CN207354907U - A kind of strawberry picking machine - Google Patents
A kind of strawberry picking machine Download PDFInfo
- Publication number
- CN207354907U CN207354907U CN201721327614.6U CN201721327614U CN207354907U CN 207354907 U CN207354907 U CN 207354907U CN 201721327614 U CN201721327614 U CN 201721327614U CN 207354907 U CN207354907 U CN 207354907U
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- hexagon socket
- socket cap
- picking
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Abstract
A kind of strawberry picking machine, it is related to a kind of fruit picking, the folding transverse slat of the picker is connected by folding axis with picking box, and folding transverse slat is connected with binding one end, the binding other end is connected with electromagnet cylindrical end, and blade is connected by cylinder header stud of slotting with picking box；Electromagnet is fixed on the picking box back side by hexagon socket cap head screw, and electromagnet thread head is fixed with electromagnet connecting rod circular hole end by cylinder header stud of slotting；Color sensor is fixed on picking box side by hexagon socket cap head screw；Picking box is fixed on square-tube type aluminium side by hexagon socket cap head screw, and the square-tube type aluminium back side is fixed on guide rail by cylinder header stud of slotting, which once completes the picking on a ridge, improves picking efficiency.Strawberry surface color is identified by color sensor, and then judges whether strawberry is ripe, and accurate harvesting ripe strawberry, realizes that the strawberry timesharing phase picks.
Description
Technical field
A kind of fruit picking is the utility model is related to, more particularly to a kind of strawberry picking machine.
Background technology
Strawberry is mostly complete cyme, it is necessary to the manually judgement of not timing and harvest, in strawberry harvest time, daily at least
Harvesting twice and often picking strawberry at one will bend over once, and labor intensity and workload are very big, with rural laborer
Womenization and aging to second, third industry patent and rural laborer, the labour day for producing strawberry are becoming tight
, thus develop it is a kind of can replace manual work strawberry picking mechanism it is imperative.
Present strawberry picking is most of or based on manually picking, curved when people work, it is necessary at strawberry result
Waist, and picking is stretched out one's hand, since strawberry ground area is larger, people need constantly to go to bend over to stretch out one's hand, and cause greatly work strong
Degree, and existing strawberry picking robot cost of manufacture is larger, highly practical, can replace so it is relatively low to develop a kind of cost
Artificial cost-effective strawberry picking machine is present society, and it is essential to pick strawberry in agricultural industry.
Strawberry picking mechanical, can raise labour productivity, and save substantial amounts of labour, reduce labor intensity, protection
The integrality of soil and strawberry between ridge, while reduce substantial amounts of production cost, thus strawberry picking mechanical is
The development of agricultural machinery is become.
The content of the invention
The purpose of this utility model is to provide a kind of strawberry picking machine, which uses how mechanical in the use of ridge both sides
Hand is picked at the same time, is once completed the picking on a ridge, is improved picking efficiency.By color sensor to strawberry surface color into
Row identification, and then judge whether strawberry is ripe, and accurate harvesting ripe strawberry, realizes that the strawberry timesharing phase picks.
The purpose of this utility model is achieved through the following technical solutions：
A kind of strawberry picking machine, the folding transverse slat of the picker are connected by folding axis with picking box, folding transverse slat
It is connected with binding one end, the binding other end is connected with electromagnet cylindrical end, and blade is connected by cylinder header stud of slotting with picking box
Connect；Electromagnet is fixed on the picking box back side, electromagnet thread head and electromagnet connecting rod circular hole end by hexagon socket cap head screw
By slotting, cylinder header stud is fixed；Color sensor is fixed on picking box side by hexagon socket cap head screw；Pick box
Square-tube type aluminium side is fixed on by hexagon socket cap head screw, the square-tube type aluminium back side is fixed by cylinder header stud of slotting
On guide rail, guide rail is located in linear slider sliding slot, and linear slider is fixed on slide unit by hexagon socket cap head screw；Modulus
1 rack is fixed on square-tube type aluminium front, rack and pinion engagement by cylinder header stud of slotting, and gear is fixed on by jackscrew
On stepping motor rotating shaft, stepper motor is fixed on slide unit side by hexagon socket cap head screw, and feed screw nut passes through interior hexagonal
Fillister head screw is fixed on feed screw nut frame, and it is another that feed screw nut frame by two hexagon socket cap head screws is fixed on sliding block
Side；Running gear driving wheel is connected directly with support shaft, and stay is connected across wheel by bearing block with wheel, and column uses
The support shaft that outer shaft sleeve is connected directly with axis inner sleeve, connects four wheels.
