CN209170015U - Charging circuit and its mobile robot for mobile robot - Google Patents
Charging circuit and its mobile robot for mobile robot Download PDFInfo
- Publication number
- CN209170015U CN209170015U CN201920047743.2U CN201920047743U CN209170015U CN 209170015 U CN209170015 U CN 209170015U CN 201920047743 U CN201920047743 U CN 201920047743U CN 209170015 U CN209170015 U CN 209170015U
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- charging
- module
- charging pile
- sampling module
- 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
- 238000007600 charging Methods 0.000 title claims abstract description 226
- 238000005070 sampling Methods 0.000 claims description 87
- 230000005611 electricity Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 102100036044 Conserved oligomeric Golgi complex subunit 4 Human genes 0.000 description 1
- 101000876012 Homo sapiens Conserved oligomeric Golgi complex subunit 4 Proteins 0.000 description 1
- 101001104102 Homo sapiens X-linked retinitis pigmentosa GTPase regulator Proteins 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 208000036448 RPGR-related retinopathy Diseases 0.000 description 1
- 201000000467 X-linked cone-rod dystrophy 1 Diseases 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Abstract
The utility model discloses a kind of charging circuits for mobile robot, including charging pile part and mobile robot part.The invention also discloses the mobile robots for including the charging circuit for mobile robot.This charging circuit and its mobile robot for mobile robot provided by the utility model; pass through the design of reliable protecting circuit designed and charging circuit; realize the reliability and safety of mobile robot and the charging pile circuit when separating and the various situations such as charging; and the circuit of the utility model is simple and reliable; relative inexpensiveness, safety are preferable.
Description
Technical field
The utility model is specifically related to a kind of charging circuit and its mobile robot for mobile robot.
Background technique
With the development and the improvement of people's living standards of economic technology, requirement of the people for convenient life is also increasingly
It is high.And with the development of technology, more and more robots enter civilian consumer field and field of industrial production, to people's
Production and life bring endless convenience.
For robot, power pack is wherein mostly important one of part.And for mobile robot, due to
Mobile robot is often moving condition (such as common sweeping robot) at work, therefore such robot majority uses
Be battery powered mode.When battery capacity is lower than setting value, mobile robot just needs to carry out charging operations.Moving machine
Device people is guided by the detection of infrared signal tracking, wireless radiofrequency tracking and image recognition etc., and robot is automatically moved into
At robot charging pile, the charging pole piece on robot body is contacted with the pole piece on charging pile, is charged.
But the live part of current mobile robot live part and charging pile is exposed straight-charging type arrangement,
It and does not include any protection circuit.If short circuit between charging pole piece when robot is in the process of running and charging pile is uncharged,
The damage that will lead to robot battery or even entire control system also leads to the damage of the control system of charging pile, causes to pacify
Full accident.
Utility model content
The purpose of this utility model is to provide the good chargings for mobile robot of a kind of high reliablity and safety
Circuit system.
The two of the purpose of this utility model are to provide a kind of mobile robot, which includes the use
In the charging circuit of mobile robot.
