CN205018963U - Intelligence glass cleaning robot - Google Patents

Intelligence glass cleaning robot Download PDF

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Publication number
CN205018963U
CN205018963U CN201520744162.6U CN201520744162U CN205018963U CN 205018963 U CN205018963 U CN 205018963U CN 201520744162 U CN201520744162 U CN 201520744162U CN 205018963 U CN205018963 U CN 205018963U
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CN
China
Prior art keywords
driving
servo
actuated
chassis
cleaning robot
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
Application number
CN201520744162.6U
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Chinese (zh)
Inventor
李辉
张建华
曹剑锋
张明路
张小俊
郝建龙
徐良君
张庆华
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.)
Luoyang Shengrui Intelligent Robot Co Ltd
Hebei University of Technology
Original Assignee
Luoyang Shengrui Intelligent Robot Co Ltd
Hebei University of Technology
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Application filed by Luoyang Shengrui Intelligent Robot Co Ltd, Hebei University of Technology filed Critical Luoyang Shengrui Intelligent Robot Co Ltd
Priority to CN201520744162.6U priority Critical patent/CN205018963U/en
Application granted granted Critical
Publication of CN205018963U publication Critical patent/CN205018963U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses an intelligence glass cleaning robot, include: the driving machine including the drive organism, lies in initiative running gear and the main moving magnet of drive on the organism, and main moving magnet is connected with elevating gear and is gone up and down by elevating gear, and drive organism below is equipped with wiper element, the follow -up is quick -witted, and walking under the driving machine drives including the follow -up organism, lies in the follow -up running gear of follow -up organism and follows moving magnet, and it adsorbs mutually with main moving magnet to follow moving magnet, and follow -up organism below is equipped with wiper element, controlling means connects in initiative running gear, the walking of control initiative running gear. The utility model discloses a set up main moving magnet and follow moving magnet at driving machine and follow -up built -in to set up elevating gear in the driving machine, can adapt to the glass's of different thickness absorption, have stronger cleaning function, have a very good cleaning performance in the window in the external world outside to the long -term exposure, can effectual solution window inboard clean and the outside is difficult to clean problem easily.

