CN111194582B - Cutter disc adjusting mechanism and weeding robot - Google Patents
Cutter disc adjusting mechanism and weeding robot Download PDFInfo
- Publication number
- CN111194582B CN111194582B CN202010029577.0A CN202010029577A CN111194582B CN 111194582 B CN111194582 B CN 111194582B CN 202010029577 A CN202010029577 A CN 202010029577A CN 111194582 B CN111194582 B CN 111194582B
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- Prior art keywords
- frame
- cutter head
- cutter
- cutterhead
- linear driving
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- Expired - Fee Related
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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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
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- 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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
- A01B39/16—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines
- A01B39/163—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines comprising rotating tools
- A01B39/166—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines comprising rotating tools actively driven
-
- 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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
-
- 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
- A01B39/00—Other machines specially adapted for working soil on which crops are growing
- A01B39/20—Tools; Details
- A01B39/22—Tools; Mounting tools
Abstract
The invention relates to a cutter disc adjusting mechanism and a weeding robot, wherein the cutter disc adjusting mechanism comprises a cutter disc frame, a connecting frame and an adjusting structure; the adjusting structure is positioned between the cutter disc frame and the connecting frame; the adjusting structure comprises a first linear driving part, a second linear driving part and a connecting rod; two ends of the first linear driving component are respectively and rotatably connected with the cutter head frame and the connecting frame; two ends of the connecting rod are respectively and rotatably connected with the cutter head frame and the connecting frame; two ends of the second linear driving part are respectively and rotatably connected with the connecting rod and the connecting frame. By arranging the adjusting structure connected with the cutter head frame, on one hand, the invention is suitable for the traditional clear-ploughing weeding orchard and can adjust the hoeing depth and the cutter soil-entering inclination angle; on the other hand, the grass-mowing machine is suitable for a grass-growing orchard, and can adjust the mowing height to meet different weeding requirements; in addition, a larger operation space is provided for operators, and the cutter head is convenient to check and replace.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a cutter adjusting mechanism and a weeding robot.
Background
The orchard industry is an important industry in China, a lot of weeds can grow among fruit trees, the weeds compete with the fruit trees for sunlight, water, nutrients and the like in soil, the absorption of nutrients by the fruit trees is affected, the growth of the fruit trees is slow, the yield is reduced, the quality is damaged, and therefore the weeds in the orchard need to be removed for multiple times.
The mechanical weeding size of a common orchard is large, the trafficability is poor, and the branches and the hair roots of fruit trees are damaged; weeds in plants cannot be removed, weeds in wide rows of fruit trees can be removed, the weeding effect is not ideal, and about 30% of weeds in the area between the fruit trees cannot be removed, so that secondary supplement and removal are needed manually.
However, the weeding height of the existing weeding device is fixed, and the grass roots cannot be eradicated, so that the weeds cannot be eradicated thoroughly; the slope or undulation of the grass cannot be adapted.
Disclosure of Invention
The invention aims to provide a cutter head adjusting mechanism and a weeding robot, which can adjust weeding height and an earth-entering inclination angle of a cutter head, adapt to different grasslands and meet different weeding requirements and weeding requirements.
In order to achieve the above object, a first aspect of the present invention provides a cutter head adjusting mechanism, which includes a cutter head frame, a connecting frame and an adjusting structure;
the cutter disc frame is opposite to the connecting frame, and the adjusting structure is positioned between the cutter disc frame and the connecting frame;
the adjusting structure comprises a first linear driving part, a second linear driving part and a connecting rod;
the first end of the first linear driving part is rotatably connected with the cutter head frame, and the second end of the first linear driving part is rotatably connected with the connecting frame;
the first end of the connecting rod is rotatably connected with the cutter head frame, and the second end of the connecting rod is rotatably connected with the connecting frame;
the first end of the second linear driving part is rotatably connected with the connecting rod, and the second end of the second linear driving part is rotatably connected with the connecting frame.
By arranging the adjusting structure connected with the cutter head frame, on one hand, the invention is suitable for the traditional clear-ploughing weeding orchard, and adjusts the hoeing depth and the cutter soil-entering inclination angle, so that the soil-cutting stress is minimum; on the other hand, the grass-mowing machine is suitable for a grass-growing orchard, and can adjust the mowing height to meet different weeding requirements; the adjustment structure is used for adjusting the inclination angle of the cutter head to be the same as that of the slope surface, so that weeds on the slope surface are completely removed; in addition, a larger operation space is provided for operators, and the cutter head is convenient to check and replace.
