig. 4, the rear end of right knife rest 2 is convex is provided with one first pin 21, and the convex two ends being provided with one second pin 41, first spring 61, the rear end of left knife rest 4 are fixedly installed on the first pin 21 and the second pin 41 respectively.First connecting rod 62 front end is articulated with the rear end of the first knife rest 2, the front end of second connecting rod 63 is articulated with the right-hand member of support arm 1, and to be movably hinged pin 64 by one hinged with the rear end of first connecting rod 62 in the rear end of second connecting rod 63, the right-hand member of pretension bar 65 is articulated with and is movably hinged on pin 64.The left end of sleeve 66 is articulated with on support arm 1, and the right-hand member of sleeve 66 is provided with opening, the left end of pretension bar 65 is nested into the inner chamber of sleeve 66 from the opening activity of sleeve 66 right-hand member, second spring (scheme depending on) is contained in the inner chamber of sleeve 66, and the second spring clip is located between the diapire of the left end of pretension bar 65 and the inner chamber of sleeve 66.With reference to figure 3 and Fig. 5, the rear end of right knife rest 2 is convex is provided with an articulated column 22, the front end of first connecting rod 62 is articulated with on articulated column 22, the right-hand member of the bottom of support arm 1 is convexly equipped with a right hinged seat 11 downwards, and the left end of the bottom of support arm 1 is convexly equipped with a left hinged seat 12 downwards, the front end of second connecting rod 63 is articulated with on right hinged seat 11, and the left end of sleeve 66 is articulated with on left hinged seat 12.
The present invention is arranged on manipulator by support arm 1, and manipulator is arranged on carrying vehicle, and carrying vehicle advances with certain speed to carry out pruning work.When not running into barrier, second spring handle pretension bar 65 ejects to the right, and by first connecting rod 62, pretension is carried out to right knife rest 2, now right knife rest 2 can not swing backward, and the first spring 61 makes together with left knife rest 4 leans with right knife rest 2, thus two cutterheads can stably be pruned to hedgerow.When running into barrier, support arm 1 still continues to move forward, and barrier just can extrude right knife rest 2 and swing backward, with reference to figure 6, right knife rest 2 and left knife rest 4 open, first spring 61 can be stretched, thus makes barrier be folded between two knife rests, after right knife rest 2 swings to certain angle backward, first knife rest 4 under the effect of the first spring 61 also along with swinging backward, and in right knife rest 2 backward swing process, pretension bar 65 extend in sleeve 66 left, and the second spring is compressed by pretension bar 65.With reference to figure 7, right knife rest 2 and left knife rest 4 can swing to the rear that right knife rest 2 is positioned at the right-hand member of support arm 1 always backward, depart from barrier to make right knife rest 2, thus automatic avoiding obstacles, and after right knife rest 2 leaves barrier, again reset at the acting in conjunction bottom right knife rest 2 of the second spring and the first spring 61 and left knife rest 4, keep away barrier process and terminate.The present invention can carry out automatic obstacle-avoiding neatly, to prevent the damage of cutter, thus improve the security performance of hedge trimming knife rest, after barrier kept away by knife rest, recovery does not need by electromotor or hydraulic motor, it controls simple, and still can prune the hedgerow around barrier at the cutterhead keeping away two knife rests in barrier process.In addition, the pretightning force of the first spring 61 and the second spring can adjust, to adapt to different barriers.
With reference to figure 6 or Fig. 7, preferably, the front end face of right knife rest 2 is arc surface, and the front end face of left knife rest 4 is also arc surface.Further preferably, right knife rest 2 is to the front meniscus shaped increased gradually by rear, and the concave surface facing left side of right knife rest 2, left knife rest 4 is also to the front meniscus shaped increased gradually by rear, and the concave surface facing right side of left knife rest 4, left knife rest 4 can be shorter than right knife rest 2, and the front end of the concave surface of the right side of the front end of left knife rest 4 and right knife rest 2 is tangent.The front end face of two knife rests of the present invention is arc surface, and two knife rests all in by rear to the front meniscus shaped increased gradually, the curved design of knife rest uniqueness can prevent two to occur excessive impulsive force between knife rest and barrier, to improve the stationarity of keeping away barrier process.Further preferably, in technique scheme, the front end face of right knife rest 2 and the front end face of left knife rest 4 are respectively convexly equipped with forward a guide triangular 7, two guide triangular 7 elder generations and bar contact, and can barrier be imported between two knife rests, to improve the stability of keeping away barrier process further.
Further, continue with reference to figure 3 and Fig. 5, the rear end of right knife rest 2 is convexly equipped with one first spacer pin 23, and the right-hand member of support arm 1 is provided with two and is positioned at the first limited block 13, first spacer pin 23 on track that the first spacer pin 23 carries out rotating along with right knife rest 2 between two the first limited blocks 13.Preferably, continue with reference to figure 3 and Fig. 4, the rear end of left knife rest 4 is convexly equipped with one second spacer pin 42, and the rear end of right knife rest 2 is provided with two and is positioned at the second limited block 24, second spacer pin 42 on track that the second spacer pin 42 carries out rotating along with left knife rest 4 between two the second limited blocks 24.Can carry out spacing to the extreme position of the swing of left knife rest 4 and right knife rest 2 by arranging position-limit mechanism, to protect two knife rests and the first spring 61 and the second spring, thus improving security performance further.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.

