CN210583539U - Automatic ball collecting robot - Google Patents
Automatic ball collecting robot Download PDFInfo
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- CN210583539U CN210583539U CN201921339529.0U CN201921339529U CN210583539U CN 210583539 U CN210583539 U CN 210583539U CN 201921339529 U CN201921339529 U CN 201921339529U CN 210583539 U CN210583539 U CN 210583539U
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- ball
- walking
- plate
- goal
- supporting frame
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Abstract
The utility model discloses an automatic ball collecting robot, which comprises a supporting frame, a walking device, a ball inlet device and a ball leading device; the bottom plate of the supporting frame is provided with ball guide plates arranged left and right; the pair of walking devices are symmetrically arranged at the front and the back of the two sides of the supporting frame; each group of goal devices comprises a moving plate and a goal assembly, and the goal assembly comprises a goal motor, a first driving wheel, a first driven wheel and a goal roller; the ball guiding device is arranged in the middle of the supporting frame and is positioned above the ball guiding plate, and the ball guiding device comprises a supporting plate, a driving device and a transmission shaft; the support plate is erected above the support frame, the transmission shafts are provided with annular grooves and are arranged in a left-right rotating manner, the left and right adjacent annular grooves are connected through ball guiding ropes wound on the annular grooves, the driving device is connected with one of the transmission shafts, and the left end of the support frame is provided with the collecting device; the utility model provides a ball automatic collection robot simple structure realizes picking up, collecting more high-efficiently to the automation of ball.
Description
Technical Field
The utility model relates to a robot field, concretely relates to ball automatic collection robot.
Background
With the improvement of living standard of people, more and more people contact sports, and ball sports such as table tennis, basketball and the like are one of the most important sports of people.
Especially for professional training, a large amount of balls are needed for auxiliary exercise, and collecting the balls scattered in the court is a time-consuming and labor-consuming thing, needs to be picked up by a sporter at variable times, and greatly influences the movement enthusiasm of the sporter.
Disclosure of Invention
The utility model provides a ball automatic collection robot, simple structure realizes picking up, collecting the automation of ball, and is more high-efficient, avoids manual operation.
In order to achieve the aim, the automatic ball collecting robot comprises a supporting frame, a walking device, a ball inlet device and a ball guiding device;
the supporting frame consists of a bottom plate, a front plate and a rear plate, and ball guide plates are arranged on the bottom plate of the supporting frame from left to right;
the walking devices are in a pair and are symmetrically arranged at the two sides of the supporting frame in the front-back direction;
the pair of goal devices are symmetrically arranged at the right part of the supporting frame in the front-back direction, each group of goal devices comprises a moving plate and a goal assembly, the goal assemblies are arranged on the moving plate and comprise goal motors, first driving wheels, first driven wheels and goal rollers, the moving plate is arranged on the supporting frame, the output ends of the goal motors are fixedly connected with the first driving wheels, the first driven wheels are connected with the first driving wheels through first driving belts wound on the outer sides of the first driving wheels, the goal rollers and the first driven wheels are coaxially arranged, and the goal rollers are positioned between the front plate and the rear plate of the supporting frame;
the ball guiding device is arranged in the middle of the supporting frame and is positioned above the ball guiding plate, and the ball guiding device comprises a supporting plate, a driving device and a transmission shaft;
the support plate is erected above the support frame, the axes of the transmission shafts are arranged in the front and back directions and are provided with a plurality of annular grooves uniformly arranged in the front and back directions, the transmission shafts are in a pair, one pair of transmission shafts are installed between the front plate and the back plate of the support frame in a left-right rotating mode, the left and right adjacent annular grooves are connected through a ball guiding rope wound on the transmission shafts, the driving device comprises a ball guiding motor, a second driving wheel and a second driven wheel, the ball guiding motor is fixedly installed on the support plate, the output end of the ball guiding motor is fixedly connected with the second driving wheel, the second driven wheel is fixedly installed on one of the transmission shafts and is connected with the second driving wheel through a second transmission;
the left end of the supporting frame is provided with a collecting device.
