CN108093717B - Unmanned field operation machine and operation device - Google Patents
Unmanned field operation machine and operation device Download PDFInfo
- Publication number
- CN108093717B CN108093717B CN201711437485.0A CN201711437485A CN108093717B CN 108093717 B CN108093717 B CN 108093717B CN 201711437485 A CN201711437485 A CN 201711437485A CN 108093717 B CN108093717 B CN 108093717B
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- driving
- work machine
- wheel
- field work
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
- A01B71/06—Special adaptations of coupling means between power take-off and transmission shaft to the implement or machine
Abstract
The invention discloses an unmanned field operation machine and an operation device, comprising a walking device and an operation device; the supporting wheels of the walking device are coaxially arranged and connected through the bridging device, each supporting wheel comprises a first driving wheel and a second driving wheel which are symmetrically arranged at two ends of the bridging device, the first driving wheel is connected with a first driving motor, and the second driving wheel is connected with a second driving motor; the control end of the first driving motor is connected with the first driving wheel, and the control end of the second driving motor is connected with the second driving wheel; the working device is fixed on the bridging device, and the center of gravity of the working device is positioned below the central shafts of the first driving wheel and the second driving wheel. The invention simplifies the structure of the walking device, is more suitable for the walking conditions of farmlands, and can be used for light field operation such as direct seeding of rice.
Description
Technical Field
The invention belongs to the technical field of agricultural machine automation, and particularly relates to an unmanned field operation machine and an operation device.
Background
The conventional agricultural automatic machine generally includes a traveling device and a working device, and thus has functions of traveling and working in the field. In order to keep walking balance and steering, the walking device comprises 3 to 4 wheels, one part of the walking device is a guide wheel, and the other part of the walking device is a driving wheel. The agricultural automatic machine has the characteristics of stable walking and large load capacity; however, if the unmanned vehicle is designed on the basis, the guiding mechanism is complex, the turning radius is large, the walking flexibility is poor, and the self weight is not further reduced.
Patent document CN2016101395271 discloses an electric plant protection vehicle utilizing balance vehicle principle, which is driven by a battery, runs by two wheels, and has the advantages of automatic balance and flexible turning, but the invention arranges an operation device spraying frame and the like on the top of a vehicle frame, so that the gravity center is higher, the wheels are smaller, and the vehicle is not suitable for field running conditions; meanwhile, a counterweight medicine box and a buffering medicine box are needed to be arranged to ensure the balance of the gravity center of the vehicle body.
Disclosure of Invention
In view of the above drawbacks and needs of the prior art, the present invention provides a two-wheel drive type field operation machine, which aims to simplify the structure of a traveling device to meet the needs of light field operation.
To achieve the above object, according to one aspect of the present invention, there is provided an unmanned field work machine including a traveling device and a working device; the supporting wheels of the walking device are coaxially arranged and connected through a bridging device, the supporting wheels are coaxially connected through a first driving wheel and a second driving wheel which are connected through the bridging device, the first driving wheel is connected with a first driving motor, and the second driving wheel is connected with a second driving motor; the control end of the first driving motor is connected with the first driving wheel, and the control end of the second driving motor is connected with the second driving wheel; the center of gravity of the working device is positioned below a common central shaft of the first driving wheel and the second driving wheel;
the first driving motor is used for obtaining a first torque, and the second driving motor is used for obtaining a second torque; the first driving wheel is used for rotating according to a first torque, the second driving wheel is used for rotating according to a second torque, the first driving wheel and the second driving wheel are used for controlling the movement direction and speed of the field operation machine, and the operation device is used for performing field operation.
Preferably, the diameter of the support wheel is greater than 50 cm.
As a further preference, the diameter of the support wheel is greater than 80 cm.
Preferably, the field work machine further comprises a control device; the first output end of the control device is connected with the input end of the first driving motor, and the second output end of the control device is connected with the input end of the second driving motor;
the control device is used for obtaining a first driving signal and a second driving signal.
Preferably, the field working machine further comprises a brake device, a third output end of the control device is connected with an input end of the brake device, a first control end of the brake device is connected with the first driving wheel and/or a second control end of the brake device is connected with the second driving wheel; the control device is further used for obtaining a braking signal, and the braking device is used for acting according to the braking signal so as to be in close contact with the first driving wheel and the second driving wheel to stop the rotation of the first driving wheel and the second driving wheel.
