CN208624129U - Strawberry picker - Google Patents
Strawberry picker Download PDFInfo
- Publication number
- CN208624129U CN208624129U CN201820680538.5U CN201820680538U CN208624129U CN 208624129 U CN208624129 U CN 208624129U CN 201820680538 U CN201820680538 U CN 201820680538U CN 208624129 U CN208624129 U CN 208624129U
- Authority
- CN
- China
- Prior art keywords
- strawberry
- base plate
- board
- conveyer belt
- berries
- 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
- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 70
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 70
- 244000307700 Fragaria vesca Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 69
- 235000021028 berry Nutrition 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 5
- 210000003813 thumb Anatomy 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000000116 mitigating effect Effects 0.000 abstract 1
- 235000013399 edible fruits Nutrition 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000003306 harvesting Methods 0.000 description 5
- 244000025254 Cannabis sativa Species 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000002566 Capsicum Nutrition 0.000 description 1
- 240000008574 Capsicum frutescens Species 0.000 description 1
- 241000207199 Citrus Species 0.000 description 1
- 240000008067 Cucumis sativus Species 0.000 description 1
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 241000220225 Malus Species 0.000 description 1
- 235000011430 Malus pumila Nutrition 0.000 description 1
- 235000015103 Malus silvestris Nutrition 0.000 description 1
- 244000131316 Panax pseudoginseng Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000001390 capsicum minimum Substances 0.000 description 1
- 235000020971 citrus fruits Nutrition 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The utility model discloses a kind of strawberry pickers, including base plate, the hand steered push rod for being set to base plate longitudinally aft end, the picking mechanism for being set to the walking roller of base plate bottom and base plate both lateral sides being respectively set；The picking mechanism includes that inclination is fixed on the inclined board of base plate, is installed on adopting certain kind of berries component and plucking certain kind of berries component for decide whether to pluck the certain kind of berries according to strawberry color for inclined board；Compact structure, portable capability are strong, it can satisfy the requirement of the environment of the narrow miriness in field, and change the mode of thinking of tradition machinery picking strawberry, mechanical arm is converted into the form that ratchet adds conveyer belt, the complexity for mitigating control algolithm significantly, increases the stability of system.
Description
Technical field
The utility model relates to fruit picking fields, and in particular to a kind of strawberry picker.
Background technique
The labor intensity of fruits and vegetables fruit harvest is very big, and autonomous harvesting is a difficult project, all over the world
Scholar is mutually permitted exploitation in addition to apple, citrus, tomato, eggplant, capsicum, cucumber etc. harvest humanoid robot, however strawberry is received
Obtain the automated machine product of fruit type be it is fewer and fewer, it is just expanded in recent years to be not only because strawberry demand
Come, also in that " petite " property of strawberry fruit, strawberry clump is shorter thick grass property plant, and it is living to supply engineering goods
Dynamic insufficient space, while strawberry fruit soft and succulency are easy injury, and external form is unique, if using gripper type or
The Softening of robot may hurt the integrality of strawberry fruit.Scholars always search for suitable harvest side
Method, for example, Japanese scholars devise the robot for grabbing strawberry carpopodium directly with the mechanical finger of high flexible to be won,
China Agricultural University establishes bridge type right angle coordinate manipulator to harvest the strawberry perpendicular to ground.For the grass of greenhouse production
The certain kind of berries, because its furrow is relatively narrow, strawberry fruit is grown in again on the inclined-plane of inclined ridge slope, thus narrow ridge ditch requires machinery small in size, real
The difficulty for now picking double ridge planting strawberry automatically is then larger.
Therefore, in order to solve the above problem, a kind of strawberry picker is needed, compact structure, portable capability are strong, can satisfy
The requirement of the environment of the narrow miriness in field, and change the mode of thinking of tradition machinery picking strawberry, by manipulator
Arm is converted into the form that ratchet adds conveyer belt, mitigates the complexity of control algolithm significantly, increases the stability of system.
Utility model content
In view of this, providing strawberry picker, structure the purpose of the utility model is to overcome defect in the prior art
It is small and exquisite, portable capability is strong, can satisfy the requirement of the environment of the narrow miriness in field, and change tradition machinery picking
Mechanical arm is converted into the form that ratchet adds conveyer belt, mitigates the complexity of control algolithm significantly, increase by the mode of thinking of strawberry
The stability of system is added.