Further, the first end of the second linear drive member is rotatably coupled between the first end and the second end of the link.
Further, the link is located between the first linear drive component and the second linear drive component.
Further, the first linear driving part or the second linear driving part is one of the following modes: electric push rod, hydraulic push rod, pneumatic push rod, the mixed push rod of electricity liquid.
Further, the cutter adjusting mechanism further comprises a limiting structure, and the limiting structure is located on one side of the adjusting structure.
Further, limit structure includes first limiting plate and second limiting plate, first limiting plate with the blade disc frame is connected, the second limiting plate with the link is connected, first limiting plate with the second limiting plate contacts.
Further, the first limiting plate and the second limiting plate are semicircular in shape.
Further, blade disc guiding mechanism includes the blade disc subassembly, the blade disc frame with the blade disc subassembly is connected.
The invention provides a weeding robot, which comprises the cutterhead adjusting mechanism, wherein the cutterhead frame comprises a first cutterhead frame and a second cutterhead frame, the adjusting mechanism comprises a first adjusting structure and a second adjusting structure, the first adjusting structure is positioned between the first cutterhead frame and the connecting frame, and the second adjusting structure is positioned between the second cutterhead frame and the connecting frame.
Further, weeding robot includes moving platform, the link with moving platform is connected.
The beneficial effects of the invention at least comprise:
(1) by arranging the adjusting structure connected with the cutter head frame, on one hand, the invention is suitable for the traditional clear-ploughing weeding orchard, and adjusts the hoeing depth and the cutter soil-entering inclination angle, so that the soil-cutting stress is minimum; on the other hand, the grass-mowing machine is suitable for a grass-growing orchard, and can adjust the mowing height to meet different weeding requirements; the adjustment structure is used for adjusting the inclination angle of the cutter head to be the same as that of the slope surface, so that weeds on the slope surface are completely removed; in addition, a larger operation space is provided for operators, and the cutter head is convenient to check and replace.
(2) According to the invention, the limiting structure is arranged on one side of the adjusting mechanism, so that the cutter head is prevented from inclining when being influenced by an external obstacle, the damage to the adjusting structure is reduced, and the stability of the cutter head frame is ensured.
(3) According to the invention, the cutter disc adjusting mechanism is arranged on the movable robot body, so that automatic weeding, automatic adjustment of the weeding height and the inclination angle of the cutter disc are realized, the labor intensity of workers is reduced, and the weeding efficiency is improved.
Drawings
FIG. 1 is a schematic front view of a cutter adjustment mechanism according to the present invention;
FIG. 2 is a schematic structural view of a cutter adjustment mechanism of the present invention;
FIG. 3 is a schematic diagram of a limiting structure in the cutter head adjusting mechanism according to the present invention;
FIG. 4 is a schematic structural view of the weeding robot of the present invention;
FIG. 5 is a schematic structural view of a mobile platform of the weeding robot according to the present invention;
FIG. 6 is a schematic view of the operation of the cutter adjustment mechanism of the present invention;
description of reference numerals:
100-a cutter head adjusting mechanism; 110-a cutter-blade holder; 110-1 a first blade carrier; 110-2 a second cutterhead frame; 120-a connecting frame; 130-an adjustment structure; 130-1-a first adjustment structure; 130-2-a second adjustment structure; 131-a first linear drive component; 132-a connecting rod; 133-a second linear drive component; 140-a limit structure; 141-a first limiting plate; 142-a second limiting plate; 150-a cutter head assembly; 151-cutter head cover; 152-a cutter head; 153-a motor; 200-a mobile platform; 201-fixing the mounting plate; 202-a chassis; 203-a battery pack; 204-control box
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures 1 to 6 are described in detail below.
Referring to fig. 1, the present invention provides a cutter head adjusting mechanism, which includes a cutter head frame 110, a connecting frame 120 and an adjusting structure 130, wherein the cutter head frame 110 is arranged opposite to the connecting frame 120; the first end of the adjusting structure 130 is connected to the cutter holder 110, the second end of the adjusting structure 130 is connected to the connecting frame 120, and the adjusting structure 130 can lift or tilt the cutter holder 110 by a certain angle.
Preferably, referring to fig. 1, the adjusting structure 130 includes a first linear driving part 131, a second linear driving part 133 and a connecting rod 132;
a first end of the first linear driving member 131 is rotatably connected to the cutter head holder 110, and a second end of the first linear driving member 131 is rotatably connected to the connecting frame 120;
a first end of the connecting rod 132 is rotatably connected with the cutter head bracket 110, and a second end of the connecting rod 132 is rotatably connected with the connecting frame 120;
a first end of the second linear driving member 133 is rotatably connected to the link 132, and a second end of the second linear driving member 133 is rotatably connected to the connecting frame 120.
Therefore, the adjusting structure 130 connected with the cutter disc frame 110 is arranged, so that the weeding machine is suitable for the traditional clearing and weeding orchard, and the hoeing depth and the soil-entering inclination angle of the cutter disc 152 are adjusted, so that the soil-cutting stress is minimum; on the other hand, the adjustment structure 130 is adapted to weeding on the slope, and the adjustment structure is used for adjusting the inclination angle of the cutter disc 152 to be the same as the slope, so that the weeds on the slope are completely removed; in addition, the height and the inclination angle of the cutter head 152 can be adjusted, when the mowing robot breaks down or is stuck, an operator can conveniently check the height and the inclination angle, when parts such as the cutter head 152 are damaged and need to be replaced, a larger operation space is provided for the operator, and the parts such as the cutter head 152 can be conveniently replaced by the operator.
Preferably, referring to fig. 1, a first end of the second linear driving member 133 is rotatably connected between a first end and a second end of the connecting rod 132.
Preferably, the connecting rod 132 is located between the first linear driving part 131 and the second linear driving part 133.
Preferably, the first linear driving part 131 or the second linear driving part 133 is one of the following ways: electric push rod, hydraulic push rod, pneumatic push rod, the mixed push rod of electricity liquid.
In a specific embodiment, the cutter head frame 110 is provided with a first support and a second support; the second support is arranged below the first support, and the first support is hinged with the first end of the first linear driving component 131; the second support is hinged with the first end of the connecting rod 132;
the connecting frame 120 is provided with a third support, a fourth support and a fifth support; the third support is located at the uppermost end, the fourth support is arranged between the third support and the fifth support, and the third support is hinged with the second end of the first linear driving part 131; the fourth support is hinged with the second end of the connecting rod 132; the fifth support is hinged to the second end of the second linear driving unit 133.
Referring to fig. 2, the cutter disc adjusting mechanism 100 further comprises a limiting structure 140, and the limiting structure 140 is located at one side of the adjusting structure 130.
The limiting structure 140 includes a first limiting plate 141 and a second limiting plate 142, the first limiting plate 141 is connected to the cutter head holder 110, the second limiting plate 142 is connected to the connecting frame 120, and the first limiting plate 141 contacts the second limiting plate 142.
It should be noted that the first limit plate 141 and the cutter head holder 110 are detachably connected, such as by bolts; the second limiting plate 142 is detachably connected to the connecting frame 120, for example, by bolts.
Preferably, referring to fig. 3, the first and second stopper plates 141 and 142 are shaped in a semicircular shape.
Therefore, the invention prevents the cutter disc 152 from tilting when being affected by external obstacles by arranging the limit structure 140 on one side of the adjusting mechanism, reduces the damage to the adjusting structure 130 and ensures the stability of the cutter disc frame 110.
Referring to fig. 1, the cutter disc adjustment mechanism 100 includes a cutter disc assembly 150, and the cutter disc frame 110 is connected to the cutter disc assembly 150.
The cutter head assembly 150 includes a stationary cutter head cover 151, and the cutter head housing 110 is connected to the cutter head cover 151.
The cutter head assembly 150 further comprises a cutter head 152 and a motor 153, the motor 153 is fixed on the fixed cutter head cover 151, a motor shaft of the motor 153 is connected with a rotating shaft of the cutter head 152, and the motor 153 drives the cutter head 152 to rotate for mowing.
Referring to fig. 4, a second aspect of the present invention provides a weeding robot, including the cutter head adjustment mechanism 100, the cutter head frame 110 includes a first cutter head frame 110-1 and a second cutter head frame 110-2, the adjustment structure 130 includes a first adjustment structure 130-1 and a second adjustment structure 130-2, the first adjustment structure 130-1 is located between the first cutter head frame 110-1 and the connecting frame 120, and the second adjustment structure 130-2 is located between the second cutter head frame 110-2 and the connecting frame 120.
Preferably, referring to fig. 5, the weeding robot comprises a mobile platform 200, wherein the mobile platform 200 comprises a fixed mounting plate 201 and a chassis 202; the connecting frame 120 is positioned at the front end of the fixed mounting plate 201, and the connecting frame 120 is vertically connected with the fixed mounting plate 201; the fixed mounting plate 201 is connected with the chassis 202, and the chassis 202 drives the cutter adjusting mechanism 100 to move.
It should be noted that the connection manner of the connection frame 120 and the fixed mounting plate 201 may be a fixed connection, such as welding, or a detachable connection, such as a screw connection.
Therefore, according to the invention, the cutter disc adjusting mechanism 100 is arranged on the movable robot body, so that automatic weeding and automatic adjustment of the height and angle of weeding are realized, the labor intensity of workers is reduced, and the weeding efficiency is improved.
Referring to fig. 5, the weeding robot further includes a battery pack 203 and a control box 204, and the battery pack 203 and the control box 204 are respectively mounted on the fixed mounting plate 201 of the mobile platform 200 to provide power for the robot.
Referring to fig. 6, the working principle and working flow of the present invention are as follows: the first linear driving member 131 is located above the second linear driving member 133, and the connecting rod 132 is located between the first linear driving member 131 and the second linear driving member 133.
When the weeding operation is not performed during the traveling process of the weeding robot, the adjusting structure acts to enable the cutter disc to be away from the ground for a certain distance, at this time, by adjusting the extension amounts of the first linear driving part 131 and the second linear driving part 133 to be maximum, the position of the end E of the connecting rod 132 is higher than that of the end B of the connecting rod 132, and when the first included angle between the connecting rod 132 and the horizontal plane is maximum, the cutter disc frame 110 is at the highest position, as shown in fig. 6 (c); when the weeding robot performs weeding operation, the link 132 is rotated counterclockwise by reducing the extension amounts of the first and second linear driving members 131 and 133, so that the link 132 is parallel to the horizontal plane, and the cutter head frame 110 is in a middle position, as shown in fig. 6 (a); continuously reducing the elongation of the first linear driving member 131 and the second linear driving member 133 to make the B end of the connecting rod 132 be higher than the E end of the connecting rod 132, so that the height of the cutter-disc holder 110 is reduced, and the weeding height is adjusted; keeping the elongation of the second linear driving member 133 unchanged, the cutter disc frame 110 can rotate around the end E of the connecting rod 132 by adjusting the elongation of the first linear driving member 131, on one hand, the inclination angle of the cutter disc frame is adjusted, and further, a reasonable soil penetrating angle is selected to reduce the soil cutting force; on the other hand, when weeding is carried out on a slope surface, the inclination angle of the cutter disc frame 110 is adjusted to enable the cutter disc to be parallel to the slope surface, so that weeds on the slope surface can be completely removed; when the second angle between the link 132 and the horizontal plane is at a maximum, the cutter head bracket 110 is at the lowest point, as shown in fig. 6 (b).
Therefore, the invention has at least the following beneficial technical effects:
(1) the invention adjusts the mowing height through the adjusting structure, is suitable for orchard making by grass and meets different weeding requirements.
(2) The invention adjusts the inclination angle of the cutter head by adjusting the structure, is suitable for the traditional clear-ploughing weeding orchard, adjusts the inclination angle of weeding or hoeing, selects a reasonable soil-entering inclination angle, reduces the soil-cutting stress, improves the weeding efficiency and prolongs the service life of the weeding device.
(3) The invention adjusts the inclination angle of the cutter head through the adjusting structure, adapts to the weeding of the slope surface, and adjusts the same inclination angle of the cutter head and the slope surface, thereby completely removing the weeds on the slope surface.
(4) According to the invention, the height and the inclination angle of the cutter head are adjusted through the adjusting structure, so that when the mowing robot breaks down or is stuck, an operator can conveniently check the height and the inclination angle, when parts such as the cutter head are damaged and need to be replaced, a larger operation space is provided for the operator, and the parts such as the cutter head can be conveniently replaced by the operator.
(5) According to the invention, the limiting structure is arranged on one side of the adjusting mechanism, so that the cutter head is prevented from inclining when being influenced by an external obstacle, the damage to the adjusting structure is reduced, and the stability of the cutter head frame is ensured.
(6) According to the invention, the cutter disc adjusting mechanism is arranged on the movable robot body, so that automatic weeding and automatic adjustment of the height and angle of weeding are realized, the labor intensity of workers is reduced, and the weeding efficiency is improved.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A cutter head adjusting mechanism is characterized by comprising a cutter head frame, a connecting frame and an adjusting structure;
the cutter disc frame is opposite to the connecting frame, and the adjusting structure is positioned between the cutter disc frame and the connecting frame;
the adjusting structure comprises a first linear driving part, a second linear driving part and a connecting rod;
the first end of the first linear driving part is rotatably connected with the cutter head frame, and the second end of the first linear driving part is rotatably connected with the connecting frame;
the first end of the connecting rod is rotatably connected with the cutter head frame, and the second end of the connecting rod is rotatably connected with the connecting frame;
the first end of the second linear driving part is rotatably connected with the connecting rod, and the second end of the second linear driving part is rotatably connected with the connecting frame;
the cutter head adjusting mechanism further comprises a limiting structure, and the limiting structure is positioned on one side of the adjusting structure;
the limiting structure comprises a first limiting plate and a second limiting plate, the first limiting plate is connected with the cutter head frame, the second limiting plate is connected with the connecting frame, and the first limiting plate is in contact with the second limiting plate.
2. The cutter adjustment mechanism of claim 1 wherein said first end of said second linear drive member is rotatably connected between said first and second ends of said link.
3. The cutterhead adjustment mechanism of claim 1, wherein the linkage is located between the first linear drive member and the second linear drive member.
4. The cutterhead adjustment mechanism of claim 1, wherein the first linear drive member or the second linear drive member is one of: electric push rod, hydraulic push rod, pneumatic push rod, the mixed push rod of electricity liquid.
5. The cutterhead adjustment mechanism of claim 1, wherein the first and second limit plates are semi-circular in shape.
6. The cutterhead adjustment mechanism of claim 1, including a cutterhead assembly, the cutterhead frame being connected to the cutterhead assembly.
7. A herbicidal robot comprising the cutterhead adjustment mechanism according to any of claims 1-6, wherein the cutterhead includes a first cutterhead and a second cutterhead, the adjustment mechanism includes a first adjustment structure and a second adjustment structure, the first adjustment structure being located between the first cutterhead and the connecting frame, the second adjustment structure being located between the second cutterhead and the connecting frame.
8. A weeding robot as claimed in claim 7, comprising a mobile platform, and wherein the connecting frame is connected to the mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010029577.0A CN111194582B (en) | 2020-01-10 | 2020-01-10 | Cutter disc adjusting mechanism and weeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010029577.0A CN111194582B (en) | 2020-01-10 | 2020-01-10 | Cutter disc adjusting mechanism and weeding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111194582A CN111194582A (en) | 2020-05-26 |
| CN111194582B true CN111194582B (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010029577.0A Expired - Fee Related CN111194582B (en) | 2020-01-10 | 2020-01-10 | Cutter disc adjusting mechanism and weeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111194582B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2767791C1 (en) * | 2021-05-24 | 2022-03-21 | федеральное государственное бюджетное образовательное учреждение высшего образования "Алтайский государственный технический университет им. И.И. Ползунова" (АлтГТУ) | Machine for inter-row and near-stem tillage |
| CN113557806B (en) * | 2021-07-27 | 2022-06-10 | 黄河交通学院 | Orchard weeding robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1019918C2 (en) * | 2002-02-07 | 2003-08-21 | Dingenis Laurens Huissoon | Mobile device for earthmoving and other activities, such as lifting and moving loads. |
| JP4268898B2 (en) * | 2004-03-31 | 2009-05-27 | 株式会社キュウホー | Paddy weeder |
| KR100687206B1 (en) * | 2005-02-16 | 2007-02-27 | 송준복 | Weeder |
| FR2907637B1 (en) * | 2006-10-31 | 2009-01-30 | Sas Dairon Soc Par Actions Sim | "BRUSHCUTTER-VEGETABLE MILL DEVICE" |
| CN102530788B (en) * | 2011-12-16 | 2014-04-16 | 长沙中联消防机械有限公司 | High altitude work vehicle and working hopper protection device thereof |
| CN202635028U (en) * | 2012-07-17 | 2013-01-02 | 新疆农业大学 | Vertical type orchard weeding machine |
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2020
- 2020-01-10 CN CN202010029577.0A patent/CN111194582B/en not_active Expired - Fee Related
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| CN111194582A (en) | 2020-05-26 |
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