Preferably, the field operation machine further comprises an attitude sensing device, an output end of the attitude sensing device is connected with an input end of the control device, the attitude sensing device is used for acquiring motion parameters, and the motion parameters are the speed, the advancing direction or the inclination angle of the field operation machine.
As a further preferred option, the field operation machine further comprises a signal transceiver, and an interaction end of the signal transceiver is connected with an interaction end of the control device; the control device is also used for acquiring the state signal, and the signal transceiver is used for acquiring the control signal from the outside and sending the state signal to the outside.
As a further preference, the signal transceiver is also used for obtaining a spatial position signal of the field work machine.
As a further preference, the fourth output of the control device is connected to the input of the working device; the control device is also used for obtaining an operation signal, and the operation device is used for performing field operation according to the operation signal.
Preferably, the operation device is a seeder, a sign inserting device, a scriber, a rice transplanter or a feeder; the seeder is used for seeding in the field, the label inserting device is used for inserting labels in the field according to crop planting requirements, the scriber is used for drawing grid lines in the field, the seedling transplanting device is used for planting seedlings, and the feeder is used for loading fertilizers or pesticides and throwing the fertilizers or the pesticides.
Preferably, the field operation machine further comprises an obstacle sensing device arranged at the front end of the field operation machine; the obstacle sensing device is used for acquiring obstacle signals of the field operation machine, and the state signals comprise obstacle signals.
As a further preferred aspect, the obstacle sensing device includes a probe wave transmitter and a probe wave receiver.
Preferably, the supporting wheel further comprises an auxiliary supporting wheel or an auxiliary driving wheel which is arranged between the first driving wheel and the second driving wheel and is positioned on the same axis, the auxiliary supporting wheel is used for assisting in supporting the field operation machine, and the auxiliary driving wheel is used for assisting in controlling the movement direction and speed of the field operation machine; the auxiliary supporting wheels and the auxiliary driving wheels can enable the field operation machine to be applied to large-area farmlands.
According to another aspect of the present invention there is provided a working device for a field work machine as described above, the working device having a suspension member at its upper end for securing the working device to the bridge means and being movable laterally of and adjustable along the bridge means.
Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the center of gravity of the field operation machine is arranged below the central shafts of the first driving wheel and the second driving wheel, so that the field operation machine is more balanced and more stable in center of gravity, and a counterweight medicine box and a buffering medicine box are not required to be arranged to ensure the balance of the center of gravity of the vehicle body while the field operation machine is suitable for field operation, so that the vehicle body structure is simplified, the energy is saved, and the field operation machine can load more goods;
2. during the advancing process of the field operation machine, the gravity center of the operation device is left below the rear part of the central shaft, so that the torque for driving the field operation machine to advance can be formed, and the field operation machine can keep walking;
3. the first driving wheel and the second driving wheel are adopted for driving and steering, so that the turning radius is reduced, the walking flexibility is improved, and the walking machine is more suitable for light field operation.
Drawings
FIG. 1 is a schematic view of the front structure of the field operation machine of the present invention (the bridging device is straight);
FIG. 2 is a schematic view of the front structure of the field work machine of the present invention (the bridge device is arched);
FIG. 3 is a schematic view of the walking principle of the field operation machine of the present invention;
FIG. 4 is a schematic structural view of example 1 of the present invention;
FIG. 5 is a schematic structural view of example 2 of the present invention;
the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 111-internal connections; 112-outer peripheral running part; 11-a drive wheel; 12-a bridging device; 13-a control device; 1-a walking device; 14-a power supply; 15-driving the motor; 2-a working device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 and 2, the unmanned field work machine of the present invention includes a traveling device 1 and a work device 2; the walking device 1 is used for driving the operation device 2 to move in the field; the operation device 2 is a seeder, a sign inserting device, a scriber, a seedling transplanting device or a feeder and is used for field operation; when the operation device 2 is the disseminator, it is used for sowing in the field, works as when the operation device 2 is for inserting the sign ware, it is used for installing the sign and throws the sign during the operation, works as when the operation device 2 is the scriber, it is used for drawing the gridline in the field, works as when the operation device 2 is for transplanting rice seedlings ware, it is used for installing the seedling and field planting seedling during the operation, the feeder is used for installing fertilizer or pesticide and puts in.