Description

A kind of intelligent glass-cleaning robot
Technical field
The utility model relates to the equipment technical field that cleans the windows, and particularly relates to a kind of intelligent glass-cleaning robot.
Background technology
Along with the development of urban modernization, increasing local-style dwelling houses skyscraper stands erect in each big city, adds the air pollution problems inherent such as present stage haze, allows glass exterior window be more prone to dirty, and dirt is difficult to cleaning, makes the cleaning of glass exterior window heavy.According to traditional manual cleaning mode not only somewhat expensive, and cleaning efficiency is low, operation is very dangerous.
At present, along with Robotics application constantly expands, there is the glass-cleaning robot to the cleaning of skyscraper glass exterior window.It has can replace people's Manual-cleaning, has liberated manpower, has reduced the advantage of the danger of washing and cleaning operation, and therefore, family expenses or accurate family expenses window wiping robot more and more come into one's own, and present good development prospect.
First existing glass-cleaning robot is adsorbed on window, carries out wiping subsequently to window.Some of them are one side glass-cleaning robot, and it can only carry out wiping to the one side of glass, and efficiency is lower; Also there are some double-side window-cleaning robots, but the problem of the absorption due to two sides, mostly can only wiping single after glass, can exist glass blocked up easily drop or glass cross thin absorption affinity excessive be unfavorable for walk problem.
Utility model content
The purpose of this utility model is to provide intelligent glass-cleaning robot, can adapt to the absorption of the glass of different-thickness, has stronger cleaning function.
For reaching this object, the utility model by the following technical solutions: a kind of intelligent glass-cleaning robot, comprising:
Driving machine, comprises driving body, and be positioned at the active running gear on driving body and active magnet, described active magnet is connected with lowering or hoisting gear and is elevated by described lowering or hoisting gear, is provided with polishing piece below described driving body;
Follower, walks under the drive of described driving machine, comprises servo-actuated body, be positioned at servo-actuated body following walking device and with moving magnet, describedly to adsorb mutually with moving magnet and described active magnet, below described servo-actuated body, be provided with polishing piece;
Control device, is connected to described active running gear, controls the walking of described active running gear.
As preferably, described lowering or hoisting gear comprises the support body being positioned at and driving above body chassis, and described support body has been threaded screw rod, and the other end of described screw rod is connected with knob through driving body top cover, and initiatively magnet is installed in the lower end of support body; The chassis of described driving body is provided with position limiting structure, screws knob, and initiatively magnet is elevated along screw rod under the restriction of position limiting structure with support body.
As preferably, described support body comprises the connecting rod affixed with active magnet, and the described connecting rod other end is connected with level board, and described level board offers through hole, and level board described in corresponding described through hole is installed with nut, and described screw rod is connected with nut thread.
As preferably, described active running gear comprises two groups and partially passes through the synchronous pulley driving body chassis, often organize synchronous pulley and comprise two synchronous pulleys being symmetricly set on and driving both sides, body chassis, the synchronous pulley being positioned at the same side is connected by toothed belt transmission, often organize between synchronous pulley and connected by connecting axle, wherein one group of synchronous pulley drives the drive motors on body chassis to drive rotation by being arranged on.
As preferably, the output of described drive motors is provided with driving gear, driven the connecting axle between the one group of synchronous pulley rotated to be provided with driven gear by drive motors, described drive motors drives described connecting axle to drive synchronous pulley to rotate by driving gear with engaging of driven gear.
As preferably, is provided with electric rotating machine by Connection Block in described servo-actuated body, described electric rotating machine output is connected with polishing piece.
As preferably, described following walking device comprises the wheel being symmetricly set on both sides, servo-actuated body chassis, and described wheel portion is through the chassis of servo-actuated body, and the both sides being positioned at wheel are provided with mount pad, and described wheel is arranged between two mount pads by axle.
As preferably, described active magnet is circular configuration, and described position limiting structure is cylinder-like structure, and described active magnet is positioned at position limiting structure; Described is circular configuration with moving magnet, is located on the output shaft of electric rotating machine.
As preferably, described polishing piece comprises disc brush and scraping article, and described scraping article is positioned at the both sides driving body and servo-actuated body chassis, and perpendicular to driving the direction of travel of body and servo-actuated body to arrange; Disc brush on described driving body be installed in drive body chassis below, on the output shaft that the disc brush on described servo-actuated body is installed in electric rotating machine and below the chassis being positioned at servo-actuated body.
As preferably, the sidewall of described driving body and servo-actuated body is provided with some directive wheels.
