CN206651084U - Triangular prism shaped electric drive branch pruning machine people - Google Patents
Triangular prism shaped electric drive branch pruning machine people Download PDFInfo
- Publication number
- CN206651084U CN206651084U CN201720279199.5U CN201720279199U CN206651084U CN 206651084 U CN206651084 U CN 206651084U CN 201720279199 U CN201720279199 U CN 201720279199U CN 206651084 U CN206651084 U CN 206651084U
- Authority
- CN
- China
- Prior art keywords
- main body
- body frame
- wheel shaft
- chain saw
- triangular prism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
This technology provides a kind of rising, cutting is carried out simultaneously, without the full electric drive of cable, it is simple and reliable for structure, efficiency high, cable can be avoided around the triangular prism shaped electric drive branch pruning machine people of tree, thirdly the first side of prismatic body framework is fixedly linked with second side, the side of the 3rd side and the side of second side are hinged, and are connected between the opposite side and the sidepiece of first side of the 3rd side with dismountable elastic construction；The wheel shaft of rotation is provided with the inside of three sides of main body frame, two road wheels up and down are provided with each wheel shaft；Each wheel shaft is consistent relative to the incline direction of main body frame axis, and angle of inclination is equal, is 3 15 °；Motor is set on main body frame, and the output shaft of motor and a wheel shaft rotate, and the road wheel on each wheel shaft rolls along trunk periphery so that main body frame is around trunk spiral or decline；On the top of main body frame, chain saw is set；The cutting chain of chain saw upwardly extends；The battery on main body frame.
Description
Technical field
This technology is related to triangular prism shaped electric drive branch pruning machine people, the machine especially trimmed to the branch of willow
People.
Background technology
The external research starting to trees pruning beta pruning machinery is more early, mainly with economically developed U.S., day, moral, method, English,
Italy, Australia, Holland, Israel etc. are representative.Early in early in the twentieth century, western countries just have started to conserve in forest zone
Begin have application in cultivation；But class instrument mainly is cut using simple mechanical knife at that time, diesel oil and gasoline provide the small of power
Type bears machinery.Since the 1980s, various forest zones are cultivated beta pruning special-purpose machinery and just emerged one after another, such as lopping shears, cut
Branch machine, intelligent beta pruning mechanical hand etc., forestry timber rate of accumulation has stepped into fast-developing period.Typical Representative, such as U.S., auspicious
The unpowered device pruning machine of hand of allusion quotation production.Its cardinal principle is on the basis for improving common trimming saw, to original
Machinery adds a machine that can be stretched " arm ", and it can carry out work high above the ground to 8 meters or so of trunk.
At present with high-altitude trimming field is automated to a certain degree, comparative maturity has ARS, Komatsu, Si Dier
The trimming saw of some companies such as company production；Such device is used as power set using gasoline.Vibration is smaller when the device works, and cuts
The branch damage that effect is good and sheared edge is to trees is smaller, effective depth is in 6cm or so；The effective radius of trimming saw is left in 21cm
It is right.But not only cost is higher for such machinery, maintenance expense is also universal higher；And it is certain special to require that staff has
Industry technical ability.Because this kind of mechanical operation height is relatively low, and the needs of its serious non-compliance China Forest.
With the continuous progress of science and technology.Some companies set about developing the automation that can carry out high-altitude mechanical beta pruning in the world
Mechanical and achievement is notable.The semi-automatic climb type beta pruning machinery of the Typical Representative such as astral spirit company manufacture of Japan, it is used
Controlled in wireless；Using chain type saw blade and low pressure climbing tire；Remote control mode is used when mechanical context tree；But the office of the device
Sex-limited relatively strong, it carries out operation in more straight trunk, but can not then be worked for bending larger trunk.Also it is exactly that Europe is raw
Production it is a kind of can automatic lifting realize the Sa Sima hoistable platforms of high-altitude trimming operation, it be beta pruning is mechanically anchored in it is more
On individual platform, each platform of operation is independent of each other by its independent hydraulic control；Its operational height is in 5-6m or so, level
Extend in 8m or so in face.Also a A Fulong hoistable platforms, are controlled also with hydraulic pressure.There is cable type lifting in addition
Platform, it realizes elevating function using capstan winch, and the height of its operation is in 20m or so, but they show slightly heavy and automated
Degree is relatively low.