This charging circuit for mobile robot provided by the utility model, including charging pile part and mobile machine
People part；Charging pile part includes charging pile power supply adaptor module, charging pile controller power source module, charging pile controller mould
Block, charging pile start switch, charging pile current sampling module, charging pile first voltage sampling module, charging pile second voltage are adopted
Egf block and charging pile interface；The output end of charging pile power supply adaptor module connects charging pile controller power source module, charging
The output end of stake controller power source module connects charging pile controller module；The output cathode string of charging pile power supply adaptor module
Connect the anode that charging pile starts switch with connects charging pile interface after charging pile current sampling module, charging pile power supply adaptor mould
The output negative pole of block is directly connected to the cathode of charging pile interface；Charging pile starts switch between charging pile current sampling module simultaneously
It connects charging pile first voltage sampling module and samples charging pile first voltage signal, charging pile current sampling module and charging staking
Between the anode of mouth and connects charging pile second voltage sampling module and sample charging pile second voltage signal；Charging pile first voltage
The control terminal that the output end of sampling module, the output end of charging pile second voltage sampling module and charging pile start switch with fill
Electric stake controller module connection；Mobile robot part includes mobile robot charging interface, mobile robot battery module, moves
Mobile robot current sampling module, Movement Controller of Mobile Robot power module, Movement Controller of Mobile Robot module, mobile robot
Charging circuit module, mobile robot supply voltage sampling module, mobile robot supply voltage sampling module and mobile machine
People's charging voltage sampling module；Mobile robot charging electricity is sequentially connected in series between the positive electrode and negative electrode of mobile robot charging interface
Road module, mobile robot current sampling module and mobile robot battery module；Mobile robot charging interface anode with
Between mobile robot charging circuit module and it is connected to mobile robot charging year voltage sample module and samples charging voltage；It moves
It is the power supply interface of mobile robot and output between mobile robot charging circuit module and mobile robot current sampling module
Power supply signal, the point are simultaneously connected to mobile robot supply voltage sampling module and sample supply voltage, while the point also and connects shifting
Mobile robot controller power source module；Between mobile robot battery module and mobile robot current sampling module and it is connected to shifting
Mobile robot supply voltage sampling module and the power supply voltage signal for sampling mobile robot；Movement Controller of Mobile Robot power supply mould
The output end of block, the output end of mobile robot supply voltage sampling module, mobile robot supply voltage sampling module it is defeated
The output end of outlet and mobile robot charging voltage sampling module is connect with Movement Controller of Mobile Robot module.
The mobile robot charging circuit module includes mobile robot charging resistor, two poles of mobile robot charging
Pipe and mobile robot charge switch；Mobile robot charging resistor, mobile robot charging diode and mobile robot are filled
Electric switch is in parallel；The control terminal of mobile robot charge switch is connect with Movement Controller of Mobile Robot module.
The mobile robot charge switch is relay.
The charging pile starts switch as relay.
The charging pile current sampling module is millivolt level resistance.
The mobile robot current sampling module is millivolt level resistance.
The charging pile first voltage sampling module is electric resistance partial pressure type voltage sample circuit.
The charging pile second voltage sampling module is electric resistance partial pressure type voltage sample circuit.
The mobile robot supply voltage sampling module is electric resistance partial pressure type voltage sample circuit.
The mobile robot supply voltage sampling module is electric resistance partial pressure type voltage sample circuit.
The mobile robot charging voltage sampling module is electric resistance partial pressure type voltage sample circuit.
The utility model additionally provides a kind of mobile robot, which includes described for moving machine
The charging circuit of people.
This charging circuit and its mobile robot for mobile robot provided by the utility model, by reliable
The design of protecting circuit designed and charging circuit realizes mobile robot and charging pile when separating and the various situations such as charging
The reliability and safety of circuit, and the circuit of the utility model is simple and reliable, relative inexpensiveness, and safety is preferable.
Detailed description of the invention
Fig. 1 is the functional block diagram of the utility model.
Fig. 2 is the circuit theory schematic diagram of the utility model.
