CN206586906U - A kind of absorption type climbing device of glass curtain wall clean robot - Google Patents
A kind of absorption type climbing device of glass curtain wall clean robot Download PDFInfo
- Publication number
- CN206586906U CN206586906U CN201621044700.1U CN201621044700U CN206586906U CN 206586906 U CN206586906 U CN 206586906U CN 201621044700 U CN201621044700 U CN 201621044700U CN 206586906 U CN206586906 U CN 206586906U
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- China
- Prior art keywords
- crawler belt
- suction tray
- curtain wall
- needle
- wheel hub
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Abstract
The utility model is related to robotic technology field, especially a kind of absorption type climbing device of glass curtain wall clean robot.It includes chassis, crawler belt wheel hub and motor, and Athey wheel hub sleeve is connected on crawler belt, crawler belt and is equiped with suction tray；The inner of suction tray is provided with needle, vacuum adapter is equiped with the wall of side, and the inner of needle passes through the surface after crawler belt with crawler belt wheel hub to offset.The utility model drives crawler belt to be rotated by the rotation of crawler belt wheel hub, when some suction trays are in crawler belt and curtain wall between the walls, needle is set to produce position movement relative to suction tray to the pressure force of needle using crawler belt wheel hub, so as to open the Pan Kou of suction tray, in the presence of outside negative pressure device, suction tray is evacuated using vacuum adapter, suction tray is formed negative pressure between the walls with curtain wall, so as to realize the effect of absorption；During crawler belt is rotated repeatedly, each suction tray can seriatim carry out Pan Kou opening and closing actions, you can realize portable adsorption effect.
Description
Technical field
The utility model is related to robotic technology field, the absorption type climbing of especially a kind of glass curtain wall clean robot
Device.
Background technology
Glass curtain wall is one of most important ornament materials in the world today, by widely as the family of all kinds of buildings
Exterior wall is used, and its maximum feature for assigning building is by the aesthetics of architecture, building function, building energy conservation and building structure etc.
Factor is organically united, building is showed different tones from different perspectives, with sunlight, moonlight, light
Change gives dynamic U.S..
Because the dust of entrained with, excreta of birds etc. can little by little deposit to building in the dust in air, rainwater
The curtain wall surface of thing, so as to influence the aesthetic property of curtain wall and the clean-up performance of building appearance；Therefore, to the cleaning of glass curtain wall
Increasingly by people concern and gradually formed huge curtain cleaning market.
However, what the cleaning to glass curtain wall at present was mainly still completed using manual type, i.e.,：By cleanup crew from
After roof is suspended in midair to the side wall of building, manually curtain wall surface is cleared up by cleanup crew, such a mode is not only present
The problems such as whole process cleaning efficiency is not high, danger coefficient is big, and cleaning cost is higher, also thus have impact on glass curtain wall
Attractive in appearance, cleaning and the space further developed.
For this problem, some cleaning machines that can be automatically cleaned to glass curtain wall are occurred in that on the market at present
People, these robots can be adsorbed on the wall of glass curtain wall or dragged or automatically with artificial hang along the wall of glass curtain wall
The mode of climbing is progressively cleared up curtain wall surface, however, existing automatically moving property of clean robot generally existing is poor, inhale
The problems such as attached fastness is poor, climbing device structure excessively complexity, so as to seriously limit the popularization and application of robot.
Utility model content
The deficiency existed for above-mentioned prior art, the purpose of this utility model is to provide a kind of glass curtain wall cleaner
The absorption type climbing device of device people.
To achieve these goals, the utility model is adopted the following technical scheme that：
A kind of absorption type climbing device of glass curtain wall clean robot, it includes chassis, in left-right direction the bottom of through
Crawler belt wheel hub and be installed in the rearward end on chassis and drive crawler belt wheel hub relative to the driving that chassis is rotated that disk is distributed
Motor, the crawler belt wheel hub left end and right-hand member are socketed with a crawler belt, be equiped with each crawler belt several respectively with
The surface of crawler belt is to vertical suction tray；The inner of each suction tray, which is provided with one, to be used to control the Pan Kou of suction tray to open
A vacuum adapter for being used to be connected with outside negative pressure device is equiped with the needle that closes, side wall, the inner of the needle is passed through
Surface after crawler belt with crawler belt wheel hub offsets.