A kind of strawberry picking machine, the linear bearing is opposite two-by-two to be fixed respectively by hexagon socket cap head screw
In slide unit front and rear sides, two polished rods pass through linear bearing, and both ends are fixed in bearing block fixing end, and bearing block passes through interior hexagonal
Fillister head screw is fixed on manipulator frame.
A kind of strawberry picking machine, one end is consolidated by circlip for hole after the ball-screw passes through feed screw nut
It is scheduled on deep groove ball bearing, deep groove ball bearing is sleeved on bearing block and moves about in end, and bearing block moves about end by two interior hexagonal cylindrical heads
Screw is fixed on manipulator frame；The other end by interior hexagonal tapered end with belt wheel after deep groove ball bearing and axle sleeve by closely determining screw
It is fixed.
A kind of strawberry picking machine, the stepper motor are fixed on belt wheel riser by hexagon socket cap head screw
On, a belt wheel is fixed with shaft, hexagon socket cap head screw is passed through by toothed belt transmission, belt wheel case lid with leading screw end belt wheel
With being fixed on together with belt wheel riser on the outside of manipulator frame.
The advantages of the utility model is with effect：
1st, strawberry surface color is identified by color sensor, and then judges whether strawberry is ripe, accurately
Harvesting ripe strawberry, realizes that the strawberry timesharing phase picks.
2nd, the Single Mechanical hand getting for having abandoned traditional strawberry picking machine is plucked, and is adopted at the same time using multi-robot using in ridge both sides
Pluck, once complete the picking on a ridge, improve picking efficiency.
3rd, the present invention uses Electromechanical Design, and strawberry can directly encapsulate storage after the completion of picking.
Brief description of the drawings
Fig. 1 is picker front view；
Fig. 2 is picker top view；
Fig. 3 is picker left view；
Fig. 4 is picker partial enlarged view；
Fig. 5 is running gear front view；
Fig. 6 is running gear left view；
Fig. 7 is running gear top view；
Fig. 8 is running gear partial enlarged view；
Fig. 9 is walking dress partial sectional view；
Figure 10 is conveying device top view；
Figure 11 is conveying device front view
Figure 12 is conveying device left view.
Component marks in figure：
The 43- driven pulleys of 1- hexagon socket cap head screws M5 × 14
- C grades of M5 of 2- guide rails 44- hex nuts
3- slide unit 45- axis elastic washer φ 5
The 46- bearing sheaths of 4- hexagon socket cap head screws M6 × 10
5- stepper motor 47- deep groove ball bearings 617/5
48- hexagon socket cap head screws M6 × 10 of 6- hexagon socket cap head screws M3 × 5
7- feed screw nut frame 49- gear 1M30 teeth
8- ball-screw nut M10 50- hexagon socket cap head screws M5 × 14
51- hexagon socket cap head screws M3 × 5 of 9- hexagon socket cap head screws M4 × 16
The 52- Cross Recess Head Screws of 10- ball-screws M10 × 450-H-type M1.6 × 3.2
53- hexagon socket cap head screws M1.6 × 2.5 of 11- hexagon socket cap head screws M5 × 8
12- square tube section aluminium 54- color sensors
13- electromagnet 55- wheels
56- hexagon socket cap head screws M6 × 16 of 14- hexagon socket cap head screws M2 × 3
The 57- stepper motors of 15- hexagon socket cap head screws M3 × 7
16- folding riser 58- taper bolts 6 × 70
17- folding axis 59- motor racks
18- folding transverse slat 60- steps
19- starting shaft 61-A types circlip for hole 42
20- binding 62- axis inner sleeves
The 63- outer shaft sleeves of 21- hexagon-headed bolts-C grades of full thread M6 × 16
22- side plates 64- hexagon-headed bolts-C grades of full thread M6 × 12
23- hexagon socket cap head screws M4 ×-C grades of M10 × 65 of 12 65- hexagon-headed bolts
24- bearing blocks, which move about, holds 66- top chocks
8 67- hexagon-headed bolts of 25-A types circlip for hole-C grades of full thread M8 × 20
628 68- support shafts of 26- deep groove ball bearings
10 × 500 69- deep groove ball bearings 61905 of 27- racks M1
8 × 450 70- axle sleeves of 28- feed rods φ
29- hexagon socket cap head screws M3 ×-C grades of M10 of 6 71- hex-head nuts
8 72- simple chainwheels 08A of 30- linear bearings φ
- C grades of M10 × 90 of 31- bearing block fixing end 73- hexagon-headed bolts
32- axle sleeve 74- plain edition flat key-A types 5 × 5 × 85
33- belt wheel riser 75- hexagon thin nuts M18
The 76- racks of 34- hexagon socket cap head screws M5 × 16
35- belt wheel 77- top plates
36- synchronous belt 78- stepper motors
The 79- planks of hexagonal tapered end holding screw M2 in 37- × 6
38- belt wheel case lids 80- welds axis
8 81- hexagon socket cap head screws M5 × 8 of 39- shaft ends stop sleeve φ
The 82- planks of 40- flutings tapered end holding screw M2 × 3
41- linear sliders 83- Cross Recess Head Screws-H-type M5 × 33
- C grades of M5 of 42- blades 84- hex nuts
85- curved bar 129- wheels
6405 130- driving shafts of 86- deep groove ball bearings
25 131- drive rolls of 87-A types shaft block ring
88- chair supporting sleeve 132- bearing blocks
89- backing plate 133- deep groove ball bearings 6202
Hexagonal flush end holding screw M3%x5 in 90- tensioning sleeves 134-
91- tensioning shaft 135- keys 5%x18
10 136- belt wheels of 92- standard types check ring
- C grades of M8 137- driven vollers 1 of 93- hex nuts
5 × 5 × 45 138- driven shafts 1 of 94- general flat key-A types
- C grades of M10 of 95- hexagon-headed bolts ×-C grades of M10 of 65 139- hex nuts
- C grades of M10 140- normal type single coil spring lock washers 10 of 96- hex nuts
The 141- follower shafts of 97- hexagon-headed bolts-C grades of full thread M8 × 16
98- side plate 142- deep groove ball bearings 6201
The 143- driven wheels of 99- hexagon-headed bolts-C grades of full thread M6 × 20
- C grades of M6 144- plain washers-C levels 10 of 100- hex nuts
The 145- circlip for shaft A types 22 of hexagonal cylindrical end holding screw M4 in 101- × 5
102- synchronous pulley internal diameter 10mm 146- driven shafts 2
103- wheel crotch 147- deep groove ball bearings 62/22
104- synchronous belt 148-T type screws M5%x16
6000 149- tensioning plates of 105- deep groove ball bearings
- C grades of M6 of 106- plain edition flat key-A 3 × 3 × 36 150- hex nuts of type
107- sleeve 151- tension bolts
- C grades of M5 of 108- sleeves 152- hex nuts
3 × 3 × 12 153- circlip for shaft A types 15 of 109- plain edition flat key-A types
10 154- circlip for hole A types 32 of 110- normal type single coil spring lock washers
- C grades of M10 155- aluminium section bars of 111- hex nuts
The special flat serrated nut M6.42P 156- fixed plates of the small hexagonals of 112-
113-M18 sensors 157- supports gusset
114- car ladder 158- active axillares
115- battery box 159- hexagon socket cap head screws M5%x12
116- rubber pad 160- conveyer belts
117- storage battery 161- baffles
118- simple chainwheels 08A
119- support shafts
120- deep groove ball bearings 61905
- C grades of M10 × 65 of 121- hexagon-headed bolts
122- top chocks
123- outer shaft sleeves
124- axis inner sleeves
125- synchronous pulley internal diameters 10mm
126- motor racks
127- synchronous belts
128- support shafts.
Embodiment
The utility model is described in detail in illustrated embodiment below in conjunction with the accompanying drawings.
The present invention is made of picker, conveying device, three parts of running gear.
The structure connection of picker：Folding transverse slat 18 is connected by folding axis 17 with picking box 55, and folding transverse slat 18 is logical
Starting shaft 19 is crossed to be connected with 20 one end of binding, 20 other end of binding is connected with 13 cylindrical end of electromagnet, blade 42 by stud with
Picking box 55 connects.Electromagnet 13 is fixed on 55 back side of picking box by screw.Color sensor 54 passes through interior hexagonal cylindrical head spiral shell
Nail 14 is fixed on 55 side of picking box.Picking box 51 is fixed on 12 side of square-tube type aluminium by hexagon socket cap head screw, side
12 back side of cast aluminium is fixed on guide rail 2 by 6 fluting cylinder header studs, and guide rail 2 is located in 41 sliding slot of linear slider, directly
Line sliding block 41 is fixed on slide unit 3 by hexagon socket cap head screw 4.The rack 27 of the length of modulus 1 10 × 500 passes through 6 flutings
Cylinder header stud is fixed on the front of square-tube type aluminium 12, and rack 27 is engaged with 1 × 20 gear 49, and gear 49 is fixed on by jackscrew
In the shaft of stepper motor 5, stepper motor 5 is fixed on 3 side of slide unit by hexagon socket cap head screw 6, and feed screw nut 8 passes through
Hexagon socket cap head screw 9 is fixed on feed screw nut frame 7, and feed screw nut frame 7 is fixed on by hexagon socket cap head screw 11
3 opposite side of sliding block.4 linear bearings 30 are opposite two-by-two to be individually fixed in 3 front and rear sides of slide unit by hexagon socket cap head screw,
Feed rod 28 passes through linear bearing 30, and both ends are fixed in shaft end braking sleeve 39 by interior hexagonal tapered end holding screw 40.Ball-screw
10 are fixed on deep groove ball bearing 26 through one end after feed screw nut 8 by circlip for hole 25, and deep groove ball bearing 26 is sleeved on
Bearing block moves about in end 24, and bearing block, which moves about, holds 24 to be fixed on by hexagon socket cap head screw 23 on manipulator frame；The other end
Fixed by deep groove ball bearing 26 with closely determining screw 37 by interior hexagonal tapered end with belt wheel 35 after axle sleeve 32.Stepper motor 51 is by interior
Hexagonal cylindrical head screw is fixed on belt wheel riser 33, and a belt wheel 43 is fixed with shaft, is passed through with leading screw end belt wheel 45 synchronous
Band 36 is driven, and belt wheel case lid 38 is fixed on manipulator frame by 4 hexagon socket cap head screws 34 together with belt wheel riser 33
Outside.
The embodiment of picker is：Motor 51 rotates, and is made by the transmission of belt wheel 35, synchronous belt 6, driven pulley 43
Ball-screw 10 starts to rotate, and the ball-screw nut 8 engaged with ball-screw 10 will move forward, with ball-screw nut 8
Fixed slide unit 3 also moves forward together, and motor 51 is stopped when being moved to picking box 51 and touching strawberry ridge, stepping
Motor 3 is started to work, and by the engaged transmission of gear 49 and rack 27, drives guide rail 2, square-tube type aluminium 12, picking box 55 1
Rise and rise, strawberry has been in picking box at this time.Color sensor 54 starts to identify strawberry color in box in uphill process,
Continue to rise if red is determined as, blade 42 cuts off strawberry bar in uphill process, and stepper motor 5 stops when walking more than the high height in ridge
Work, motor 51 start to invert, and transmission device upper end is moved to after slide unit 3, and electromagnet 13 powers off, and folding riser 16 gets around sympodium 17
Rotating opening, strawberry fall into transmission device；If differentiation is not red, electromagnet 13 powers off, and folding riser 16 gets around sympodium 17
Rotating opening, strawberry fall go back to its growth position.