The beneficial effects of the utility model: by arranging initiatively magnet and with moving magnet in driving machine and follower, and lowering or hoisting gear is set in driving machine, the absorption of the glass of different-thickness can be adapted to, there is stronger cleaning function, there is extraordinary cleaning performance to being chronically exposed to outside extraneous window, effectively can solve the problem that easy wiping inside window and outside are difficult to wiped clean.
Accompanying drawing explanation
Fig. 1 is the perspective view of the utility model driving machine;
Fig. 2 is the utility model driving machine top view;
Fig. 3 is that the A-A of the utility model Fig. 2 is to sectional view;
Fig. 4 is the structural representation of the lowering or hoisting gear of the utility model driving machine;
Fig. 5 is the perspective view of the utility model follower;
Fig. 6 is the utility model follower top view;
Fig. 7 is that the B-B of the utility model Fig. 5 is to sectional view;
In figure:
1, body is driven; 2, servo-actuated body; 3, active magnet; 4, with moving magnet; 10, directive wheel; 11, handrail; 51, support body; 52, screw rod; 53, knob; 54, position limiting structure; 61, synchronous pulley; 62, Timing Belt; 63, drive motors; 64, connecting axle; 65, driving gear; 66, driven gear; 67, train of reduction gears; 71, Connection Block; 72, electric rotating machine; 81, wheel; 82, mount pad; 83, axle; 91, disc brush; 92, scraping article; 511, connecting rod; 512, level board; 513, nut.
Detailed description of the invention
The technical solution of the utility model is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
The utility model provides a kind of intelligent glass-cleaning robot, include driving machine and follower, wherein driving machine is placed in the inner side of window-glass, follower is placed in the outside of window-glass, and rely on the suction-operated between driving machine to be adsorbed on glass, control driving machine walking afterwards, follower is walked with the walking of driving machine, to realize the two-sided wiping to glass.Below the structure of driving machine of the present utility model and follower is set forth:
In the present embodiment, driving machine and follower are provided with and drive body 1 and servo-actuated body 2, and this driving body 1 and servo-actuated body 2 are equipped with top cover, chassis and the sidewall between top cover and chassis.
As Figure 1-3, the driving machine of the present embodiment comprises driving body 1, the top cover driving body 1 is provided with handrail 11, is convenient to people and is placed on glass by driving machine; Driving body 1 is provided with initiatively running gear and initiatively magnet 3, wherein initiatively running gear is walked for driving driving machine, initiatively magnet 3 is connected with lowering or hoisting gear, this lowering or hoisting gear can drive initiatively magnet 3 to be elevated, polishing piece is provided with, for the wiping to glass below driving body 1.
As illustrated in figs. 5-7, the follower of the present embodiment comprises servo-actuated body 2, is also provided with handrail 11 equally on the top cover of servo-actuated body 2, is provided with following walking device and with moving magnet 4 in servo-actuated body 2, and wherein following walking device is used for the walking of follower; With moving magnet 4 and the initiatively corresponding setting in magnet 3 position, and adsorb mutually between the two, and then when driving machine and follower are placed on glass both sides, driving machine and follower can be made to be adsorbed on glass, and when the active running gear walking of driving machine, by active magnet 3 and the suction-operated with moving magnet 4, follower is walked with driving machine under the effect of following walking device, and then achieves the wiping to glass two sides.Polishing piece is provided with, for the wiping to glass in the below of servo-actuated body 2.
The present embodiment also includes control device, and it is connected to the active running gear of driving machine, and control active running gear is walked on glass.This control device specifically can by the control of remote control technology realization to active running gear, and the travelling control that only need realize initiatively running gear can (be prior art, repeat no more).
With reference to Fig. 1 and Fig. 7, lowering or hoisting gear comprises the support body 51 being positioned at and driving above body 1 chassis, and support body 51 has been threaded screw rod 52, and the other end of screw rod 52 is connected with knob 53 through driving the top cover of body 1, and initiatively magnet 3 is fixedly connected on the lower end of support body 51; The chassis driving body 1 is provided with position limiting structure 54.When carrying out the lifting of initiatively magnet 3, screw knob 53, screw rod 52 can rotate with knob 53, the support body 51 that is now threaded with screw rod 52 can position limiting structure 54 spacing under can not rotate, make to produce relative movement between support body 51 and screw rod 52, namely support body 51 can only threadingly move up and down by bar 52, and is elevated under the guiding of position limiting structure 54.By this lowering or hoisting gear, make glass-cleaning robot can adapt to the glass of different-thickness, effectively can solve robot cannot be able to move or the too small problem swung back and forth of suction because of suction is excessive in the process of walking, also be convenient to the placement of driving machine and follower and take off simultaneously, namely by the position of lowering or hoisting gear adjustment active magnet 3, make it and strengthen with the absorption affinity between moving magnet 4 or weaken, and then making driving machine and follower be adsorbed on glass or depart from glass.And can reduce when follower and driving machine adsorb mutually at the noise that glass surface instant shock produces.
With reference to Fig. 7, above-mentioned support body 51 comprises connecting rod 511, and initiatively magnet 3 is fixed in the lower end of connecting rod 511, concrete, and connecting rod 511 is welded in " Z " shape for multiple bar, is convenient to the installation of whole lowering or hoisting gear.Level board 512 is connected with at the other end of connecting rod 511, for the reinforcement to whole lowering or hoisting gear steadiness, and through hole is offered on level board 512, to being installed with nut 513 by through hole on level board 512, screw rod 52 is threaded with nut 513 and passes the through hole of level board 512, achieves the lifting of support body 51 by screw rod 52 with being threaded of nut 513.
With reference to Fig. 1 and Fig. 3, initiatively running gear comprises the synchronous pulley 61 that two groups are symmetricly set on driving both sides, body 1 chassis, above-mentioned synchronous pulley 61 partially passes through the chassis driving body 1, in the present embodiment, often organize synchronous pulley 61 and include two synchronous pulleys 61, these two synchronous pulleys 61 are symmetricly set in driving both sides, body 1 chassis.The synchronous pulley 61 being positioned at the same side is dynamically connected by Timing Belt 62, achieves the interlock of two groups of synchronous pulleys 61; Often organize between synchronous pulley 61 and connected by connecting axle 64, wherein one group of synchronous pulley 61 drives the drive motors 63 on body 1 chassis to drive rotation by being arranged on.
Preferably, driving gear 65 is provided with at the output of drive motors 63, drive the connecting axle 64 between one of rotation group of synchronous pulley 61 to be provided with driven gear 66 by drive motors 63, drive motors 63 drives this connecting axle 64 to drive synchronous pulley 61 to rotate by driving gear 65 with engaging of driven gear 66.And then drive other one group of synchronous pulley 61 to rotate by this group synchronous pulley 61 by Timing Belt 62.
In the present embodiment, Timing Belt 62 adopts double cog synchronous belt, it is enough large with the contact area of glass in the process of walking, avoid the problem appearance that driving machine skids when walking, ensure that glass-cleaning robot is advanced more stably on glass surface to be cleaned, and after long-time use robot, Timing Belt 62 is more easily dismantled and is cleaned.
As preferred technical scheme, the present embodiment is also provided with train of reduction gears 67 on the connecting axle 64 being provided with driven gear 66, more steady when glass-cleaning robot can be made to walk by this train of reduction gears.
With reference to Fig. 5 and Fig. 7, electric rotating machine 72 is provided with in servo-actuated body 2, particularly be installed with Connection Block 71 in the middle part of servo-actuated body 2, electric rotating machine 72 is vertically set on Connection Block 71, and the chassis that the output of electric rotating machine 72 passes servo-actuated body 2 is connected with polishing piece.
As shown in Figure 7, following walking device comprises the wheel 81 being symmetricly set on both sides, servo-actuated body 2 chassis, and this wheel 81 partially passes through the chassis of servo-actuated body 2, and then can walk on glass; Concrete, be offer hole on the chassis of servo-actuated body 2, be equipped with mount pad 82 in the both sides in hole, axle 83 two ends are fixed on solid mount pad 82, and servo-actuated wheel 81 to be set on axle 83 and to partially pass through hole, walks under the drive of driving machine on glass.
In the present embodiment, preferably, active magnet 3 is set to circular configuration, position limiting structure 54 is set to cylinder-like structure, and initiatively magnet 3 is positioned at position limiting structure 54, carries out spacing and guiding by this position limiting structure 54; Be set to circular configuration equally with moving magnet 4, it is located on the output shaft of electric rotating machine 72.Concrete, active magnet 3 is set to four by the present embodiment, therefore corresponding, and the connecting rod 511 of position limiting structure 54, support body 51 is equally also set to four, and connecting rod 511 is circumferentially uniform settings.Also be set to four with moving magnet 4, same, electric rotating machine 72 is set to four.
Polishing piece comprises disc brush 91 and scraping article 92, ensures to treat the dual wiping that disc brush 91 and scraping article 92 are carried out in cleaning glass surface, and scraping article 92 can have a good scraping effect to window jamb, effectively can ensure that the dirt of glass surface is washed.Scraping article 92 is set to two, and it is positioned at the both sides driving body 1 and servo-actuated body 1 tray bottom, and perpendicular to driving the direction of travel of body 1 and servo-actuated body 1 to arrange; Drive the disc brush on body 1 to be installed in below the chassis of driving body 1, and be placed between scraping article 92; The output shaft that disc brush 91 on servo-actuated body 2 is installed in electric rotating machine 72, below the chassis being positioned at servo-actuated body 2, is positioned at the top of disc brush 91, drives disc brush 91 to rotate, carry out wiping to glass by electric rotating machine 72 with moving magnet 4.Why arranging electric rotating machine 72 drives disc brush 91 to rotate, because be subject to the pollutions such as extraneous haze, dust due to glass exterior window, the more difficult cleaning of the dirt outside glass can be made, disc brush 91 pairs of glass outer sides here by rotating carry out powerful wiping, effectively can solve the problem that glass outer side difficulty or ease are cleaned like this.
Preferably, drive the sidewall of body 1 and servo-actuated body 2 to be provided with some directive wheels 10, avoid the frame of driving machine and follower and the friction of window jamb, make driving machine and follower be more prone to advance.
Obviously, above-described embodiment of the present utility model is only used to clearly demonstrate the utility model example, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in the utility model claim.

Claims (10)

1. an intelligent glass-cleaning robot, is characterized in that, comprising:
Driving machine, comprise and drive body (1), be positioned at the active running gear in driving body (1) and active magnet (3), described active magnet (3) is connected with lowering or hoisting gear and is elevated by described lowering or hoisting gear, and described driving body (1) below is provided with polishing piece;
Follower, walk under the drive of described driving machine, comprise servo-actuated body (2), be positioned at servo-actuated body (2) following walking device and with moving magnet (4), describedly adsorb mutually with moving magnet (4) and described active magnet (3), described servo-actuated body (1) below is provided with polishing piece;
Control device, is connected to described active running gear, controls the walking of described active running gear.
2. intelligent glass-cleaning robot according to claim 1, it is characterized in that, described lowering or hoisting gear comprises the support body (51) being positioned at and driving above body (1) chassis, described support body (51) has been threaded screw rod (52), the other end of described screw rod (52) is connected with knob (53) through driving body (1) top cover, and initiatively magnet (3) is installed in the lower end of support body (51); The chassis of described driving body (1) is provided with position limiting structure (54), screw knob (53), initiatively magnet (3) is elevated along screw rod (52) under the restriction of position limiting structure (54) with support body (51).
3. intelligent glass-cleaning robot according to claim 2, it is characterized in that, described support body (51) comprises the connecting rod (511) affixed with active magnet (3), described connecting rod (511) other end is connected with level board (512), (512) offer through hole to described level board, level board (512) described in corresponding described through hole is installed with nut (513), and described screw rod (52) is threaded with nut (513).
4. intelligent glass-cleaning robot according to claim 3, it is characterized in that, described active running gear comprises two groups and partially passes through the synchronous pulley (61) driving body (1) chassis, often organize synchronous pulley (61) and comprise two synchronous pulleys (61) being symmetricly set on and driving body (1) both sides, chassis, the synchronous pulley (61) being positioned at the same side is in transmission connection by Timing Belt (62), often organize between synchronous pulley (61) and connected by connecting axle (64), wherein one group of synchronous pulley (61) drives the drive motors (63) on body (1) chassis to drive rotation by being arranged on.
5. intelligent glass-cleaning robot according to claim 4, it is characterized in that, the output of described drive motors (63) is provided with driving gear (65), driven the connecting axle (64) between the one group of synchronous pulley (61) rotated to be provided with driven gear (66) by drive motors (63), described drive motors (63) drives described connecting axle (64) to drive synchronous pulley (61) to rotate by driving gear (65) with engaging of driven gear (66).
6. intelligent glass-cleaning robot according to claim 5, it is characterized in that, be provided with electric rotating machine (72) by Connection Block (71) in described servo-actuated body (2), described electric rotating machine (72) output is connected with polishing piece.
7. intelligent glass-cleaning robot according to claim 6, it is characterized in that, described following walking device comprises the wheel (81) being symmetricly set on servo-actuated body (2) both sides, chassis, described wheel (81) partially passes through the chassis of servo-actuated body (2), the both sides being positioned at wheel (81) are provided with mount pad (82), and described wheel (81) is arranged between two mount pads (82) by axle (83).
8. intelligent glass-cleaning robot according to claim 6, it is characterized in that, described active magnet (3) is circular configuration, and described position limiting structure (54) is cylinder-like structure, and described active magnet (3) is positioned at position limiting structure (54); Described is circular configuration with moving magnet (4), is located on the output shaft of electric rotating machine (72).
9. intelligent glass-cleaning robot according to claim 8, it is characterized in that, described polishing piece comprises disc brush (91) and scraping article (92), described scraping article (92) is positioned at the both sides driving body (1) and servo-actuated body (2) chassis, and perpendicular to driving the direction of travel of body (1) and servo-actuated body (2) to arrange; Disc brush (91) on described driving body (1) be installed in drive body (1) chassis below, on the output shaft that the disc brush (91) on described servo-actuated body (2) is installed in electric rotating machine (72) and below the chassis being positioned at servo-actuated body (2).
10., according to the arbitrary described intelligent glass-cleaning robot of claim 1-9, it is characterized in that, the sidewall of described driving body (1) and servo-actuated body (2) is provided with some directive wheels (10).
CN201520744162.6U 2015-09-22 2015-09-22 Intelligence glass cleaning robot Expired - Fee Related CN205018963U (en)

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Application Number Priority Date Filing Date Title
CN201520744162.6U CN205018963U (en) 2015-09-22 2015-09-22 Intelligence glass cleaning robot

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Application Number Priority Date Filing Date Title
CN201520744162.6U CN205018963U (en) 2015-09-22 2015-09-22 Intelligence glass cleaning robot

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CN205018963U true CN205018963U (en) 2016-02-10

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105167704A (en) * 2015-09-22 2015-12-23 河北工业大学 Intelligent glass wiping robot
CN107252290A (en) * 2017-06-07 2017-10-17 常州菲胜图自动化仪器有限公司 A kind of household glass cleaning machine people and its application process

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105167704A (en) * 2015-09-22 2015-12-23 河北工业大学 Intelligent glass wiping robot
CN107252290A (en) * 2017-06-07 2017-10-17 常州菲胜图自动化仪器有限公司 A kind of household glass cleaning machine people and its application process

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C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160210

Termination date: 20180922

CF01 Termination of patent right due to non-payment of annual fee