The strawberry picker of the utility model including base plate, the hand steered push rod that is set to base plate longitudinally aft end, is set
It is placed in the walking roller of base plate bottom and the picking mechanism of base plate both lateral sides is respectively set；
The picking mechanism includes that inclination is fixed on the inclined board of base plate, is installed on adopting certain kind of berries component and being used for for inclined board
Certain kind of berries component is plucked according to what strawberry color decided whether to pluck the certain kind of berries；
The certain kind of berries component of adopting includes being rotatablely installed to be used to lift the class ratchet, longitudinally arranged of strawberry branch handle in inclined board
First conveyer belt and the first driving motor for driving class ratchet and the first conveyer belt to rotate；The certain kind of berries component of plucking includes outstanding
Sky is set to upper mounting plate above transmission belt, is connected to support rod between upper mounting plate and inclined board, is installed on upper mounting plate
Electric chopper, rotational installation is in upper mounting plate and for the strawberry branch handle on class ratchet to be allocated to the thumb wheel of transmission belt and is used for
It detects strawberry color on the first conveyer belt and controls the detecting and controlling system that electric chopper cuts off strawberry branch handle；The detection control
System processed includes for acquiring the image acquisition device of strawberry color image and input terminal and image acquisition device on the first conveyer belt
The processor of output end electrical connection, the output end of the processor are electrically connected with the input terminal of electric chopper；The processor is used
Based on the analysis results and electric chopper is controlled in the picture of analysis image acquisition device acquisition.
Further, the picking mechanism further includes consolidating with inclined board declined board disposed in parallel, the lower end of the declined board
Dingan County is loaded on base plate, and the inclined board is slidably matched along declined board inclined direction and declined board single-degree-of-freedom, the inclined board
The stretching, extension driving mechanism for driving inclined board to slide relative to declined board, the stretching, extension driving are additionally provided between declined board
Mechanism includes the first screw rod for being fixed on the stretching, extension driving motor of declined board and being driven cooperation with the output shaft of stretching, extension driving motor,
First screw rod to form lead screw driving pair with merging with the first nut thread for being fixed on inclined board bottom.
Further, the picking mechanism further includes horizontal cross slide plate, and the level is fixed in the lower end of the declined board
Cross slide, the bottom of the horizontal cross slide plate are provided with sliding block, and the upper end top surface of the base plate is horizontally arranged with cross
Direction guiding rail, the sliding block are provided with the conformal guide groove for being coated at cross slide way, are provided on the sliding block for locking sliding block
Tightly in the lock-screw of cross slide way.
Further, the declined board is articulated with horizontal cross slide plate in a manner of angle of inclination；It is set on the declined board
It is equipped with the elastic pre-stress for downwardly turning over declined board.
Further, the base plate is vertically additionally provided with for transporting by the second conveyer belt of picking strawberry, and described the
Two conveyer belts are located at base plate, and laterally intermediate and positioned at inclined board bottom, longitudinal tail end of second conveyer belt are provided with receipts
Acquisition means.
Further, the drive shaft of the shaft of the class ratchet and the first conveyer belt passes through transmission V belt translation cooperation.
Further, the wheel shaft of the drive shaft of second conveyer belt and walking roller is cooperated by chain drive.
Further, the collection device include rotate pedestal and hang on rotation pedestal hanging basket, the rotation pedestal and
Hanging basket forms the structure for being similar to ferris wheel.
Further, guide groove and the conformal interior guiding being placed in guide groove are provided between the inclined board and declined board
Item, guide groove are dovetail groove.
It further, further include rotating the rotating electric machine of pedestal rotational angle and for monitoring strawberry heap in hanging basket for controlling
High-volume and the monitoring system of rotating electric machine angle of rotation is controlled, the input of the output end and rotating electric machine of the monitoring system is electrically connected
It connects.
The beneficial effects of the utility model are:
1. utilizing class ratchet and thumb wheel, the separation of strawberry and ground is realized, improve strawberry level height.
2. the transmission and shearing of strawberry are realized in the self weight of strawberry and the cooperation of synchronous belt, tradition machinery picking work is changed
Sequence is picked up again by first identifying, is changed to first pick up and is identified again, is identified and is cut to fall and almost carry out simultaneously, is simplified mechanical structure, is improved
Picking efficiency.
3. being identified with color, solving mature strawberry and not having accurately identifying for mature strawberry.
4. works compact structure, portable capability are strong, the requirement of the environment of the narrow miriness in field can satisfy,
And the mode of thinking for changing tradition machinery picking strawberry, is converted into the form that ratchet adds conveyer belt for mechanical arm, significantly
The complexity for alleviating control algolithm increases the stability of system.
Detailed description of the invention
The utility model is further described with reference to the accompanying drawings and examples:
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the picking mechanism structural schematic diagram of the utility model；
Fig. 3 adopts Berry component structure diagram for the utility model.
Specific embodiment
Fig. 1 is the structural schematic diagram of the utility model, and Fig. 2 is the picking mechanism structural schematic diagram of the utility model, and Fig. 3 is
The utility model adopts Berry component structure diagram, as shown, the strawberry picker in the present embodiment；Including base plate 1,
It is set to the hand steered push rod 2 of base plate longitudinally aft end, be set to the walking roller 3 of base plate bottom and base plate cross is respectively set
To the picking mechanism 4 of two sides；The base plate is rectangle, and length direction is longitudinal direction, and width direction is laterally；
The picking mechanism include inclination be fixed on the inclined board 5 of base plate, be installed on inclined board adopt certain kind of berries component and use
Certain kind of berries component is plucked in decide whether to pluck the certain kind of berries according to strawberry color；Adopting the certain kind of berries indicates strawberry being promoted to certain altitude model from slope
It encloses, and plucking the certain kind of berries indicates to make strawberry fall off the branch handle cutting of strawberry；
The certain kind of berries component of adopting includes being rotatablely installed to be used to lift the class ratchet 6, longitudinally arranged of strawberry branch handle in inclined board
The first conveyer belt 7 and the first driving motor 8 for driving class ratchet and the first conveyer belt to rotate；Class ratchet indicates similar
In the structure of ratchet, i.e. wheel body outer circle is provided with multiple ratchets, conducive to lifting a handle and moving backward；The certain kind of berries component of plucking includes
It is vacantly set to the upper mounting plate 9 above transmission belt, support rod 10 between upper mounting plate and inclined board is connected to, is installed on peace
The electric chopper 11 of loading board, rotational installation are in upper mounting plate and thumb wheel for the strawberry branch handle on class ratchet to be allocated to transmission belt
12 and for detecting strawberry color on the first conveyer belt and controlling the detecting and controlling system that electric chopper cuts off strawberry branch handle；Institute
Stating detecting and controlling system includes for acquiring the image acquisition device of strawberry color image and input terminal and image on the first conveyer belt
The processor of the output end electrical connection of collector, the output end of the processor are electrically connected with the input terminal of electric chopper；Image
Collector is existing camera；The processor is used to analyze the picture of image acquisition device acquisition based on the analysis results and controls
Electric chopper；The electric chopper is all electric knifes for being able to achieve the utility model aim；And processor can be used it is existing
51 single-chip microcontrollers, belong to the prior art, details are not described herein.
In the present embodiment, the picking mechanism further include with inclined board declined board 13 disposed in parallel, the declined board
Lower end is fixedly installed in base plate, and the inclined board is slidably matched along declined board inclined direction and declined board single-degree-of-freedom, described
The stretching, extension driving mechanism for driving inclined board to slide relative to declined board is additionally provided between inclined board and declined board, it is described to stretch
Exhibition driving mechanism include be fixed on the stretching, extension driving motor of declined board and with the output shaft transmission cooperation of stretching, extension driving motor the
One screw rod 15, first screw rod to form lead screw driving pair with merging with the first nut thread for being fixed on inclined board bottom；Solution
The different problem of strawberry stem length of having determined, the relative position of upper and lower inclined plate is adjusted with feed screw nut pair.When user has found petiole
When too short or too long, the forward and backward of controllable stretching, extension driving motor moves epipleural, ensure that ratchet can with this
In perfect position, the effect for triggering strawberry is realized.
In the present embodiment, the picking mechanism further includes horizontal cross slide plate 16, and institute is fixed in the lower end of the declined board
Horizontal cross slide plate is stated, the bottom of the horizontal cross slide plate is provided with sliding block 17, and the upper end top surface of the base plate is transversely
It is provided with cross slide way, the sliding block is provided with the conformal guide groove for being coated at cross slide way, is provided with and is used on the sliding block
By slider locking in the lock-screw of cross slide way；For the width of the sliding block compared with block, guide groove is longer, conducive to dress is expanded or shunk
Bottom set portion lateral dimension solves the problems, such as that furrow width is different with this.
In the present embodiment, the declined board is articulated with horizontal cross slide plate in a manner of angle of inclination；The declined board
On be provided with elastic pre-stress for downwardly turning over declined board；The elastic pre-stress can be set to declined board and level
Curved leaf spring between cross slide provides, and when declined board rises and falls with surface slope, the elastic force control inclined plate of spring is tight
Ground is pasted, guarantees that declined board is capable of the slope of perfect contact, realizes that ratchet triggers the movement of strawberry；The bottom of the declined board
It is provided with walking roller.
In the present embodiment, the base plate is vertically additionally provided with for transporting by the second conveyer belt of picking strawberry, institute
It states the second conveyer belt and is located at base plate laterally intermediate and positioned at inclined board bottom, longitudinal tail end setting of second conveyer belt
There is collection device；The settable driving motor of second conveyer belt drives the rotation of the second conveyer belt to realize strawberry conveying, improves and receives
Collect efficiency.
In the present embodiment, the shaft of the class ratchet and the drive shaft of the first conveyer belt pass through transmission V belt translation cooperation；
The class ratchet is moved synchronously with the first conveyer belt, and structure is simple, guarantees the continuity of operation.
In the present embodiment, the drive shaft of second conveyer belt and the wheel shaft of walking roller are cooperated by chain drive；
The rotation of the second conveyer belt is driven by walking roller, mechanical structure is simple, energy-saving and emission-reduction.
In the present embodiment, the collection device includes the hanging basket for rotating pedestal and hanging on rotation pedestal, the rotary shaft
Frame and hanging basket form the structure for being similar to ferris wheel；Further include for control rotation pedestal rotational angle rotating electric machine and be used for
Strawberry heap high-volume and controls the monitoring system of rotating electric machine angle of rotation, the output end of the monitoring system and rotation in monitoring hanging basket
The input of motor is electrically connected；The monitoring system includes weight sensor and second processor, and weight sensor is multiple and divides
It is not set to the bottom of hanging basket and is used to weigh weight, and weight signal is transferred to second processor and is handled, at described second
It manages device and rotary shaft frame set angle is driven according to corresponding weight signal control rotating electric machine, replace hanging basket automatically, convenient and practical, institute
Stating second processor is existing 51 single-chip microcontroller, and details are not described herein.
In the present embodiment, it is provided with guide groove between the inclined board and declined board and conformal interior is placed on leading in guide groove
To item, guide groove is dovetail groove；Gib block is arranged in the inclined board, and dovetail groove is arranged in the declined board, guarantees that upper and lower inclined plate connects
Connect stablize, move it is smooth.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, those skilled in the art should understand that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the scope of the claims of the utility model.
Claims (10)
1. a kind of strawberry picker, it is characterised in that: including base plate, the hand steered push rod that is set to base plate longitudinally aft end,
It is set to the walking roller of base plate bottom and the picking mechanism of base plate both lateral sides is respectively set；
The picking mechanism include inclination be fixed on the inclined board of base plate, be installed on inclined board adopt certain kind of berries component and for basis
What strawberry color decided whether to pluck the certain kind of berries plucks certain kind of berries component；
It is described adopt certain kind of berries component include be rotatablely installed in inclined board be used for lift strawberry branch handle class ratchet, longitudinally arranged first
Conveyer belt and the first driving motor for driving class ratchet and the first conveyer belt to rotate；The certain kind of berries component of plucking includes vacantly setting
The upper mounting plate being placed in above transmission belt, the electricity for being connected to support rod between upper mounting plate and inclined board, being installed on upper mounting plate
Dynamic cutter, rotational installation are in upper mounting plate and for the strawberry branch handle on class ratchet to be allocated to the thumb wheel of transmission belt and is used to detect
On first conveyer belt strawberry color and control electric chopper cut off the strawberry branch handle detecting and controlling system；Detection control system
System includes the output for acquiring the image acquisition device of strawberry color image and input terminal and image acquisition device on the first conveyer belt
The processor of electrical connection is held, the output end of the processor is electrically connected with the input terminal of electric chopper；The processor is for dividing
It analyses the picture of image acquisition device acquisition based on the analysis results and controls electric chopper.
2. strawberry picker according to claim 1, it is characterised in that: the picking mechanism further includes flat with inclined board
The declined board of row setting, the lower end of the declined board are fixedly installed in base plate, the inclined board along declined board inclined direction with
Declined board single-degree-of-freedom is slidably matched, and is additionally provided between the inclined board and declined board for driving inclined board relative to oblique
The stretching, extension driving mechanism of plate sliding, the stretching, extension driving mechanism include being fixed on the stretching, extension driving motor of declined board and driving with stretching, extension
First screw rod of the output shaft transmission cooperation of dynamic motor, first screw rod and the first nut thread for being fixed on inclined board bottom
It is secondary that lead screw driving is formed with merging.
3. strawberry picker according to claim 2, it is characterised in that: the picking mechanism further includes that horizontal cross is sliding
The horizontal cross slide plate is fixed in plate, the lower end of the declined board, and the bottom of the horizontal cross slide plate is provided with sliding block, institute
The upper end top surface for stating base plate is horizontally arranged with cross slide way, and the sliding block is provided with the conformal guiding for being coated at cross slide way
Slot, be provided on the sliding block for by slider locking in the lock-screw of cross slide way.
4. strawberry picker according to claim 3, it is characterised in that: the declined board is in a manner of angle of inclination
It is articulated with horizontal cross slide plate；The elastic pre-stress for downwardly turning over declined board is provided on the declined board.
5. strawberry picker according to claim 1, it is characterised in that: the base plate, which is vertically additionally provided with, to be used for
By the second conveyer belt of picking strawberry, second conveyer belt is located at base plate laterally intermediate and positioned at inclined board bottom for transport
Longitudinal tail end in portion, second conveyer belt is provided with collection device.
6. strawberry picker according to claim 1, it is characterised in that: the shaft and the first conveyer belt of the class ratchet
Drive shaft by transmission V belt translation cooperation.
7. strawberry picker according to claim 5, it is characterised in that: the drive shaft and row of second conveyer belt
The wheel shaft for walking idler wheel is cooperated by chain drive.
8. strawberry picker according to claim 5, it is characterised in that: the collection device includes rotation pedestal and hangs
It is hung on the hanging basket of rotation pedestal, the rotation pedestal and hanging basket form the structure for being similar to ferris wheel.
9. strawberry picker according to claim 2, it is characterised in that: be provided between the inclined board and declined board
Guide groove and the conformal interior gib block being placed in guide groove, guide groove is dovetail groove.
10. strawberry picker according to claim 5, it is characterised in that: further include for controlling rotation pedestal rotation
The rotating electric machine of angle and for monitoring strawberry heap in hanging basket high-volume and controlling the monitoring system of rotating electric machine angle of rotation, the prison
The output end of examining system is electrically connected with the input of rotating electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820680538.5U CN208624129U (en) | 2018-05-08 | 2018-05-08 | Strawberry picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820680538.5U CN208624129U (en) | 2018-05-08 | 2018-05-08 | Strawberry picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208624129U true CN208624129U (en) | 2019-03-22 |
Family
ID=65732106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820680538.5U Expired - Fee Related CN208624129U (en) | 2018-05-08 | 2018-05-08 | Strawberry picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208624129U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108718705A (en) * | 2018-05-08 | 2018-11-02 | 重庆交通大学 | Strawberry picking machine |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
-
2018
- 2018-05-08 CN CN201820680538.5U patent/CN208624129U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108718705A (en) * | 2018-05-08 | 2018-11-02 | 重庆交通大学 | Strawberry picking machine |
| CN108718705B (en) * | 2018-05-08 | 2023-08-15 | 重庆交通大学 | Strawberry picking machine |
| CN111955165A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
| CN111955165B (en) * | 2020-08-31 | 2022-04-19 | 新疆农业大学 | Self-propelled full-coverage multi-target safflower filament picking robot |
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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: 20190322 |