The structure connection of running gear：Top plate 77 is bolted with rack 76, and car ladder 31 is connected with top plate 77 and rack 76
It is bolted.It is the vehicle frame taken with the section bar of 2 1000mm and 2 720mm40 × 40 above stay, the second layer is by 2
What 20 × 20 section bars of 940mm and 2 980mm were formed, then got up and be fixed on 20 × 20 section braces of 8 150mm
The top of 40 × 40 section bars.The cast iron of a 780mm × 1000mm is placed with the second layer, has a seat bottom in the middle of iron plate
Face is connected on bottom plate with 4 hexagon-headed bolts.First layer is placed in the just following level of seat, with rubber pad by level and car
Frame is connected.Stay is to be fixed to by axle sleeve 15 and plain edition flat key-A types 5 × 5 × 85 in support shaft, and support shaft is by axis
What inner sleeve 23 and outer shaft sleeve 22 formed.Column lower end is pitched by A type holes resilient coil 24 and 25 fixing vehicle wheel of step
Frame 45, has above wheel crotch motor rack to be fixed on the hex nut of the hexagon-headed bolt of M6 × 20 and M6 on crotch.Stepping
The belt wheel and synchronous belt 44 that internal diameter above motor is 10mm, following wheel 30 is driven with movable belt pulley by stepper motor,
Make car normally travel, wheel is fixed on wheel crotch with sleeve 48 and common flat pattern key A types.Chair supporting sleeve 60 and backing plate
59 are bolted.Chair supporting sleeve 60 is bolted with top plate 8.Plank 66 is bolted with curved bar 63.Plank 66 and curved bar 63
It is bolted.M18 sensors 35 are bolted with outer shaft sleeve 22.Axle sleeve 15 is connected with the plain edition flat key-A types 54 of axis 17.
Fixed 58 are bolted with tensioning shaft 57.The embodiment of running gear is：Running gear is realized in function, and complete machine exists
Under the drive of running gear, across the picking work that strawberry is carried out on a strawberry ridge, when picker is in picking strawberry
When, running gear stops moving ahead, and after waiting picker to complete picking, running gear continues to run with, and moves ahead the phase in running gear
Between, the sensor 35 on running gear monitors the distance of picker and ridge side in real time, and by wheel
Movable motor 28 constantly adjusts speed with movable belt pulley 46, makes picker parallel with the guarantee of ridge side and apart from fixation, and then
Ensure the quality of picking, when machine has picked a ridge, running gear rolls strawberry ridge away from, the turning motors 46 at the end of ridge
Work, is driven by sprocket wheel 13, is rotated by 90 ° wheel, complete the steering of wheel, afterwards, traveling motor 46 is again started up, and is made
Machine is laterally moved at next ridge, and then turning to the startup of motor 46 makes 90 degree of wheel counter-rotating, makes the wheel reinstatement that moves ahead, OK
Stepper motor 46 starts, and completes the strawberry picking work on this ridge.The structure connection of conveying device：Conveying device we using
Z-shaped conveyer belt, its bottom are made of driven shaft and tensioning apparatus, and tensioning apparatus is by two tensioning plates and 2 tensioning bolts and 2
A hex nut is formed.Then it is fixed on 4 screws and 4 supporting hex nuts on the section bar of conveyer belt both sides.Transmission
Band corner is fixed with a support sole, and supporting above sole has 1 circlip for hole A type 161 and 1 shaft block ring A
Type 144 is simultaneously fixed on section bar with 8 T-shaped screws and 8 hex nuts.The top be by driving shaft, drive roll, bearing block,
Belt wheel forms, and belt wheel is connected on conveyer belt section bar with driving shaft by key connection, bearing block by 2 hexagon socket cap head screws.