The walking device 1 comprises a bridging device 12, a supporting wheel, a first driving motor 15 and a second driving motor 15; the bridging device 12 may be straight, as shown in fig. 1, or may be arched, as shown in fig. 2; the supporting wheels comprise a first driving wheel 11 and a second driving wheel 11 which are symmetrically arranged at two ends of a bridging device 12, a control end of a first driving motor 15 is connected with the first driving wheel 11, a control end of a second driving motor 15 is connected with the second driving wheel 11, the first driving wheel 11 and the second driving wheel 11 are coaxially connected through the bridging device 12, a suspension member is arranged at the top end of the operating device 2 to fix the operating device 2 on the bridging device 12, the diameter of each supporting wheel is larger than 50cm and preferably larger than 80cm, so that the gravity center of the field operating machine is located below the central axis of the first driving wheel 11 and the central axis of the second driving wheel 11, the field operating machine is more balanced, and the gravity center is more stable;
the first driving motor 15 is used for obtaining a first torque, and the second driving motor 15 is used for obtaining a second torque; the first driving wheel 11 is configured to rotate according to a first torque, and the second driving wheel 11 is configured to rotate according to a second torque; the first driving wheel 11 and the second driving wheel 11 rotate independently, so that the speed of the field operation machine can be controlled, the field operation machine can move forward in different movement directions according to different torques, and the field operation machine can play a driving role and a steering role.
Since the first driving wheel 11 and the second driving wheel 11 are composed of the outer peripheral traveling part 112 and the inner connecting part 111 in the circumferential direction, the outer peripheral traveling part 112 is used for contacting the ground, the inner connecting part 111 is used for connecting with the bridging device 12, and the control end of the driving motor 15 is arranged between the outer peripheral traveling part 112 and the inner connecting part 111, so as to promote the relative movement of the inner wall of the outer peripheral traveling part 112 and the outer wall of the inner connecting part 111; during travel of the field work machine, the center of gravity of the work implement 2 will reach the front of the central axis of the drive wheel 11 due to inertia, and since the work implement 2 is subjected to a gravitational force f, this gravitational force can be resolved into a force directed towards the bridge attachment 12Counter-acting force f1And perpendicular to f1Tangential force f2The tangential force f2And can be decomposed into vertical force f21And a horizontal force f22，f22A reaction force is generated in the horizontal direction to drive the field operation machine to walk, as shown in fig. 3.
The field work machine may further comprise a control device 13; a first output end of the control device 13 is connected with an input end of a first driving motor 15, and a second output end of the control device is connected with an input end of a second driving motor 15; the control device 13 is configured to obtain a first driving signal and a second driving signal; when the first driving signal is the same as the second driving signal, the torques generated by the first driving motor 15 and the second driving motor 15 are also the same, and when the first driving signal is different from the second driving signal, for example, when only the first driving signal is available and the second driving signal is not available, the first driving wheel 11 rotates, the second driving wheel 11 does not move, and the field working machine turns to one side of the second driving wheel 11; meanwhile, the control device 13 may be connected to the working device 2, and may control the working intensity and frequency of the working device 2 by the working signal.
The field operation machine also comprises a braking device, an attitude sensing device, a signal transceiving device or an obstacle sensing device, which can be connected with the control device 13; the first control end of the braking device is connected to the first driving wheel 11, and the second control end of the braking device is connected to the second driving wheel 11, so as to be in close contact with the first driving wheel 11 and the second driving wheel 11 according to the braking signal, and stop the rotation of the first driving wheel 11 and the second driving wheel 11.
And the posture sensing device can acquire the motion parameters of the field operation machine, such as one or more of the speed, the advancing direction or the inclination angle of the field operation machine. Obstacle sensing devices are typically located at the front end of field work machines; the system is used for acquiring obstacle signals in front of or below the field operation machine; the obstacle sensing device comprises a detection wave transmitter and a detection wave receiver, wherein the transmitting direction of the detection wave transmitter is the same as the direction of the obstacle, the receiving direction of the detection wave receiver is opposite to the transmitting direction of the detection wave transmitter, and the detection wave can be ultrasonic wave or infrared ray; when the transmission direction of the probe wave transmitter is forward, the obstacle to be detected is usually a protrusion such as an object accidentally left in the field, and when the transmission direction of the probe wave transmitter is downward in the forward direction, the obstacle to be detected is usually a depression such as a pit, and the probe wave receiver is informed of whether there is an obstacle in the forward direction by whether the reception signal of the probe wave is abnormal. The signal transceiver can obtain control signals from the outside, so that the field operation machine can work under the external remote control.