Preferably, the crawler belt wheel hub includes being arranged in left-right direction on chassis and each other in front and rear parallel distributed
Two bloster bars, the left end and right-hand member of each bloster bar are set with one by two parallel distributeds ground shoe for constituting of Athey wheel
Belt wheel group, one is passed through positioned at two Athey wheel groups in the left side on the chassis and two Athey wheel groups on the right side of chassis respectively
Crawler belt suit is integrated, and is provided with a guide plate in each crawler belt, the front-end and back-end of the guide plate are socketed respectively
In on bloster bar and being held between corresponding two Athey wheels；The inner of the needle passes through the surface with guide plate after crawler belt
Offset.
Preferably, the suction tray includes being equiped with the air-casing of vacuum adapter on the wall of side, one is formed at the outer end of air-casing
Open disk and one be formed at the inner of air-casing and the fixed disk that is fixed on the inside of crawler belt, the needle includes sleeve in fixed disk
Abutting part that interior and with guide plate surface offsets, the outer end for being formed at abutting part and sleeve are in the linkage portion in air-casing and formation
In the outer end of linkage portion and the first valve block portion in open disk, the abutting part drives the first valve block portion to close by linkage portion
Close the external port of air-casing or open the external port of air-casing, the vacuum adapter is communicated with the inner space of air-casing.
Preferably, the air-casing includes one and is connected that the outer end being integrated covers and one is connected with fixed disk and is integrated with open disk
Inner set, the set hole aperture of the outer end set be more than in the set hole aperture of inner set, the linkage portion be provided with one be used for
A pressure is provided with the second valve block portion that the external port of the inner set offsets, the linkage portion and in the trepan region that outer end covers
Also it is socketed with a stage clip in plate portion, the linkage portion, one end of the stage clip is fixed in pressing plate portion, the other end is fixed on outer end
On the set hole wall of set；The vacuum adapter is installed in the set hole that hole covers with outer end that covers on the side wall of inner set and passing through the inner set
Communicate.
Preferably, also it is equiped with lifting handle on the outer wall of the open disk.
Preferably, it also includes a crossover sub for being used to be connected with outside negative pressure device, and each vacuum adapter is equal
It is connected by a negative tube with crossover sub.
Preferably, one is formed with the downside wall of the guide plate by offseting with needle to control needle relative to absorption
The flange part that disk is moved out, the contour line of the flange part from guide plate front end downside wall and rear end downside wall smoothly to
Formed after outer extension.
Preferably, a clamped guide groove, the absorption are offered on the outer wall of the guide plate, along the contour line of guide plate
Inner and positioned at crawler belt the inner surface side of disk, which is equiped with a slider guide, the symmetrical side of the guide groove, offers guide rail
The directive wheel that contraposition is embedded in guide groove is equiped with groove, the slider guide.
As a result of such scheme, the utility model drives crawler belt to be rotated by the rotation of crawler belt wheel hub, when
When some suction trays are in crawler belt and curtain wall between the walls, needle is made relative to suction to the pressure force of needle using crawler belt wheel hub
Attached disk produces position movement, so that the Pan Kou of suction tray is opened, in the presence of outside negative pressure device, using vacuum adapter to inhaling
Attached disk is evacuated, and suction tray is formed negative pressure between the walls with curtain wall, so as to realize the effect of absorption；Rotated repeatedly in crawler belt
During, each suction tray can seriatim carry out Pan Kou opening and closing actions, you can realize portable adsorption effect；It is tied
Structure is simple, high adsorption capacity, movement are flexible, safe and reliable, can effectively meet the use demand of climb type clean robot, have
There is very strong practical value and market popularization value.