At slope conveyer belt is fixed by 3 fixed plates at a distance of 300mm.There is the baffle at a distance of 60mm high 30mm above conveyer belt, be used for
Strawberry is prevented since self gravitation effect drops breaking-up, the both sides of conveyor-belt apparatus also have that to prevent that strawberry from falling down from side vertical
Formula baffle, is fixed on the section bar of conveyer belt both sides with 4 T-shaped screws.Driving shaft 130 is connected with drive roll 131, driving shaft
130 fix with 132 jackscrew of bearing block, and active axillare 158 is bolted with aluminium section bar 155, and driving shaft 130 connects with 136 key of belt wheel
Connect, bearing block 132 is bolted with active axillare 158, and driven voller 137 is connected with driven shaft 138, supports sole 157 and aluminium profiles
Material 155 is bolted, and fixed plate 156 is bolted with aluminium section bar 155, and baffle 161 is bolted with aluminium section bar 155, tensioning plate
149 are bolted with aluminium section bar 155, and tensioning bolt 150 is connected with tensioning plate 149, and driven shaft 146 is solid with deep groove ball bearing 147
It is fixed.The embodiment of conveying device：Support sole 157, which fixes driven shaft, makes conveyer belt be in z fonts, corner driven shaft and transmission
Band both sides coincidence distance is 100mm.Decelerating motor is fixed with belt wheel jackscrew, and belt wheel passes through on synchronous belt drive and driving shaft
Belt wheel 136 slowly rotates, so that conveyer belt uniform motion, strawberry is transported to collection from picker work end position
Place, by manually collecting strawberry into box.
Claims (3)
- A kind of 1. strawberry picking machine, it is characterised in that the folding transverse slat of the picker is connected by folding axis with picking box, Folding transverse slat is connected with binding one end, and the binding other end is connected with electromagnet cylindrical end, blade by slot cylinder header stud with Pick box connection；Electromagnet is fixed on the picking box back side by hexagon socket cap head screw, and electromagnet thread head is connected with electromagnet Bar circular hole end is fixed by cylinder header stud of slotting；Color sensor is fixed on picking box side by hexagon socket cap head screw Face；Picking box is fixed on square-tube type aluminium side by hexagon socket cap head screw, and the square-tube type aluminium back side passes through cylinder of slotting Header stud is fixed on guide rail, and guide rail is located in linear slider sliding slot, and linear slider is fixed on by hexagon socket cap head screw On slide unit；The rack of modulus 1 is fixed on square-tube type aluminium front, rack and pinion engagement, gear by cylinder header stud of slotting It is fixed on by jackscrew on stepping motor rotating shaft, stepper motor is fixed on slide unit side, leading screw spiral shell by hexagon socket cap head screw Mother is fixed on feed screw nut frame by hexagon socket cap head screw, and feed screw nut frame is consolidated by two hexagon socket cap head screws It is scheduled on sliding block opposite side；Running gear driving wheel is connected directly with support shaft, and stay passes through bearing block and wheel across wheel It is connected, the support shaft that column is connected directly using outer shaft sleeve with axis inner sleeve, connects four wheels.
- 2. a kind of strawberry picking machine according to claim 1, it is characterised in that the linear bearing is opposite by interior two-by-two Hexagonal cylindrical head screw is individually fixed in slide unit front and rear sides, and two polished rods pass through linear bearing, and both ends are fixed on bearing block and consolidate On fixed end, bearing block is fixed on manipulator frame by hexagon socket cap head screw.
- 3. a kind of strawberry picking machine according to claim 1, it is characterised in that the stepper motor passes through interior hexagonal cylindrical Head screw is fixed on belt wheel riser, and a belt wheel is fixed with shaft, passes through toothed belt transmission, belt wheel case lid with leading screw end belt wheel It is fixed on by hexagon socket cap head screw together with belt wheel riser on the outside of manipulator frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721327614.6U CN207354907U (en) | 2017-10-16 | 2017-10-16 | A kind of strawberry picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721327614.6U CN207354907U (en) | 2017-10-16 | 2017-10-16 | A kind of strawberry picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207354907U true CN207354907U (en) | 2018-05-15 |
Family
ID=62347618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721327614.6U Expired - Fee Related CN207354907U (en) | 2017-10-16 | 2017-10-16 | A kind of strawberry picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207354907U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575310A (en) * | 2018-07-06 | 2018-09-28 | 西南交通大学 | The flexible cutting strawberry device for picking of one kind |
-
2017
- 2017-10-16 CN CN201721327614.6U patent/CN207354907U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575310A (en) * | 2018-07-06 | 2018-09-28 | 西南交通大学 | The flexible cutting strawberry device for picking of one kind |
| CN108575310B (en) * | 2018-07-06 | 2023-08-11 | 西南交通大学 | Telescopic cutting strawberry picker |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: 20180515 Termination date: 20181016 |