For the country, operation is mostly carried out in a manner of hand is semi-automatic, the research of beta pruning machinery is still in
Starting stage.The product automation degree listed at present is relatively low, and model is single, and operating efficiency is undesirable.Sun Kunlong etc. is ground
The pruning device that the 5XY-5 types of system are used for high-altitude trimming provides power using low power gasoline engine；Operation principle mainly covers
Cartridge type high speed lock type device is operated telescopic arm, and then V-belt is slowed down, and drives pump type structure to drive via travelling gear
Hydrodynamic pressure device makes beta pruning component working.For the operation height of the device up to 5-6m, the effective diameter of trimming saw is 3cm.Also
Exactly using backpack high-altitude trimming machine and integrate the small-sized high-altitude trimming machines of multiple functions, such device nearly all with
Small-power gasoline engine provides power, saw structure is carried out beta pruning operation by V-belt or other kinds of chain assembly.Should
The cost of class device is relatively low and structure is relatively simple；The visible angle of work opportunity tool is more satisfactory, damage of the beta pruning to trees
Security function is preferable during smaller and operation；Maintenance cost is smaller.But such beta pruning mechanical oscillation is stronger, and hand gear is heavier, this
Individual design needs further to be improved.
At present, in forward position it is at home distance type climb type pruning machine by the key project development of Yichun Municipal Forestry Bureau
Tool, its major design is by the way of remote control.The beta pruning mechanical energy is climbed up and down along trunk, and can be achieved to repair under teleaction
Number branches of tall trees are cut, power is using petrol engine.
And the major function performed by branch pruning machine people is to carry out beta pruning to trees.Beta pruning robot is worked
Just moved up and down in journey, instead of artificial pollard.Beta pruning robot is imitating mankind's pollard, and people can be substituted to climb to tree
On, greatly reduce the potential danger that artificial beta pruning is triggered, during batch jobs, efficiency can be increased exponentially, save the time
Cost.The beta pruning robot of Northeast Forestry University Xu Jun et al. researchs as control chip and is used using MS320F2407ADSP
The operation principle of fuzzy-adaptation PID control, the various pieces co-ordination of robot is driven using asynchronous machine, realize climbing trunk
Function.In the presence of clamping motor, the driving wheel-type structure of robot can automatically adjust according to the change of trunk, begin
The realization for clamping this critical function of trunk is remain eventually.When robot rises to working depth, clamping motor is then " locking "
In trunk to prevent body from gliding or falling, action is relatively complicated.
The content of the invention
The purpose of this technology is to provide a kind of rising, cutting while carried out, and no full electric drive of cable is simple and reliable for structure,
Efficiency high, cable can be avoided around the triangular prism shaped electric drive branch pruning machine people of tree.
Triangular prism shaped electric drive branch pruning machine people described in this technology, thirdly the first side of prismatic body framework
It is fixedly linked with second side, the side of the 3rd side and the side of second side are hinged, the opposite side and first of the 3rd side
It is connected between the sidepiece of side with dismountable elastic construction；The wheel of rotation is provided with the inside of three sides of main body frame
Axle, two road wheels up and down are provided with each wheel shaft；Each wheel shaft is consistent relative to the incline direction of main body frame axis, and inclines
Rake angle is equal, is 3-15 °；Motor is set on main body frame, and the output shaft of motor and a wheel shaft pass through biography
Motivation structure is connected, and drives the wheel shaft to rotate, and the road wheel on each wheel shaft rolls along trunk periphery so that main body frame is around trunk spiral shell
Rotation rises or falls；On the top of main body frame, chain saw is set；The cutting chain of chain saw upwardly extends；Set on main body frame
For the battery powered to motor and chain saw motor.