Wherein the generation of the work signal, the drive signal and the brake signal may be associated with the obstacle signal, the motion parameter and the control signal; for example, the control device 13 may obtain an abnormal motion parameter (e.g. a tilt angle exceeding the position 15)°～20°When a certain threshold value is reached), a braking signal is sent out; or when an obstacle is acquired in front through the obstacle signal, the first driving signal and the second driving signal are changed, so that the walking device 1 turns to bypass the obstacle; or the first driving signal and the second driving signal are changed according to the command of the external control signal, so that the direction and the speed of the walking device 1 are changed, or the working signal is changed, so that the working frequency or the working intensity of the working device 2 is changed.
A plurality of auxiliary support wheels or auxiliary drive wheels may be provided between the first drive wheel 11 and the second drive wheel 11, and these auxiliary support wheels or auxiliary drive wheels may follow the traveling device 1 or may be driven by the remaining drive motors 15; the auxiliary supporting wheels or the auxiliary driving wheels are arranged, so that the operation range of the field operation machine is favorably improved, the pressure on the ground is reduced, and the field operation machine is suitable for large-area field operation.
Example 1
The field work machine of fig. 4 includes a drive wheel 11, a control device 13, a power source 14, and the like; two driving wheels 11 are connected through a bridging device 12, two control devices 13 and two power sources 14 are symmetrically arranged on the outer sides of the driving wheels 11, and the working device 2 is mounted below the bridging device 12, wherein the working device 2 is a scriber in the embodiment.
Example 2
The field work machine of fig. 5 includes a drive wheel 11, a control device 13, a power source 14, and the like; wherein two drive wheels 11 are connected through bridging device 12, two controlling means 13 and two power 14 symmetry set up in the outside of drive wheel 11, and bridging device 12 installs the apparatus 2 in the below, and in this embodiment, the apparatus 2 is the seed metering ware, and this seed metering ware has two seed storage tanks.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An unmanned two-wheel drive type field operation machine comprises a walking device (1) and an operation device (2); the walking device is characterized in that supporting wheels of the walking device (1) are coaxially arranged, the supporting wheels comprise a first driving wheel (11) and a second driving wheel (11) which are coaxially connected through a bridging device (12), the first driving wheel and the second driving wheel are used for driving and steering, the first driving wheel (11) is connected with a first driving motor (15), and the second driving wheel (11) is connected with a second driving motor (15); the operation device (2) is fixed on the bridging device (12), the gravity center of the operation device is positioned below the central shafts of the first driving wheel (11) and the second driving wheel (11), and the gravity center of the field operation machine is arranged below the central shafts of the first driving wheel and the second driving wheel;
when the field operation machine moves forwards, the gravity center of the operation device reaches the front part of the central shaft due to inertia, so that the field operation machine is driven to move.
2. A two wheel drive field work machine according to claim 1 wherein the support wheels are greater than 50cm in diameter.
3. A two-wheeled drive field work machine according to claim 1, further comprising control means (13); the first output end of the control device (13) is connected with the input end of the first driving motor (15), and the second output end of the control device is connected with the input end of the second driving motor (15).
4. A two wheel drive field work machine according to claim 3 further comprising attitude sensing means having an output connected to an input of the control means (13).
5. A two wheel drive field work machine according to claim 3 further comprising a signal transceiver device, the interface end of which is connected to the interface end of the control device (13).
6. A two wheel drive field work machine according to claim 3, characterised in that the fourth output of the control device (13) is connected to the input of the work device (2).
7. A two-wheeled driven field work machine according to claim 1, characterised in that said working device (2) is a seeder, a sign-planter, a marker, a transplanter or a feeder.
8. The two-wheeled drive field work machine of claim 1, further comprising an obstacle sensing device disposed at a front end of the field work machine.