Brief description of the drawings
Fig. 1 is the structural representation (one) of the utility model embodiment；
Fig. 2 is the structural representation of the suction tray of the utility model embodiment in closed state；
Fig. 3 is the structural representation of the suction tray of the utility model embodiment in the on state；
Fig. 4 is the planar structure schematic diagram that the utility model embodiment uses the first guide plate；
Fig. 5 is the structural representation of second of guide plate of the utility model embodiment；
Fig. 6 is the structural representation (two) of the utility model embodiment.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right
It is required that the multitude of different ways for limiting and covering is implemented.
As shown in Figures 1 to 6, the absorption type climbing device for a kind of glass curtain wall clean robot that the present embodiment is provided,
It includes chassis 1, the crawler belt wheel hub being distributed in left-right direction through chassis 1 and rearward end and the driving for being installed in chassis 1
Crawler belt wheel hub is socketed with a crawler belt 3 relative to the motor 2 that chassis 1 is rotated in crawler belt wheel hub left end and right-hand member,
Several are equiped with each crawler belt 3 respectively with the surface of crawler belt 3 to vertical suction tray 4；In the inner of each suction tray 4
A needle 5 for being used to control the Pan Kou of suction tray 4 to open and close is provided with, a use is equiped with the side wall of each suction tray 4
In the vacuum adapter 6 connected with outside negative pressure device (such as vavuum pump, figure not shown in), the inner of needle 5 passes through crawler belt 3
The surface with crawler belt wheel hub offsets afterwards.With this, assembling sky is provided for the main element of whole clean robot using chassis 1
Between, drive robot body to make the automatic climbing sports of absorption type on curtain wall wall using whole climbing device, it is specific as follows：It is logical
Power that motor 2 of overdriving is provided drive Athey wheel hub rotated relative to chassis 1 (motor 2 and crawler belt wheel hub it
Between structural relation refer to vehicle on the market at present or realized using modes such as gear drives), to pass through crawler belt wheel hub
Rotation drive crawler belt 3 to be rotated, when some suction trays 4 be in crawler belt 3 with curtain wall between the walls when, using Athey wheel
Hub makes needle 5 produce position movement relative to suction tray 4 to the pressure force of needle 5, so as to open the Pan Kou of suction tray 4, outside
In the presence of portion's negative pressure device, suction tray 4 is evacuated using vacuum adapter 6, suction tray 4 is formed between the walls with curtain wall
Negative pressure, so as to realize the effect of absorption；At the same time, some suction trays 4 can then form the state separated between the walls with curtain wall,
Because needle-valve 5 is not under pressure, so can play a part of closing the Pan Kou of suction tray 4；The process rotated repeatedly in crawler belt 3
In, each suction tray 4 can seriatim carry out Pan Kou opening and closing actions, you can realize portable adsorption effect.
To optimize the structure of whole climbing device, the crawler belt wheel hub of the present embodiment includes being arranged in chassis 1 in left-right direction
Upper (grade of bearing 7 part can be installed on chassis 1) and each other in two bloster bars 8 of front and rear parallel distributed, in each bloster
The left end and right-hand member of bar 8 are set with one by two parallel distributeds ground the Athey wheel group that constitutes of Athey wheel 9, the left side positioned at chassis 1
Two Athey wheel groups of side and two Athey wheel groups on the right side of chassis 1 are integrated by a crawler belt 3 suit respectively, and
A guide plate 10 is provided with each crawler belt 3, the front-end and back-end of guide plate 10 are socketed on bloster bar 8 and are held on respectively
Between corresponding two Athey wheels 9；The inner of needle 5 then passes through the surface after crawler belt 3 with guide plate 10 to offset.With this, pass through
Motor 2 drives Athey wheel 9 to be rotated, and then carry out crawler belt 3 driving effect of bloster bar 8 using bloster bar 8
Rotate, can be by carrying out the design of convex-concave structure to the surface of guide plate 10 during crawler belt 3 is rotated so that needle 5 with
The change of distance is produced between guide plate 10, the control to needle 5 is realized with this, the mesh of the Pan Kou keyings to suction tray 4 is reached
's.
The effect being engaged for guarantee needle 5 with suction tray 4, the suction tray 4 of the present embodiment includes being equiped with the wall of side
The open disk 42 and one that the air-casing 41, one of vacuum adapter 6 is formed at the outer end of air-casing 41 is formed at the inner of air-casing 41 and fixed
Fixed disk 43 in the inner side of crawler belt 3, and needle 5 include sleeve in the fixed disk 43 and with supporting that the surface of guide plate 10 offsets
Socket part 51, it is formed at the outer end of abutting part 51 and sleeve in the linkage portion 52 in air-casing 41 and is formed at the outer end of linkage portion 52 simultaneously
The first valve block portion 53 in open disk 42, when the control needle 5 of guide plate 10 produces position movement relative to suction tray 4,
I.e. using the abutting relation of abutting part 51 and guide plate 10, abutting part 51 is set to drive the first valve block portion 53 by linkage portion 52
Close the external port of air-casing 41 or open the external port of air-casing 41, and inner space of the vacuum adapter 6 then with air-casing 41 is communicated；With
This, can realize the gas between open disk 42 and vacuum adapter 6 by the first valve block portion 53 to the keying of the external port of air-casing 41
Road break-make.
To ensure effect of the needle 5 to the Pan Kou keyings of suction tray 4, the air-casing 41 of the present embodiment includes one and open disk 42
It is connected the outer end set 411 and one being integrated and is connected the inner set 412 being integrated, the set hole aperture of outer end set 411 with fixed disk 43
More than the set hole aperture of inner set 412, while one is provided with linkage portion 52 is used for what is offseted with the external port of inner set 412
Second valve block portion 54, in linkage portion 52 and covers in 411 trepan region positioned at outer end and is provided with a pressing plate portion 55, in linkage portion
Also it is socketed with a stage clip 56 on 52, one end of stage clip 56 is fixed in pressing plate portion 55, the other end is fixed on the set hole of outer end set 411
On wall；And vacuum adapter 6 is then installed in the set that hole covers 411 with outer end that covers on the side wall of inner set 412 and passing through inner set 412
Hole is communicated.With this, when guide plate 10 is to the formation pressing effect of abutting part 51, abutting part 51 can drive the first valve block portion 53 and the
Two valve block portions 54 are displaced outwardly simultaneously, so as to open the external port of inner set 412 and external port (the now stage clip of outer end set 411
56 states in compression), communicate the gas circuit between vacuum adapter 6 and open disk 42, and then produce vacuum effect；And work as and lead
When not pressing effect to the formation of abutting part 51 to plate 10, whole needle 5 can then automatically reset under the elastic force effect of stage clip 56
To close the external port of outer end set 411 using the first valve block portion 53, the outer end of inner set 412 closed using the second valve block portion 54
Mouthful, to close the gas circuit between vacuum adapter 6 and open disk 42.
Rapidly the robot or climbing device that are adsorbed on curtain wall wall can be removed for convenience of operating personnel,
The lifting handle 44 for playing pressure release effect is also equiped with the outer wall of open disk 42.
For convenience of centralized Control (being evacuated as concentrated) is carried out to each suction tray 4, so as to simplify the knot of whole climbing device
Structure, as shown in fig. 6, the climbing device of the present embodiment also includes a crossover sub 11 for being used to be connected with outside negative pressure device, often
Individual vacuum adapter 6 is connected by a negative tube 12 with crossover sub 11.
To optimize the functional effect of guide plate 10, the guide plate 10 of the present embodiment can use the following two kinds structure type, i.e.,：
One embodiment on the downside wall of guide plate 10 as shown in figure 4, be formed with one by being offseted with needle 5 to control
Needle 5 processed is relative to the flange part 101 that suction tray 4 is moved out, and the contour line of flange part 101 is by the front end bottom side of guide plate 10
Wall and rear end downside wall formed after smoothly stretching out (it is to be understood that the downside wall of guide plate 10 and two Athey wheels 9 it
Between the vertical range of line be more than other side walls of guide plate 10 and the vertical range of line between two Athey wheels 9).With this,
When some suction trays 4 are moved under the drive of crawler belt 3 between curtain wall wall and flange part 101, flange part 101 can press valve
Pin 5 so as to open the Pan Kou of suction tray 4, is easy to outside negative pressure device to pass through so that needle 5 is moved out relative to suction tray 4
Vacuum adapter 6 is evacuated to suction tray 4.