The beneficial effect of this technology：In use, first opening the 3rd side, mobile robot causes the trees for needing beta pruning
Trunk between first side and second side, the 3rd side is then shut off, the 3rd side and first side with elasticity
Structure is connected so that each road wheel clamps trunk in the presence of elastic construction.Then start motor, pass through transmission mechanism
Drive a wheel shaft so that the road wheel on the wheel shaft（Road wheel on the wheel shaft is driving wheel, the road wheel on other wheel shafts
It is follower）Rotate.Because the axial direction of each wheel shaft and trunk tilts, so each road wheel also inclines with trunk axial direction
Tiltedly, with the rotation of road wheel, main body frame is around trunk spiral, and cutting chain is with main body frame spiral, when touching
During to positioned at the circumferential branch of trunk, i.e., sawing is carried out to branch, complete trimming.After the completion of trimming, motor rotates backward,
Main body frame declines around trunk spiral.This technology with the principle of circle inscribe triangle with a certain section of three point contact trunk,
And be 2 points of supports along trunk direction, general frame is simple and reliable, meets Stability Design criterion；Using battery as motor and chain
Motor power supply is sawed, without that from ground wiring, there will not be cable to twine tree problem when main body frame rotates around trunk.Using battery as
Power source, it is easy to provide power supply for start and stop, control and communication component.First side is connected with the 3rd side with elastic construction,
Enable each road wheel to produce certain clamping force to trunk, and the trees of different-diameter can be applied to.Have on each wheel shaft
Upper and lower two road wheels, totally six road wheels on three wheel shafts, even if robot total quality skewness, main body frame
Axial direction still be able to keep with trunk coaxially without tilting.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, guide device, guide's dress are set on main body frame top
Put and be located at the inner or outer side of chain saw on the direction of main body frame axis；Guide device includes being arranged on main body frame
On the first touch panel upwardly extended and fixed plate, tangential direction of the first touch panel in main body frame（With passing through main body frame axis
The perpendicular direction of plane）It can be moved relative to fixed plate, so that first touching when being provided with normality between first touch panel and fixed plate
Plate compression spring away from fixed plate in main body frame tangential direction；Quality Initiative is connected with the power circuit of chain saw motor
Saw the microswitch of motor start and stop；Microswitch is fixed between first touch panel and fixed plate；When main body frame is on trunk spiral
When rising, first touch panel first touches than cutting chain needs the branch trimmed, first touch panel overcome the elastic force of compression spring and along main body
Framework is tangentially moved to fixed plate, touches microswitch, and chain saw motor power is connected, and chain saw starts；With the spiral shell of main body frame
Screw on liter, chain saw cut branch；After the completion of cutting, first touch panel is multiple away from fixed plate, microswitch in the presence of compression spring
Position, saw chain shut down.Using guide device so that chain saw just starts when touching branch soon, stops after sawed-off branch,
Effectively electric energy is saved.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, dismountable elastic construction are：Close to the 3rd
Hook hole is provided with 3rd side of the adjoiner of side and first side, the hook for hooking the hook hole passes through stretching
Spring is connected with first side；Or hook hole is provided with first side, the hook for hooking the hook hole passes through stretching
Spring is connected with the 3rd side.The connected structure of clasp and hook hole, being capable of rapid-assembling/disassembling.Extension spring enables to road wheel
Trunk is clamped in trunk circumferential direction.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, the output shaft of motor are passed with a wheel shaft by chain
Motivation structure is connected.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, the motor are set on the first side, chain saw
Set on the second side with battery.So can in the circumferential direction of main body frame reasonable distribution weight, so whole machine
The distribution of weight of structure is than more uniform, the problems such as being not likely to produce inclination.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, main body frame are made of aluminium alloy extrusions.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, the periphery of road wheel has tire.Tire can increase
With the frictional force of trunk.
Brief description of the drawings
Fig. 1 is the stereogram of triangular prism shaped electric drive branch pruning machine people；
Fig. 2 is the stereogram at another visual angle of triangular prism shaped electric drive branch pruning machine people；
Fig. 3 is the schematic diagram of guide device；
Fig. 4 is the solid of triangular prism shaped electric drive branch pruning machine people when first touch panel contacts with the branch trimmed in advance
Figure；
Fig. 5 is enlarged drawing when first touch panel contacts with the branch trimmed in advance.
Embodiment
This technology is further described below in conjunction with the accompanying drawings.
Referring to the triangular prism shaped electric drive branch pruning machine people of willow described in Fig. 1,2, with made of aluminium alloy extrusions three
The first side 11 of prismatic body framework 1 is fixedly linked with second side 12, side and the second side 12 of the 3rd side 13
Side it is be hinged by pivot 14, with dismountable elastic construction 2 between the opposite side of the 3rd side and the sidepiece of first side
It is connected.Dismountable elastic construction includes hook 21, the extension spring 22 being fixedly linked with the rear end of hook 21, spring 22 it is another
One end is fixed on the first side.Hook hole is being provided with the 3rd side and the 3rd side 13 of the adjoiner of first side
131, link up with 21 front end be used for hook the hook hole.
In triangular prism shaped main body frame, wherein two sides are fixed, have one side to be arranged on folding
In the case of road wheel fitting trunk on wheel shaft on fixed two sides, the 3rd side is closed, and by manpower prestretching stretching bullet
Spring, hook is then hooked into hook hole, by main body frame fastening in the tree.Because the pretightning force applied is bigger, in master
Even if the diameter that body framework is set during rising diminishes, main body frame also can firmly be bonded and set.
Drive device 3 mainly includes motor 31, chain-drive mechanism 32, wheel shaft 33, road wheel 34.The three of main body frame
The wheel shaft 33 of rotation is provided with the inside of individual side, two road wheels up and down are provided with each wheel shaft；The periphery tool of road wheel
There is tire.