Claims (6)

1. a Bi Zhang mechanism for hedge trimming knife rest, is characterized in that, comprising:
Support arm, it is arranged on manipulator;
Right knife rest, its rear end is rotatably arranged at the right-hand member of described support arm, and the front end of this right knife rest extends to right front; The front end of this right knife rest is provided with a right cutterhead;
Left knife rest, its rear end is rotatably arranged at the right-hand member of described support arm, and the front end of this left knife rest is positioned at the left side of the front end of described right knife rest; The front end of this left knife rest is provided with a left cutterhead corresponding with described right cutterhead; Described right cutterhead and left cutterhead are respectively driven by a cutter plate driver mechanism and rotate; And
Pre-tightening mechanism, it comprises:
First spring, its one end is connected with the rear end of described right knife rest, and the other end of this first spring is connected with the rear end of described left knife rest;
First connecting rod, its front end is articulated with the rear end of described first knife rest;
Second connecting rod, its front end is articulated with the right-hand member of described support arm, and to be movably hinged the rear end of pin and described first connecting rod by one hinged in the rear end of this second connecting rod;
Pretension bar, is movably hinged described in its right-hand member is articulated with on pin;
Sleeve, its left end is articulated with on described support arm, and the right-hand member of this sleeve is provided with opening; The left end of described pretension bar is nested into the inner chamber of this sleeve from the opening activity of this sleeve; And
Second spring, it is located between the diapire of the left end of described pretension bar and the inner chamber of described sleeve.
2. the Bi Zhang mechanism of hedge trimming knife rest according to claim 1, it is characterized in that, the rear end of described right knife rest is convexly equipped with one first spacer pin, the right-hand member of described support arm is provided with two the first limited blocks be positioned on track that described first spacer pin carries out rotating along with described right knife rest, and described first spacer pin is between two described first limited blocks.
3. the Bi Zhang mechanism of hedge trimming knife rest according to claim 1, it is characterized in that, the rear end of described left knife rest is convexly equipped with one second spacer pin, the rear end of described right knife rest is provided with two the second limited blocks be positioned on track that described second spacer pin carries out rotating along with described left knife rest, and described second spacer pin is between two described second limited blocks.
4. the Bi Zhang mechanism of hedge trimming knife rest according to claim 1, is characterized in that, the front end face of described right knife rest is arc surface, and the front end face of described left knife rest is also arc surface.
5. the Bi Zhang mechanism of hedge trimming knife rest according to claim 4, is characterized in that, described right knife rest is by rear to the front meniscus shaped increased gradually, and the concave surface facing left side of described right knife rest; Described left knife rest is by rear to the front meniscus shaped increased gradually, and the concave surface facing right side of described left knife rest.
6. the Bi Zhang mechanism of hedge trimming knife rest according to claim 4, is characterized in that, the front end face of described right knife rest and the front end face of described left knife rest are respectively convexly equipped with forward a guide triangular.
CN201510984869.9A 2015-12-24 2015-12-24 The avoidance mechanism of hedge trimming knife rest Active CN105557337B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510984869.9A CN105557337B (en) 2015-12-24 2015-12-24 The avoidance mechanism of hedge trimming knife rest