Specific embodiment
It is as shown in Figure 1 the functional block diagram of the utility model: provided by the utility model this for mobile robot
Charging circuit, including charging pile part and mobile robot part；Charging pile part include charging pile power supply adaptor module,
Charging pile controller power source module, charging pile controller module, charging pile start switch, charging pile current sampling module, charge
Stake first voltage sampling module, charging pile second voltage sampling module and charging pile interface；Charging pile power supply adaptor module
Output end connects charging pile controller power source module, and the output end of charging pile controller power source module connects charging pile controller mould
Block；The output cathode concatenation charging pile of charging pile power supply adaptor module is started switch to be connected with after charging pile current sampling module
The anode of charging pile interface, the output negative pole of charging pile power supply adaptor module are directly connected to the cathode of charging pile interface；Charging
Stake starts switch between charging pile current sampling module and connects charging pile first voltage sampling module and sample charging pile first
Voltage signal between charging pile current sampling module and the anode of charging pile interface and connects charging pile second voltage sampling module simultaneously
Sample charging pile second voltage signal；Output end, the charging pile second voltage sampling module of charging pile first voltage sampling module
Output end and the control terminal that starts switch of charging pile connect with charging pile controller module；Mobile robot part includes moving
Mobile robot charging interface, mobile robot battery module, mobile robot current sampling module, Movement Controller of Mobile Robot electricity
Source module, Movement Controller of Mobile Robot module, mobile robot charging circuit module, mobile robot supply voltage sample mould
Block, mobile robot supply voltage sampling module and mobile robot charging voltage sampling module；Mobile robot charging interface
Positive electrode and negative electrode between be sequentially connected in series mobile robot charging circuit module, mobile robot current sampling module and moving machine
Device people's battery module；Between the anode and mobile robot charging circuit module of mobile robot charging interface and it is connected to moving machine
Device people charging year voltage sample module simultaneously samples charging voltage；Mobile robot charging circuit module is adopted with mobile robot electric current
For the power supply interface of mobile robot and power supply signal is exported between egf block, which is simultaneously connected to mobile robot supply voltage and adopts
Egf block simultaneously samples supply voltage, while the point also and connects Movement Controller of Mobile Robot power module；Mobile robot battery mould
Between block and mobile robot current sampling module and it is connected to mobile robot supply voltage sampling module and samples mobile machine
The power supply voltage signal of people；Output end, the mobile robot supply voltage sampling module of Movement Controller of Mobile Robot power module
Output end, mobile robot supply voltage sampling module output end and mobile robot charging voltage sampling module output
End is connect with Movement Controller of Mobile Robot module.
Be illustrated in figure 2 the circuit theory schematic diagram of the utility model: charging pile part is the left part of A-B in figure:
In figure, the part CON1 is interface, for connecting the output par, c of charging pile power supply adaptor module, to input 36V direct current
Source；Chip U2 (the 5V voltage-stablizer of model 7805) constitutes charging pile controller power source module, and 36V for receiving input is straight
Galvanic electricity source and be converted to stable 5V signal give charging pile controller module (U1 is indicated in figure) power supply；Charging pile controller U1 can
To use single-chip microcontroller or DSP；K1 starts switch for charging pile, using relay, contactor or can have similar switch
The switching circuit etc. of function, and its control terminal is connect with the I/O port of charging pile controller module；Resistance R12 constitutes charging pile
Current sampling module, it is preferred to use millivolt level resistance；Resistance R1 and R7 constitute charging pile first voltage sampling module, for adopting
The output voltage signal of sample power supply adaptor module, and sampled signal AD3V3 is uploaded into charging pile controller module；Resistance R2
Charging pile second voltage sampling module is constituted with R8, for sampling charging voltage signal of the charging pile in charging, and will be adopted
Sample signal AD4V4 uploads to charging pile controller module；The anode and cathode of A and B as charging pile interface in figure, for connecting
Connect the charging interface of mobile robot.
Mobile robot part is the right part of the A '-B ' in figure: in figure, BAT is mobile robot battery module；Electricity
Resistance R13 constitutes mobile robot current sampling module, and resistance R13 is preferably millivolt level resistance；Mobile robot charging circuit
Module includes mobile robot charging resistor R6, mobile robot charging diode D1 and mobile robot charge switch K2, is moved
Mobile robot charging resistor, mobile robot charging diode and mobile robot charge switch are in parallel, mobile robot charging
Switch K2 can using relay, contactor or switching circuit with similar switching function etc., and its control terminal with fill
The I/O port of electric stake controller module connects；The control terminal and Movement Controller of Mobile Robot module of mobile robot charge switch connect
It connects；Mobile robot battery module exports robot power supply signal V2 by resistance R13 and powers to the circuit of rear class；Meanwhile
Robot power supply signal V2 (is chip U4, the 5V pressure stabilizing of model 7805 in figure by Movement Controller of Mobile Robot power module
Device) it generates stable 5V power supply signal and is connected to Movement Controller of Mobile Robot module U3 and powers for controller；Mobile machine
People's controller U3 can use single-chip microcontroller or DSP；Resistance R4 and R5 are electric resistance partial pressure type voltage sample circuit, constitute movement
Robot power supply voltage sample module is believed for sampling supply voltage (cell voltage) signal of mobile robot, and by sampling
Number AD5V5 uploads Movement Controller of Mobile Robot；Resistance R5 and R11 are electric resistance partial pressure type voltage sample circuit, constitute moving machine
Device people's supply voltage sampling module uploads moving machine for sampling the power supply signal of mobile robot, and by sampled signal AD2V2
Device people's controller；Resistance R3 and R9 are electric resistance partial pressure type voltage sample circuit, constitute mobile robot charging voltage sampling mould
Block for sampling the charging voltage signal (i.e. the voltage signal of A ' point) of mobile robot, and sampled signal AD1V1 is uploaded and is moved
Mobile robot controller.
Hereinafter, illustrating the working principle and process of the utility model on the basis of given resistance sizes relationship:
The resistance value of resistance R12 and R13 are equal；The resistance value of resistance R1~R5 is equal；The resistance value of resistance R7~R11 is equal；Together
When, the ratio of resistance is substantially are as follows: R6:R1:R7=11:10:1, and R7 > > R12.
When robot electrode is not in contact with i.e. robot electrode A ' and B ' without and charging pile electrode A and when B contact.Setting
The voltage of robot battery is Vcc, then by analysis it is found that V5 voltage is equal to Vcc, V5 is approximately equal to V2, and diode D1 is not
Conducting, then V1 is approximately equal to 1/2Vcc；It can detecte the real-time current variation that robot works by the pressure difference between V5 and V2,
And since V1 is approximately equal to 1/2Vcc, then it may determine that robot is in working condition, there is no charge.Wherein R6 resistance is to machine
Device manually shields, when electrode A ' and B ' it is short-circuit when, battery and other circuits will not be destroyed.
When robot electrode contacts uncharged, i.e. robot electrode A ', B ' contacted respectively with charging pile electrode A, B, and
When charging pile relay K1 is not closed.Setting detects that battery Vcc (may be implemented close to charge threshold when robot MCU module
Set, such as 18V) when, then Automatic-searching charging pile.By circuit analysis it is found that V2 is approximately equal to Vcc at this time, and V1 is about
Equal to 1/4Vcc.Ratio by voltage at detection V1 with respect to cell voltage, then may determine that robot electrode contacts charging pile
Electrode but simultaneously uncharged state.Can also be obtained by analysis: V1 is approximately equal to V3 and V4, and is approximately equal to 1/4Vcc；Due to filling
Electric stake MCU module detects that V3 and V4 have voltage 1/4Vcc, then controls relay K1 closure.
When robot charges, i.e. robot electrode A ', B ' contacted respectively with charging pile electrode A, B, and charging pile relay
When device K1 is closed, by Last status it is found that charging pile MCU module detects V3 and V4 has voltage, control relay K1 is closed
It closes, thus enters robot charged state.When robot charging, then start to access 36V voltage, current limliting input for CON1 mouthfuls,
And cell voltage is charge threshold (such as 18V) at this time, therefore is charged at this time for robot.By circuit analysis it is found that electricity
Pressure value V4 is greater than V5, therefore diode D1 is connected, resistance R6 by diode D1 short circuit, charging pile MCU module by detection V3 and
Electric current at voltage difference real-time detection R12 at V4, and then charged state is controlled.Simultaneously it is found that just start to charge when V2
Voltage is greater than V5, therefore very big electric current is generated at R13, then robot MCU module control relay K2 closure, by diode D1
Short circuit is avoided because electric current is excessive so that diode fever is burnt out.Since R12 is millivolt level resistance, then robot electrode A ', B '
It is equivalent to and is directly connected with CON1 mouthfuls, therefore improve charge efficiency, while battery itself has certain internal resistance, COD1 mouthfuls are again
Current limliting input, ensure that the safety of rechargeable battery.With the increase in charging time, battery BAT voltage is also stepped up, then
Electric current then gradually reduces at R13, and when electric current is less than setting charge threshold, then robot MCU module control disconnects relay K2,
And it controls robot and disconnects electrode stopping charging.
When robot disconnects, i.e. robot fully charged (cell voltage Vcc is approximately equal to 36V) or artificial control disconnects electrode
When A ', B ' and charging pile electrode A, B are contacted, when robot disconnects, by circuit analysis it is found that V3 voltage is equal to 36V, and
V3 is approximately equal to V4, then electric current is close to 0 at R12 at this time, therefore charging pile MCU module control relay K1 is disconnected.It thereby guarantees that
When robot is uncharged, charging pile electrode A, B are not charged, the safety of charging pile has been effectively ensured.
Claims (10)
1. a kind of charging circuit for mobile robot, it is characterised in that including charging pile part and mobile robot part；
Charging pile part includes charging pile power supply adaptor module, charging pile controller power source module, charging pile controller module, charging
Stake start switch, charging pile current sampling module, charging pile first voltage sampling module, charging pile second voltage sampling module and
Charging pile interface；The output end of charging pile power supply adaptor module connects charging pile controller power source module, charging pile controller
The output end of power module connects charging pile controller module；The output cathode of charging pile power supply adaptor module concatenates charging pile
The anode for starting switch and connecting charging pile interface after charging pile current sampling module, the output of charging pile power supply adaptor module
Cathode is directly connected to the cathode of charging pile interface；Charging pile starts switch between charging pile current sampling module and connects charging pile
First voltage sampling module simultaneously samples charging pile first voltage signal, the anode of charging pile current sampling module and charging pile interface
Between and connect charging pile second voltage sampling module and sample charging pile second voltage signal；Charging pile first voltage sampling module
Output end, charging pile second voltage sampling module output end and the control terminal that starts switch of charging pile controlled with charging pile
The connection of device module；Mobile robot part includes mobile robot charging interface, mobile robot battery module, mobile robot
Current sampling module, Movement Controller of Mobile Robot power module, Movement Controller of Mobile Robot module, mobile robot charging circuit
Module, mobile robot supply voltage sampling module, mobile robot supply voltage sampling module and mobile robot charging electricity
Press sampling module；Be sequentially connected in series between the positive electrode and negative electrode of mobile robot charging interface mobile robot charging circuit module,
Mobile robot current sampling module and mobile robot battery module；The anode of mobile robot charging interface and mobile machine
Between people's charging circuit module and it is connected to mobile robot charging year voltage sample module and samples charging voltage；Mobile robot
It is the power supply interface of mobile robot between charging circuit module and mobile robot current sampling module and exports power supply signal,
The point is simultaneously connected to mobile robot supply voltage sampling module and samples supply voltage, while the point also and connects mobile robot control
Device power module processed；Between mobile robot battery module and mobile robot current sampling module and it is connected to mobile robot electricity
Source voltage sample module and the power supply voltage signal for sampling mobile robot；The output of Movement Controller of Mobile Robot power module
End, the output end of mobile robot supply voltage sampling module, the output end of mobile robot supply voltage sampling module and shifting
The output end of mobile robot charging voltage sampling module is connect with Movement Controller of Mobile Robot module.
2. the charging circuit according to claim 1 for mobile robot, it is characterised in that the mobile robot
Charging circuit module includes mobile robot charging resistor, mobile robot charging diode and mobile robot charge switch；
Mobile robot charging resistor, mobile robot charging diode and mobile robot charge switch are in parallel；Mobile robot is filled
The control terminal of electric switch is connect with Movement Controller of Mobile Robot module.
3. the charging circuit according to claim 2 for mobile robot, it is characterised in that the mobile robot
Charge switch is relay.
4. being used for the charging circuit of mobile robot described according to claim 1~one of 3, it is characterised in that the charging
Stake starts switch as relay.
5. being used for the charging circuit of mobile robot described according to claim 1~one of 3, it is characterised in that the charging
Stake current sampling module is millivolt level resistance；The mobile robot current sampling module is millivolt level resistance.
6. being used for the charging circuit of mobile robot described according to claim 1~one of 3, it is characterised in that the charging
Stake first voltage sampling module is electric resistance partial pressure type voltage sample circuit；The charging pile second voltage sampling module is resistance
Divided voltage sample circuit.
7. being used for the charging circuit of mobile robot described according to claim 1~one of 3, it is characterised in that the movement
Robot power supply voltage sample module is electric resistance partial pressure type voltage sample circuit.
8. being used for the charging circuit of mobile robot described according to claim 1~one of 3, it is characterised in that the movement
Robot supply voltage sampling module is electric resistance partial pressure type voltage sample circuit.
9. being used for the charging circuit of mobile robot described according to claim 1~one of 3, it is characterised in that the movement
Robot charging voltage sampling module is electric resistance partial pressure type voltage sample circuit.
10. a kind of mobile robot, it is characterised in that include described in one of claim 1~9 for mobile robot
Charging circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920047743.2U CN209170015U (en) | 2019-01-11 | 2019-01-11 | Charging circuit and its mobile robot for mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920047743.2U CN209170015U (en) | 2019-01-11 | 2019-01-11 | Charging circuit and its mobile robot for mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209170015U true CN209170015U (en) | 2019-07-26 |
Family
ID=67328339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920047743.2U Expired - Fee Related CN209170015U (en) | 2019-01-11 | 2019-01-11 | Charging circuit and its mobile robot for mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209170015U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112932341A (en) * | 2021-03-17 | 2021-06-11 | 深圳市普森斯科技有限公司 | Sweeping robot and system and control method thereof |
-
2019
- 2019-01-11 CN CN201920047743.2U patent/CN209170015U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112932341A (en) * | 2021-03-17 | 2021-06-11 | 深圳市普森斯科技有限公司 | Sweeping robot and system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103066662B (en) | emergency power supply | |
| CN101272057B (en) | Portable mobile charging power supply | |
| CN103321814B (en) | Car emergency ignition installation | |
| CN206099459U (en) | A activation circuit for battery management system | |
| CN203056633U (en) | Emergency power supply | |
| CN206559081U (en) | The anti-battery reversal connection electric current recharge protection circuit of charger | |
| CN209170015U (en) | Charging circuit and its mobile robot for mobile robot | |
| CN211958806U (en) | Automatic activation circuit of charger | |
| CN201054376Y (en) | Mobile phone protection cover charger | |
| CN204167905U (en) | A kind of emergency power supply against short-circuit protection system | |
| CN204425014U (en) | The full electric auto-power-off device of a kind of electric car charger | |
| CN103280850B (en) | Drive circuit with charger baby and multipurpose LED (light-emitting diode) functions | |
| CN203933057U (en) | A kind of portable multi-function portable power source | |
| CN201113511Y (en) | Intelligent USB charger | |
| CN205178601U (en) | Storage battery charging power | |
| CN106080238B (en) | A kind of Intelligent charging system of electric automobile | |
| CN204947617U (en) | A kind of charger without polarity | |
| CN207184107U (en) | A kind of battery charger with lighting device | |
| CN203289156U (en) | Novel mobile phone mobile power supply | |
| CN106585408B (en) | A kind of electric power management circuit of electric vehicle | |
| CN206481073U (en) | A kind of intelligent vehicle-carried USB charger | |
| CN204835677U (en) | Battery charging circuit that connects in parallel | |
| CN218603211U (en) | Battery charging management system | |
| CN220156245U (en) | Activation and identification circuit for intelligent battery charger | |
| CN220754379U (en) | Dual-path control closes charging system of strong electricity |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20190726 |