Each wheel shaft is consistent relative to the incline direction of triangular prism shaped main body frame axis, and angle of inclination is 7 °.Driving
Motor is set on the first side.Chain-drive mechanism 32 includes drive sprocket 321, driven sprocket 322, chain 323.Motor
Output shaft on drive sprocket is set, driven sprocket is arranged on the middle part of that wheel shaft of connection on the first side.
On the top of second side, chain saw 4 is set；Chain saw includes the chain saw motor, guide chain plate, cutting of driven cutting chain bar
Chain etc..Guide chain plate, cutting chain upwardly extend；The battery to motor and chain saw power supply is provided on the second side
5。
Referring to Fig. 1,2,5, guide device 6 is set on the top of second side, guide device is perpendicular to main body frame axle
It is located at the outside of chain saw on the direction of line.Guide device includes fixed plate 61, first touch panel 62, compression spring 63 etc..Fixed plate 61
It is fixed on second side top and upwardly extends, first touch panel 62 is in the direction perpendicular with the plane by main body frame axis
（The namely tangential direction of main body frame）It can be moved relative to fixed plate, when being provided with normality between first touch panel and fixed plate
So that first touch panel compression spring 63 away from fixed plate in the tangential direction of main body frame.
The microswitch 64 of control chain saw motor start and stop is connected with the power circuit of chain saw motor；Microswitch is fixed
Formerly between touch panel and fixed plate.
The principle of guide device is to be set with a microswitch between first touch panel and fixed plate, and first guide plate is with body frame
In spiral, position in the presence of touch panel touches branch in the ban, can produce pressure, produce certain frame somewhat ahead of chain saw
Displacement, microswitch is caused to be touched, microswitch starts chain saw, starts working, after branch has been cut, due to compression
The effect of spring, sheet metal recover original position, and microswitch resets, and chain saw is stopped.Plus this decision mechanism, help
In saving electric energy so that robot continuous working period is longer.
In use, the willow trunk that mobile robot to need beta pruning is between first side and second side,
Be then shut off the 3rd side, hook be hooked in on the hook hole on the 3rd side so that work of each road wheel in extension spring
With lower clamping trunk 7.Now the axis of trunk is substantially parallel with the axis of main body frame.Then started by remote control
Motor, pass through the wheel shaft of chain-drive mechanism driving setting on the first side so that two walkings up and down on the wheel shaft
Wheel（Two road wheels on the wheel shaft are driving wheel, and the road wheel on other wheel shafts is follower）Rotate.Row on each wheel shaft
Walk wheel to roll along trunk periphery so that main body frame is around trunk spiral or decline.
Claims (7)
1. triangular prism shaped electric drive branch pruning machine people, it is characterized in that：Branch pruning machine people is substantially in triangular prism on the whole
Shape, thirdly the first side of prismatic body framework is fixedly linked with second side, the side of the 3rd side and second side
Side is hinged, and is connected between the opposite side and the sidepiece of first side of the 3rd side with dismountable elastic construction；Main body frame
Three sides on the inside of be provided with the wheel shaft of rotation, two road wheels up and down are provided with each wheel shaft；Each wheel shaft relative to
The incline direction of main body frame axis is consistent, and angle of inclination is equal, is 3-15 °；Motor is set on main body frame, driven
The output shaft of dynamic motor is connected with a wheel shaft by transmission mechanism, drives the wheel shaft to rotate, the road wheel edge tree on each wheel shaft
Dry periphery rolls so that main body frame is around trunk spiral or decline；On the top of main body frame, electric chain saw is set；Chain saw
Cutting chain upwardly extend；The battery to motor and the power supply of chain saw motor is provided on main body frame.
2. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：Set on main body frame top
Guide device is put, guide device is being located at the inner or outer side of chain saw on the direction of main body frame axis；Guide device
Including the first touch panel upwardly extended and the fixed plate being arranged on main body frame, first touch panel can phase in the tangential direction of main body frame
Moved for fixed plate, cause first touch panel in main body frame tangential direction when being provided with normality between first touch panel and fixed plate
Compression spring away from fixed plate；The microswitch of control chain saw motor start and stop is connected with the power circuit of chain saw motor；
Microswitch is fixed between first touch panel and fixed plate；When main body frame is around trunk spiral, first touch panel compares cutting chain
The branch for needing to trim first is touched, first touch panel overcomes the elastic force of compression spring and tangentially moved along main body frame to fixed plate,
Microswitch, the conducting of chain saw motor power are touched, chain saw starts；With the spiral of main body frame, chain saw cut branch；Cut
After the completion of cutting, first touch panel resets in the presence of compression spring away from fixed plate, microswitch, and chain saw stops.
3. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：Dismountable elasticity
Structure is：Hook hole is being provided with the 3rd side and the 3rd side of the adjoiner of first side, for hooking the extension
The hook of dog hole is connected by extension spring with first side；Or hook hole is provided with first side, for hooking the extension
The hook of dog hole is connected by extension spring with the 3rd side.
4. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：The output shaft of motor
It is connected with a wheel shaft by chain-drive mechanism.
5. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：The motor is set
On the first side, chain saw and battery are set on the second side.
6. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：Main body frame is closed using aluminium
Metal type material is made.
7. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：The periphery of road wheel has
Tire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720279199.5U CN206651084U (en) | 2017-03-21 | 2017-03-21 | Triangular prism shaped electric drive branch pruning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720279199.5U CN206651084U (en) | 2017-03-21 | 2017-03-21 | Triangular prism shaped electric drive branch pruning machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206651084U true CN206651084U (en) | 2017-11-21 |
Family
ID=60315107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720279199.5U Expired - Fee Related CN206651084U (en) | 2017-03-21 | 2017-03-21 | Triangular prism shaped electric drive branch pruning machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206651084U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
| CN108633527A (en) * | 2018-05-06 | 2018-10-12 | 羊月生 | A kind of self-locking branch pruning machine people |
| CN108713472A (en) * | 2018-05-29 | 2018-10-30 | 西北农林科技大学 | A kind of intelligence is taped a lacquer tree equipment |
| CN110235739A (en) * | 2019-06-17 | 2019-09-17 | 东莞市嘉航实业有限公司 | A kind of intelligence cuts down bamboo device and its driving method |
-
2017
- 2017-03-21 CN CN201720279199.5U patent/CN206651084U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
| CN108633527A (en) * | 2018-05-06 | 2018-10-12 | 羊月生 | A kind of self-locking branch pruning machine people |
| CN108713472A (en) * | 2018-05-29 | 2018-10-30 | 西北农林科技大学 | A kind of intelligence is taped a lacquer tree equipment |
| CN110235739A (en) * | 2019-06-17 | 2019-09-17 | 东莞市嘉航实业有限公司 | A kind of intelligence cuts down bamboo device and its driving method |
| CN110235739B (en) * | 2019-06-17 | 2024-02-20 | 东莞市嘉航实业有限公司 | Intelligent bamboo cutting device and driving method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206651085U (en) | The cylinder-shaped body framework of electric drive branch pruning machine people | |
| CN206651084U (en) | Triangular prism shaped electric drive branch pruning machine people | |
| CN106688654A (en) | Triangular-prism-shaped electrically driven branch trimming robot | |
| CN207235536U (en) | A kind of adjustable-angle GREEB HEDGE MACHINE | |
| CN201630059U (en) | Revolving cutter type arbor trimmer | |
| CN110115169B (en) | Garden trimmer | |
| CN201290279Y (en) | High big garden-trees trimming machine | |
| CN2894243Y (en) | Self-operated green hedge trimmer | |
| CN101401538A (en) | Tree trimmer for high and large gardens | |
| CN2720799Y (en) | Tree branches pruning tool | |
| CN112753404A (en) | High altitude pruning recovery all-in-one | |
| CN205179856U (en) | Automatic height -adjusting's plant trimming means | |
| CN2860049Y (en) | Electric secateurs | |
| CN214385208U (en) | High altitude pruning recovery all-in-one | |
| CN213586969U (en) | Branch trimming means for forestry | |
| CN213245821U (en) | A branch trimming means for municipal afforestation | |
| CN209497981U (en) | A kind of automation forestry trimmer | |
| CN110771377B (en) | A electronic pruning ware of hand-held type for forestry effect | |
| CN210755468U (en) | Belt wheel production and processing cuts device with raw materials of being convenient for adjust and cut size | |
| CN2517229Y (en) | Multifunctional manpower grass cutter | |
| CN112690126A (en) | Deadweight clamping type electric tree climbing pruning machine | |
| CN205266387U (en) | Utilize hedgeclipper of solar energy | |
| CN113853970A (en) | Vegetation trimming means | |
| CN112616480A (en) | Self-guiding urban garden pruning and branch and leaf recovery device | |
| CN111436294A (en) | Liftable from accomodating branch trimming machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nantong Guangyi Electromechanical Co., Ltd. Assignor: Nanjing Forestry University Contract record no.: X2019980000804 Denomination of utility model: Triangular-prism-shaped electrically driven branch trimming robot Granted publication date: 20171121 License type: Common License Record date: 20191202 |
|
| 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: 20171121 Termination date: 20200321 |