Second embodiment is as shown in figure 5, to offer one on the outer wall of guide plate 10, along the contour line of guide plate 10 embedding
Position guide groove 102, in the inner of suction tray 4 and is equiped with a slider guide 45, in guide groove 102 positioned at the inner surface side of crawler belt 3
Symmetrical side on offer and contraposition is equiped with guide groove 103, slider guide 45 is embedded in directive wheel 46 in guide groove 103；
With this, suction tray 4 is not only securely fixed in crawler belt using the contraposition engomphosis relation between directive wheel 46 and guide groove 103
On 3, and by the conversion of the lift profile to guide groove 103 (i.e.：Make the bottom side groove face and guide plate of clamped guide groove 102
Vertical range is more than vertical between other groove faces of clamped guide groove 102 and the center line of guide plate 10 between 10 center line
Distance)；When crawler belt 3 drives suction tray 4 to carry out position movement, directive wheel 46 can be oriented stable shifting along guide groove 103
It is dynamic, needle 5 is pressed or discharged by clamped guide groove 102, to realize the control of the Pan Kou keyings to suction tray 4.
Preferred embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited,
Equivalent structure or equivalent flow conversion that every utilization the utility model specification and accompanying drawing content are made, or directly or indirectly fortune
Used in other related technical fields, similarly it is included in scope of patent protection of the present utility model.
Claims (8)
1. a kind of absorption type climbing device of glass curtain wall clean robot, it is characterised in that：It includes chassis, in left-right direction
The crawler belt wheel hub that is distributed through chassis and it is installed in the rearward end on chassis and drives crawler belt wheel hub to be turned relative to chassis
Dynamic motor, the crawler belt wheel hub left end and right-hand member are socketed with a crawler belt, are equiped with each crawler belt some
It is individual respectively with the surface of crawler belt to vertical suction tray；The inner of each suction tray, which is provided with one, to be used to control suction tray
Pan Kou open and close needle, a vacuum adapter for being used to be connected with outside negative pressure device is equiped with the wall of side, the needle
The inner passes through the surface after crawler belt with crawler belt wheel hub to offset.
2. a kind of absorption type climbing device of glass curtain wall clean robot as claimed in claim 1, it is characterised in that：It is described
Crawler belt wheel hub is included being arranged in left-right direction on chassis and each other in two bloster bars of front and rear parallel distributed, each described
The left end and right-hand member of bloster bar are set with one by two parallel distributeds ground Athey wheel group for constituting of Athey wheel, positioned at the chassis
Left side two Athey wheel groups and two Athey wheel groups on the right side of chassis be integrated respectively by crawler belt suit, each
It is provided with a guide plate in the crawler belt, the front-end and back-end of the guide plate are socketed on bloster bar and are held on pair respectively
Between two Athey wheels answered；The inner of the needle passes through the surface after crawler belt with guide plate to offset.
3. a kind of absorption type climbing device of glass curtain wall clean robot as claimed in claim 2, it is characterised in that：It is described
Suction tray is formed at gas including being equiped with the air-casing of vacuum adapter, the open disk and one of an outer end for being formed at air-casing on the wall of side
The inner of set and the fixed disk that is fixed on the inside of crawler belt, the needle include sleeve in fixed disk and with the surface phase of guide plate
The abutting part that supports, the outer end for being formed at abutting part and sleeve is in the linkage portion in air-casing and is formed at the outer end of linkage portion and is located at
The first valve block portion in open disk, the abutting part drives external port or the unlatching of the first valve block portion closure air-casing by linkage portion
The external port of air-casing, the vacuum adapter is communicated with the inner space of air-casing.
4. a kind of absorption type climbing device of glass curtain wall clean robot as claimed in claim 3, it is characterised in that：It is described
Air-casing is connected the outer end being integrated set and one with open disk including one and is connected the inner set being integrated with fixed disk, and the outer end covers
Set hole aperture be more than and be provided with one in the set hole aperture of inner set, the linkage portion and be used for what is offseted with the external port of the inner set
It is provided with second valve block portion, the linkage portion and in the trepan region that outer end covers in a pressing plate portion, the linkage portion also
It is socketed with a stage clip, one end of the stage clip is fixed in pressing plate portion, the other end is fixed on the set hole wall of outer end set；It is described true
Empty joint is installed on the side wall of inner set and communicated by the set hole of the inner set with the set hole that outer end covers.
5. a kind of absorption type climbing device of glass curtain wall clean robot as claimed in claim 3, it is characterised in that：It is described
Lifting handle is also equiped with the outer wall of open disk.
6. a kind of absorption type climbing device of glass curtain wall clean robot as claimed in claim 1, it is characterised in that：It is also
Including one the crossover sub for being connected with outside negative pressure device, each vacuum adapter is connect by a negative tube and conversion
Head is connected.
7. a kind of absorption type climbing device of glass curtain wall clean robot as any one of claim 2-5, it is special
Levy and be：One is formed with the downside wall of the guide plate by offseting with needle to control needle relative to suction tray to outward transport
Dynamic flange part, the contour line of the flange part is after the front end downside wall and rear end downside wall of guide plate smoothly stretch out
Formed.
8. a kind of absorption type climbing device of glass curtain wall clean robot as any one of claim 2-5, it is special
Levy and be：A clamped guide groove, the inner of the suction tray are offered on the outer wall of the guide plate, along the contour line of guide plate
And be equiped with a slider guide, the symmetrical side of the guide groove positioned at the inner surface side of crawler belt and offer guide groove, it is described to lead
The directive wheel that contraposition is embedded in guide groove is equiped with sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621044700.1U CN206586906U (en) | 2016-09-08 | 2016-09-08 | A kind of absorption type climbing device of glass curtain wall clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621044700.1U CN206586906U (en) | 2016-09-08 | 2016-09-08 | A kind of absorption type climbing device of glass curtain wall clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206586906U true CN206586906U (en) | 2017-10-27 |
Family
ID=60130889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621044700.1U Expired - Fee Related CN206586906U (en) | 2016-09-08 | 2016-09-08 | A kind of absorption type climbing device of glass curtain wall clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206586906U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175617A (en) * | 2016-09-08 | 2016-12-07 | 肇庆市小凡人科技有限公司 | A kind of adsorption-type climbing device of glass curtain wall clean robot |
| CN110916572A (en) * | 2020-01-21 | 2020-03-27 | 金陵科技学院 | A wheeled vacuum chuck structure climbing clearance dolly for glass curtain wall |
| CN113729545A (en) * | 2017-12-26 | 2021-12-03 | 科沃斯机器人股份有限公司 | Robot control method, storage medium and robot |
-
2016
- 2016-09-08 CN CN201621044700.1U patent/CN206586906U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175617A (en) * | 2016-09-08 | 2016-12-07 | 肇庆市小凡人科技有限公司 | A kind of adsorption-type climbing device of glass curtain wall clean robot |
| CN113729545A (en) * | 2017-12-26 | 2021-12-03 | 科沃斯机器人股份有限公司 | Robot control method, storage medium and robot |
| CN113729545B (en) * | 2017-12-26 | 2023-09-19 | 科沃斯机器人股份有限公司 | Robot control method, storage medium and robot |
| CN110916572A (en) * | 2020-01-21 | 2020-03-27 | 金陵科技学院 | A wheeled vacuum chuck structure climbing clearance dolly for glass curtain wall |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201028 Address after: 523570 Room 101, building 3, No. 13 Qiaozi Road, Changping Town, Dongguan City, Guangdong Province Patentee after: Dongguan Jiecheng Instrument Equipment Co.,Ltd. Address before: 526000 5A218 room, fifth floor, pioneering Service Center building, hi tech Zone, Guangdong, Zhaoqing Patentee before: ZHAOQING XIAOFANREN TECHNOLOGY Co.,Ltd. |
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| 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: 20171027 Termination date: 20210908 |