9. The two-wheeled field work machine of claim 8, wherein said obstruction sensing device comprises a probe wave transmitter and a probe wave receiver.
10. A working unit (2) for a two-wheeled field work machine according to any one of claims 1-9, characterised in that the working unit (2) has suspension means for securing the working unit (2) to the bridge means (12) and being movable laterally along the bridge means (12).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017101902410 | 2017-03-28 | ||
| CN201710190241 | 2017-03-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108093717A CN108093717A (en) | 2018-06-01 |
| CN108093717B true CN108093717B (en) | 2020-12-01 |
Family
ID=62213605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711437485.0A Expired - Fee Related CN108093717B (en) | 2017-03-28 | 2017-12-26 | Unmanned field operation machine and operation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108093717B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109769437A (en) * | 2019-01-30 | 2019-05-21 | 武汉田间智能科技有限公司 | A kind of intelligent seeder device people |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2266863Y (en) * | 1996-04-25 | 1997-11-12 | 杨景华 | Single wheel synchro-sowing machine |
| JPH10150809A (en) * | 1996-11-19 | 1998-06-09 | Iseki & Co Ltd | Mobile farm machine |
| CN200962724Y (en) * | 2006-11-01 | 2007-10-24 | 刘翠莲 | Seed and fertilizer double-wheel driving device for seeding machine |
| CN101323328B (en) * | 2008-07-02 | 2012-09-12 | 南京农业大学 | Agricultural intelligent mobile robot platform |
| CN104285553A (en) * | 2014-11-06 | 2015-01-21 | 黄小勤 | Intelligent seeder with automatic seed sowing function |
| CN105211032B (en) * | 2015-08-10 | 2018-08-14 | 山东帅克机械制造股份有限公司 | A kind of intelligent multi-function plant protection robot |
| CN105707043B (en) * | 2016-03-11 | 2018-11-06 | 吉林省农业机械研究院 | A kind of double-wheel self-balancing remote control electric plant protection vehicle and its control method |
| CN206042768U (en) * | 2016-09-09 | 2017-03-29 | 上海世达尔现代农机有限公司 | Intelligent electric seeder |
| CN106922237A (en) * | 2017-03-27 | 2017-07-07 | 武汉优视科技有限公司 | A kind of device that paddles for floating over wet overground locomotion |
-
2017
- 2017-12-26 CN CN201711437485.0A patent/CN108093717B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108093717A (en) | 2018-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10813263B2 (en) | Autonomous or remote-controlled vehicle platform for spraying | |
| US20200107495A1 (en) | Autonomous or remote-controlled vehicle platform for planting | |
| CN106080755B (en) | A kind of electronic steering mechanism, omnidirectional of intelligent machine | |
| AU2016315708B2 (en) | Systems, methods, and apparatus for multi-row agricultural implement control and monitoring | |
| CN108156865B (en) | A field operation machinery for wetland | |
| US10251385B2 (en) | Apparatus for determining an application rate for a product delivered by an agricultural vehicle | |
| CN108181901B (en) | Unmanned field operation machine, operation device and control method | |
| US9402340B2 (en) | Closing wheel adjustment | |
| CN104855361A (en) | Intelligent remote-control front-drive plant protection equipment and control method thereof | |
| CN108093717B (en) | Unmanned field operation machine and operation device | |
| KR101372740B1 (en) | Running robot having four legs | |
| CN102972111A (en) | Weeding device capable of weeding among seedlings | |
| KR20120064027A (en) | Multi-row farm working machinery | |
| CN211792858U (en) | Rice transplanter | |
| CN108337958A (en) | Intelligent corn drill | |
| SE1451417A1 (en) | Agricultural implements for tillage with steerable axles | |
| KR102421052B1 (en) | An electrically powered transplant platform | |
| JP6465130B2 (en) | Work vehicle | |
| KR101876287B1 (en) | Carriage with steering | |
| KR102024546B1 (en) | Steering control device for agricultural vehicles | |
| JP2020089298A (en) | Electrically-driven rice transplanter | |
| CN211831824U (en) | Crop seeder | |
| JP5056746B2 (en) | Multi-purpose agricultural machine | |
| CN109661874B (en) | Electric seed metering device and seeder | |
| CN108811621B (en) | Peanut seeder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201201 Termination date: 20211226 |