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510984869.9A CN105557337B (en) 2015-12-24 2015-12-24 The avoidance mechanism of hedge trimming knife rest

Publications (2)

Publication Number Publication Date
CN105557337A true CN105557337A (en) 2016-05-11
CN105557337B CN105557337B (en) 2018-05-08

Family

ID=55868465

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510984869.9A Active CN105557337B (en) 2015-12-24 2015-12-24 The avoidance mechanism of hedge trimming knife rest

Country Status (1)

Country Link
CN (1) CN105557337B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2903176Y (en) * 2006-03-17 2007-05-23 陈震 Crossing obstacles type front shovel of snow cleaning machine
CN102907269A (en) * 2012-11-15 2013-02-06 中国农业大学 Grape residual branch pruning machine
CN103609347A (en) * 2013-12-06 2014-03-05 广西大学 Hedgerow trimming cutter overload protection device
CN104542020A (en) * 2015-01-07 2015-04-29 广西大学 Barrier avoiding device for hedgerow pruning cutter
CN104770227A (en) * 2015-03-16 2015-07-15 广西大学 Obstacle avoidance rack of hedge shears

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2903176Y (en) * 2006-03-17 2007-05-23 陈震 Crossing obstacles type front shovel of snow cleaning machine
CN102907269A (en) * 2012-11-15 2013-02-06 中国农业大学 Grape residual branch pruning machine
CN103609347A (en) * 2013-12-06 2014-03-05 广西大学 Hedgerow trimming cutter overload protection device
CN104542020A (en) * 2015-01-07 2015-04-29 广西大学 Barrier avoiding device for hedgerow pruning cutter
CN104770227A (en) * 2015-03-16 2015-07-15 广西大学 Obstacle avoidance rack of hedge shears

Also Published As

Publication number Publication date
CN105557337B (en) 2018-05-08

Similar Documents

Publication Publication Date Title
CN105075515A (en) Picking device for illicium verum
CN104756672A (en) Fruit picking workbench
CN109449824A (en) A kind of self-propelled route barrier clearing device
CN105103980A (en) Mower
CN104798613A (en) Mulberry shoot cutter
CN105557337A (en) Obstacle-avoiding mechanism of hedge clipping knife rest
CN109618643A (en) A kind of hand-held lawn corner trimmer
CN104542020A (en) Barrier avoiding device for hedgerow pruning cutter
CN104770227A (en) Obstacle avoidance rack of hedge shears
CN109779358A (en) A kind of non-avoidance three-dimensional parking garage
CN205236697U (en) Bender bending device
KR101012723B1 (en) Apparatus for snow plow
NL1030566C2 (en) Mower, especially for verges, has mower discs mounted on rotary horizontal arms in fork arrangement
CN104412767A (en) Mower
CN202317244U (en) Automatic deburring and cutting-off device for machining pipe parts
US3831647A (en) Clamping and shearing head for a tree harvester
FR2874475A1 (en) MOWER-CLEANING MACHINE HAVING AN ORIENTATION BLOCK CONTROLLED BY AN ORIENTATION JACK
HU230625B1 (en) Device for tilting a trolley bus trolley
CN106613408A (en) West watermelon seedling top-cutting machine
CN204443132U (en) A kind of cane harvester cutter sweep
CN208523296U (en) Vehicle-mounted tooth pair formula greening pruner device
CN209930987U (en) Height-adjustable's walking branch and leaf trimming means for forestry
CN203923630U (en) Universal Sewing machines tangent mechanism
CN204707488U (en) A kind of gardening pruning dolly
CN207626160U (en) A kind of gardens pruning shear of adjustable length

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant