CN202751320U - Glass wiping device - Google Patents
Glass wiping device Download PDFInfo
- Publication number
- CN202751320U CN202751320U CN 201220308242 CN201220308242U CN202751320U CN 202751320 U CN202751320 U CN 202751320U CN 201220308242 CN201220308242 CN 201220308242 CN 201220308242 U CN201220308242 U CN 201220308242U CN 202751320 U CN202751320 U CN 202751320U
- Authority
- CN
- China
- Prior art keywords
- cleaning device
- glass cleaning
- unit
- glass
- control module
- 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 - Lifetime
Links
Images
Abstract
The utility model belongs to the technical field of intelligent robots, and particularly relates to a glass wiping device which comprises a walking unit, a cleaning unit, an adsorption unit, a drive unit and a control unit, wherein the walking unit and the cleaning unit are arranged at the bottom of the glass wiping device, and the control unit is connected with the drive unit; and the glass wiping device further comprises an accelerated speed sensing unit connected with the control unit, wherein the control unit controls the drive unit to drive the glass wiping device to stop walking or carry out a steering movement according to an accelerated speed signal value sent by the accelerated speed sensing unit. The glass wiping device can detect obstacles of a window frame and the like in time in the glass wiping process and can dodge flexibly, so that the phenomenon that the glass wiping device is got stuck on the window frame is avoided.
Description
Technical field
The utility model belongs to the intelligent robot technology field, specifically, relates to a kind of glass cleaning device.
Background technology
General existing window wiping robot is for the detection that the frame Glazed fence is arranged, by hitting plate and microswitch is differentiated mostly, when window wiping robot does not arrive glass edge, window wiping robot is normally advanced: when window wiping robot arrives the glass frame, hit plate and be pushed, trigger simultaneously microswitch, think that then window wiping robot has arrived glass edge, window wiping robot retreats, and controls the working range of window wiping robot with this.But make and have in this way following defective: owing to hit plate or microswitch easily the reason such as stuck cause not having signal or window wiping robot not to receive signal, the stuck phenomenon on the glass frame of window wiping robot may appear.
The utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, a kind of glass cleaning device at first is provided, can in the cleaning glass window process, can in time detect the barriers such as window frame and nimbly elude, the stuck phenomenon on the glass frame of glass cleaning device can not occur.
Technical problem to be solved of the present utility model is achieved by the following technical solution:
A kind of glass cleaning device comprises walking unit, cleaning unit, driver element and control module, and walking unit and cleaning unit are arranged on the bottom of glass cleaning device, and control module is connected with driver element; Described glass cleaning device also comprises the acceleration sensing unit that is connected with control module, the acceleration signal value that control module sends according to the acceleration sensing unit, and control drive unit drives glass cleaning device stops walking or carries out go to action.
The walking unit can adopt following two kinds of selections: when described walking unit is crawler belt or wheel, glass cleaning device rolls when advancing, and described acceleration sensing unit is linear acceleration transducer.When described walking unit is the rotatable vacuum chuck turntable that is arranged on glass cleaning device bottom, when described glass cleaning device was advanced by alternately rotating described vacuum chuck turntable twisting, described acceleration sensing unit was angular acceleration transducer.
Further, described vacuum chuck turntable comprises support and sucker, and described sucker is the flexible glue sucker of annular, and described support is provided with groove, and described flexible glue sucker is embedded in groove by elastic washer locates.
Described cleaning unit is installed on the support, and perhaps described cleaning unit is installed in the hollow region of described sucker.
Described vacuum chuck turntable connects the body of glass cleaning device by connector.
Further, described connector is bearing, and described bearing comprises inner ring and outer ring, is provided with ball between described inner ring and the outer ring so that inner ring can be with respect to outer ring rotating, described outer ring is fixedly connected with the body of glass cleaning device, and described inner ring is fixedly connected with vacuum chuck turntable.
Described driver element connects described vacuum chuck turntable by transmission mechanism; Described transmission mechanism is travelling gear or Timing Belt.
When control module is judged built-in threshold value during described acceleration signal value is more than or equal to control module, when perhaps acceleration signal value exceeded threshold signal scope built-in in the control module, control drive unit drives glass cleaning device stopped walking or carries out go to action.
Describedly clean the windows that to put be split type, comprise driving machine and follower, driving machine comprises walking unit, driver element, acceleration sensing unit and control module, driving machine and follower are built-in with respectively first and second magnet, make both can mutually be adsorbed on the inside and outside both sides of glass, under the suction of first and second magnet, follower and driving machine produce servo-actuated.
The walking unit comprises left and right sides crawler belt and the Athey wheel that is positioned at driving machine, and crawler belt comprises a plurality of track unit joints; The unit of perhaps walking also can only adopt wheel.
Described glass cleaning device can be monomer-type also, comprises walking unit, driver element, sensing unit and control module, and the walking unit can be left and right sides crawler belt and the Athey wheel that comprises that being positioned at cleans the windows puts, and crawler belt comprises a plurality of track unit joints; The unit of perhaps walking also can only adopt wheel.
Compared with prior art, the beneficial effects of the utility model are:
The utility model level of intelligence is high, in the cleaning glass window process, can in time detect the barrier such as window frame and nimbly elude, and reduce the friction of glass cleaning device and glass frame, the stuck phenomenon on the glass frame of glass cleaning device can not occur, be conducive to the walking of glass cleaning device.
Description of drawings
Fig. 1 is that the twisting of the utility model glass cleaning device does not knock the frame schematic diagram when advancing;
Fig. 2 is that the twisting of the utility model glass cleaning device knocks the frame schematic diagram when advancing;
Fig. 3 does not knock the frame schematic diagram when being the utility model glass cleaning device straight ahead;
Fig. 4 knocks the frame schematic diagram when being the utility model glass cleaning device straight ahead;
Fig. 5 is the utility model glass cleaning device control schematic diagram;
Fig. 6 is the utility model glass cleaning device embodiment one cross-sectional view;
Fig. 7 is that the utility model glass cleaning device embodiment one looks up structural representation.
Reference numeral:
1. absorbing unit 2. walking unit 3. cleaning units, 4. driver elements
5. control module 6. acceleration sensing unit 7. glass cleaning devices, 8. glass frames
9. support 10. suckers 11. vavuum pumps 12. exhaust tubes
13 travelling gears, 14. grooves, 15. elastic washers, 16. bodies
17. vacuum chuck turntable
The specific embodiment
The utility model glass cleaning device 7 comprises walking unit 2, cleaning unit 3, driver element 4 and control module 5, and walking unit 2 and cleaning unit 3 are arranged on the bottom of glass cleaning device 7, and control module 5 is connected with driver element 4.Described glass cleaning device 7 also comprises the acceleration sensing unit 6 that is connected with control module 5, the acceleration signal value that control module 5 sends according to acceleration sensing unit 6, and control driver element 4 drives glass cleaning device 7 to be stopped walking or carries out go to action.When need were wiped vertical glass surface, glass cleaning device also comprised absorbing unit 1, and the body of glass cleaning device is adsorbed on glass surface by absorbing unit 1.
Embodiment one
In the present embodiment, walking unit 2 is vacuum chuck turntable 17, and glass cleaning device 7 is advanced by alternately rotating vacuum chuck turntable realization twisting.Glass cleaning device 7 comprises body 16, and body 16 is provided with control module 5, driver element 4 and cleaning unit 3.Wherein, vacuum chuck turntable is connected to body 16 by connector, and this connector can be the rotary middle spindle that bearing or body arrange, so that the vacuum chuck turntable rotatable bottom that is arranged on body 16 in many ways.Can directly be set on its rotary middle spindle such as vacuum chuck turntable, this rotary middle spindle is installed in organism bottom, drives vacuum chuck turntable and rotates with respect to body.Vacuum chuck turntable is made " worker " font, is set on the rotary middle spindle, and Timing Belt is set in " worker " type groove of vacuum chuck turntable, and driver element 4 drives the vacuum chuck turntable rotation by Timing Belt, can also be connected on the body by bearing such as vacuum chuck turntable.Wherein, bearing comprises inner ring and outer ring, is provided with ball between inner ring and the outer ring so that inner ring can be with respect to outer ring rotating.The outer ring is fixedly connected with the body 16 of glass cleaning device 7, and inner ring is fixedly connected with vacuum chuck turntable.
Simple vacuum chuck turntable only has sucker 10, and sucker 10 is connected to body 16 by its rotary middle spindle, and the material of this scheme sucker 10 is had relatively high expectations.Vavuum pump 11 links to each other with sucker 10 by exhaust tube 12, and when vavuum pump 11 was started working, vavuum pump 11 was in sucker 10 interior generation negative pressure, and sucker 10 produces suction, is adsorbed on glass cleaning device 7 on glass.
As shown in Figure 6, in the present embodiment, vacuum chuck turntable 17 comprises support 9 and sucker 10, and sucker 10 connects vavuum pump 11 by exhaust tube 12.Sucker 10 is the flexible glue sucker of annular, and sucker 10 is arranged on the bottom of support 9.Be provided with the groove 14 of annular in the bottom of support 9, the flexible glue sucker is embedded in groove 14 interior location by elastic washer 15.Sucker 10 produces deformation in when work, and elastic washer 15 can absorb deformation, and being adsorbed on of making that sucker 10 fits more is on glass.Cleaning unit 3 is fixed in the hollow region of support 9 or described sucker 10, and cleaning unit 3 can be cloths for cleaning or scouring pad etc.How the below's detailed description the utility model glass cleaning device is realized twisting and is advanced.
At the body 16 two bottom sides A of glass cleaning device end and A ' end a pair of rotatable vacuum chuck turntable 17 is set, each vacuum chuck turntable 17 comprises support 9 and sucker 10.Sucker 10 is arranged on the bottom of vacuum chuck turntable 17, control module 5 links to each other with two vacuum chuck turntables 17 respectively by driver element 4, control module 5 is controlled respectively power at the size and Orientation of two vacuum chuck turntables, 17 outputs, drive the rotation or static centered by perpendicular to the vertical axes of glass surface of a pair of vacuum chuck turntable 17, make both alternately become speed end or low speed end, form speed discrepancy, so that glass cleaning device 7 is realized the twisting walking of glass cleaning device 7 by alternately rotating the vacuum chuck turntable 17 of A end and A ' end.
In general, driver element 4 is motor, but the utility model is not as limit.Motor output end links to each other with reducing gear, and the power of motor output passes to support 9 after slowing down by reducing gear.The final-stage gear of reducing gear drives travelling gear 13, and travelling gear 13 is connected to by bearing in the body 16 of glass cleaning device 7, and travelling gear 13 is fixedly connected with support 9.
Specifically, the glass cleaning device course of work is as follows:
Step 1: glass cleaning device is placed into glass surface, presses the button startup, vavuum pump 11 is started working, and the sucker 10 that lays respectively on A end and A ' the end vacuum chuck turntable 17 is adsorbed on the glass surface simultaneously, and the size of both suction is identical all the time with the mode of absorption.
Step 2: control module 5 is controlled respectively power at the size and Orientation of a pair of vacuum chuck turntable 17 outputs of A end and A ' end, drive the in turn rotation or static centered by perpendicular to the vertical axes of glass surface of a pair of vacuum chuck turntable 17, make both alternately become speed end or low speed end, make to form speed discrepancy between the two.
Specifically, speed discrepancy be control module 5 control driver elements outputting powers are to vacuum chuck turntable 17 respectively, speed discrepancy is that the vacuum chuck turntable 17 of an end rotates with respect to glass surface, the vacuum chuck turntable 17 of the other end is static and form with respect to glass surface; Perhaps, speed discrepancy be the vacuum chuck turntable 17 of an end with respect to the glass surface high speed rotating, the vacuum chuck turntable 17 of the other end slowly runs with respect to glass surface and forms.
Step 3: control module 5 controls make the rotating speed of A end be lower than the rotating speed of A ' end, and body 16 twists forward around the A end under the drive of A ' end vacuum chuck turntable 17;
Step 4: when body 16 rotates to certain angle around the A end, can be arbitrarily angled between 10 °-30 ° such as this angle, the rotating speed of control module 5 control A ' ends is lower than the rotating speed of A end, and body 16 twists forward around A ' end under the drive of A end vacuum chuck turntable 17;
Step 5: as described in step 3 and step 4, the driver element 4 of A end and A ' end hockets and transports speed discrepancy control, realizes the walking of glass cleaning device on glass surface.In sum, so alternately control the rotating speed of A end and A ' end, make both alternately become speed end or low speed end, form speed discrepancy, thereby the high end of body 16 rotating speeds is twisted centered by the low end of rotating speed, and realize the walking of glass cleaning device.
In the present embodiment, acceleration sensing unit 6 is angular acceleration transducer, is applicable to twist the glass cleaning device 7 of walking, and the glass cleaning device 7 of twisting walking can straight line moving.
As shown in Figure 1, during glass cleaning device 7 operation, its whenever turn round move a step during, if glass cleaning device 7 does not knock frame, ideally, the glass cleaning device uniform rotation, then to record accekeration be 0 to angular acceleration transducer.When perhaps glass cleaning device normally twisted, its rotation speed change was little, and angular acceleration values is in less number range.
As shown in Figure 2, if glass cleaning device 7 is in the process of twisting, glass cleaning device knocks frame, the angular speed of glass cleaning device twisting is undergone mutation, angular acceleration transducer sends signal to control module 5, and control module 5 confirms that glass cleaning device 7 has arrived frame, and control module 5 control driver elements 4 drive walking unit 2 to be stopped walking or carry out go to action, as rotating or retreat, thereby dodge the glass frame.
Specifically, the glass cleaning device that twisting is advanced has an angular velocity omega 1 in the process that body rotates, after glass cleaning device knocks the glass frame, angular speed becomes ω 2=0, according to the formula α of angular acceleration=Δ ω/Δ t=(ω 2-ω 1)/Δ t, wherein Δ t is preset value, and the α that calculates according to this formula takes absolute value and obtains acceleration value.Because knock frame moment, angular acceleration numerical value is larger, when more than or equal to the built-in threshold alpha 0 in the control module, namely α 〉=α 0, then judges to have knocked frame.
Except acceleration rate threshold is set, an acceleration rate threshold scope [α 1, and α 1] can be set also.When glass cleaning device normally twisted walking, angular velocity omega 1 remained unchanged substantially, and its acceleration alpha fluctuates near numerical value 0.When knocking frame or other barrier, angular speed is reduced to 0 very soon, and then its angular acceleration is undergone mutation.Accordingly, when α ﹤-α 1 or α ﹥ α 1, control module judges then and knocks frame or other barrier that the control glass cleaning device stops walking or changes direction of travel.
Embodiment two
In the present embodiment, walking unit 2 is crawler belt or wheel, and glass cleaning device 7 rolls and advances, and acceleration sensing unit 6 is linear acceleration transducer, is applicable to the glass cleaning device 7 of straight-line rolling walking, and the glass cleaning device 7 of straight line moving can not twist walking.
As shown in Figure 3, when the normal operation of glass cleaning device 7, the fuselage speed of glass cleaning device 7 and does not change or change very little, and linear acceleration transducer records accekeration to be 0 or to be in very little number range; As shown in Figure 4, when glass cleaning device 7 is run into glass frame 8, fuselage speed changes, linear acceleration transducer records acceleration signal value and sends to control module 5, when control module 5 is judged threshold value built-in during acceleration signal value are more than or equal to control module 5, when perhaps acceleration is more than the threshold signal scope, control module 5 confirms that glass cleaning device 7 has arrived frame, control module 5 control driver elements 4 driving walking unit 2 retreat or stop walking, thereby avoid colliding the glass frame.
In the present embodiment, describedly clean the windows that to put 7 can be split type, comprise driving machine and follower, driving machine comprises walking unit, driver element, linear velocity sensing unit and control module, driving machine and follower are built-in with respectively first and second magnet, make both can mutually be adsorbed on the inside and outside both sides of glass, under the suction of first and second magnet, follower and driving machine produce servo-actuated.The walking unit comprises left and right sides crawler belt and the Athey wheel that is positioned at driving machine, and crawler belt comprises a plurality of track unit joints; The unit of perhaps walking also can only adopt wheel.
Described glass cleaning device can be monomer-type also, comprises walking unit, driver element, sensing unit and control module, and the walking unit can be left and right sides crawler belt and the Athey wheel that comprises that being positioned at cleans the windows puts, and crawler belt comprises a plurality of track unit joints; The unit of perhaps walking also can only adopt wheel.
Claims (10)
1. a glass cleaning device (7), comprise walking unit (2), cleaning unit (3), driver element (4) and control module (5), walking unit (2) and cleaning unit (3) are arranged on the bottom of glass cleaning device (7), control module (5) is connected with driver element (4), it is characterized in that: described glass cleaning device (7) also comprises the acceleration sensing unit (6) that is connected with control module (5), the acceleration signal value that control module (5) sends according to acceleration sensing unit (6), control driver element (4) drive glass cleaning device (7) and stop walking or carry out go to action.
2. glass cleaning device as claimed in claim 1 is characterized in that: when described walking unit (2) is crawler belt or wheel, glass cleaning device (7) rolls when advancing, and described acceleration sensing unit (6) is linear acceleration transducer.
3. glass cleaning device as claimed in claim 1, it is characterized in that: when described walking unit (2) is the rotatable vacuum chuck turntable that is arranged on glass cleaning device (7) bottom, when described glass cleaning device (7) was advanced by alternately rotating described vacuum chuck turntable twisting, described acceleration sensing unit (6) was angular acceleration transducer.
4. glass cleaning device as claimed in claim 3, it is characterized in that: described vacuum chuck turntable comprises support and sucker, and described sucker is the flexible glue sucker of annular, and described support is provided with groove, and described flexible glue sucker is embedded in groove by elastic washer locates.
5. glass cleaning device as claimed in claim 4, it is characterized in that: described cleaning unit (3) is installed on the support, and perhaps described cleaning unit (3) is installed in the hollow region of described sucker.
6. glass cleaning device as claimed in claim 3, it is characterized in that: described vacuum chuck turntable connects the body (16) of glass cleaning device (7) by connector.
7. glass cleaning device as claimed in claim 6, it is characterized in that: described connector is bearing, described bearing comprises inner ring and outer ring, be provided with ball between described inner ring and the outer ring so that inner ring can be with respect to outer ring rotating, described outer ring is fixedly connected with the body of glass cleaning device, and described inner ring is fixedly connected with vacuum chuck turntable.
8. glass cleaning device as claimed in claim 3, it is characterized in that: described driver element (4) connects described vacuum chuck turntable by transmission mechanism.
9. glass cleaning device as claimed in claim 8, it is characterized in that: described transmission mechanism is travelling gear or Timing Belt.
10. glass cleaning device as claimed in claim 2 or claim 3, it is characterized in that: when control module (5) is judged built-in threshold value during described acceleration signal value is more than or equal to control module, when perhaps acceleration signal value exceeded threshold signal scope built-in in the control module, control driver element (4) drives glass cleaning device (7) to be stopped walking or carries out go to action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220308242 CN202751320U (en) | 2012-06-28 | 2012-06-28 | Glass wiping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220308242 CN202751320U (en) | 2012-06-28 | 2012-06-28 | Glass wiping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202751320U true CN202751320U (en) | 2013-02-27 |
Family
ID=47730522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220308242 Expired - Lifetime CN202751320U (en) | 2012-06-28 | 2012-06-28 | Glass wiping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202751320U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103505140A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| WO2014183632A1 (en) * | 2013-05-13 | 2014-11-20 | 科沃斯机器人有限公司 | Autonomous mobile suction robot |
| CN104414573A (en) * | 2013-08-23 | 2015-03-18 | 科沃斯机器人科技(苏州)有限公司 | Window cleaning device |
| CN109491391A (en) * | 2018-11-27 | 2019-03-19 | 广东宝乐机器人股份有限公司 | The collision recognition method and apparatus of window wiping robot |
| CN105982624B (en) * | 2015-12-30 | 2019-04-16 | 小米科技有限责任公司 | Anti-jamming processing method and device for automatic cleaning equipment and automatic cleaning equipment |
-
2012
- 2012-06-28 CN CN 201220308242 patent/CN202751320U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103505140A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN103505140B (en) * | 2012-06-28 | 2016-12-21 | 科沃斯机器人股份有限公司 | Glass cleaning device |
| WO2014183632A1 (en) * | 2013-05-13 | 2014-11-20 | 科沃斯机器人有限公司 | Autonomous mobile suction robot |
| CN104414573A (en) * | 2013-08-23 | 2015-03-18 | 科沃斯机器人科技(苏州)有限公司 | Window cleaning device |
| CN105982624B (en) * | 2015-12-30 | 2019-04-16 | 小米科技有限责任公司 | Anti-jamming processing method and device for automatic cleaning equipment and automatic cleaning equipment |
| CN109491391A (en) * | 2018-11-27 | 2019-03-19 | 广东宝乐机器人股份有限公司 | The collision recognition method and apparatus of window wiping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103505140A (en) | Glass cleaning device | |
| CN104414573B (en) | Window cleaning device | |
| CN202751320U (en) | Glass wiping device | |
| CN104688132B (en) | From mobile absorption robot and its traveling method | |
| CN202665434U (en) | Glass-wiping robot | |
| CN203662680U (en) | Self-moving adsorption robot | |
| CN209826534U (en) | Glass curtain wall climbing robot | |
| CN202141947U (en) | Right-angle area mobile control system of glass-cleaning robot | |
| CN212652910U (en) | Moving driving mechanism of pipeline welding robot | |
| CN110757478B (en) | Sucker type snake-shaped curtain wall crawling robot | |
| CN205074262U (en) | Device is washed to side | |
| CN107878410A (en) | A kind of full-automatic car washer | |
| CN203483350U (en) | Window wiping device | |
| CN109704036A (en) | Solar battery packaging production line conveying device | |
| CN205018962U (en) | Window cleaning robot | |
| CN102830700A (en) | Control system and control method of movement of glass cleaning robot at right angle area | |
| CN202665433U (en) | Glass cleaning robot | |
| CN201965487U (en) | Robot for cleaning glass | |
| CN110882957A (en) | Self-cleaning device and cleaning method for reflecting ring of expressway tunnel | |
| CN207536611U (en) | A kind of offline rollgang of tire | |
| CN102591334B (en) | Facing control system and facing control method for glass wiping robot | |
| CN203634092U (en) | Glass curtain wall cleaning machine for tall building | |
| CN202891804U (en) | Crawler-type cleaning machine for glass curtain wall | |
| CN210619433U (en) | Overturning driving system for squirrel-cage type overturning conveyor | |
| CN207497593U (en) | A kind of wheel hub turnover plate type prerinse line automatic conveying device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130227 Effective date of abandoning: 20161221 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20130227 Effective date of abandoning: 20161221 |