Further, still including moving back the ball device, move back the left side that the ball device set up at the ball device to be located the top of ball guide plate left end, move back the ball device and include move back ball motor, third action wheel, third from the driving wheel, back shaft and move back the ball gyro wheel, move back the ball motor and install in the backup pad, output fixed connection third action wheel, the back shaft rotates and installs on the carriage, the third is from driving wheel fixed mounting on the back shaft to be connected through the third drive belt around establishing in its outside with the third action wheel, it is a plurality of to move back the ball gyro wheel to evenly set up on the back shaft, be located the top of ball guide plate around.
Further, the walking device comprises a walking motor, a first duplicate gear, a second walking roller, a second duplicate gear and a walking assembly; the walking motor is fixedly arranged on the supporting frame, the output end of the walking motor is fixedly provided with a first duplicate gear, the second walking roller is rotatably arranged in the middle of the supporting frame, and the second duplicate gear is coaxially connected with the second walking roller;
the left walking gear and the first duplicate gear are connected through a first transmission chain wound on the outer side of the first walking gear, the right walking gear and the second duplicate gear are connected through a third transmission chain wound on the outer side of the second walking gear, and the first duplicate gear and the second duplicate gear are connected through a second transmission chain wound on the outer side of the second duplicate gear;
the pair of walking motors is connected with the controller, and the controller controls the actions of the walking motors.
Further, still include controlling means, controlling means includes induction system and counting assembly, and induction system and counting assembly set up on the carriage to all be connected with the controller, the controller control draws the action of ball motor and ball motor that moves back.
Furthermore, the goal device also comprises an air cylinder, the air cylinder is fixedly arranged on the supporting frame, the piston end is fixedly connected with a moving plate, and the moving plate is arranged on the supporting frame in a left-right sliding manner.
Further, still include shell frame and baffle, the shell frame sets up left side, front side and the rear side at the carriage, the baffle is a pair of, and a pair of baffle symmetry is nimble to be set up on the shell frame and lie in the right side of carriage around.
Furthermore, the goal gyro wheel is a plurality of to evenly set up from top to bottom on first driven wheel is coaxial.
Furthermore, the left part of the ball guide plate is arranged upwards in an arc shape.
Compared with the prior art, the automatic ball collecting robot is provided with the ball inlet device, the ball inlet motor of the ball inlet assembly drives the first driving wheel and the first driven wheel to rotate the ball inlet roller wheel, balls on the front side are conveyed to the ball guide plate 8 of the supporting frame through the ball inlet roller wheel to realize preliminary ball picking, and the air cylinder is arranged to drive the ball inlet assembly to move on the supporting frame to realize the collection of the balls in a narrow space; the ball guiding device is arranged, the second driving wheel and the second driven wheel are driven by the ball guiding motor to realize the rotation of the transmission shafts, the transmission shafts are in a pair, each transmission shaft is provided with a plurality of annular grooves and connected by the ball guiding ropes wound in the annular grooves, so the balls are elastically clamped by the ball guiding ropes and are guided to move to the other end of the ball guiding plate on the ball guiding plate, the conveying effect on the balls is realized, the efficiency is higher, and the damage to the balls is avoided; the ball withdrawing device is arranged, and the ball withdrawing motor is started to drive the third driving wheel and the third driven wheel, so that the ball withdrawing roller on the supporting shaft rotates and turns the same as the ball guiding rope, the ball passes through the ball guiding rope and then moves from the ball guiding plate under the action of the ball withdrawing roller, and when the left end of the ball guiding plate 8 is of a rising arc-shaped structure, the ball is withdrawn into the collecting device more stably, and the ball is prevented from being accumulated and affecting collection due to polishing between the left end of the ball guiding plate and the ball guiding ropes; this ball automatic collection robot, simple structure realizes picking, collecting the automation of ball, and is more high-efficient, avoids manual operation.
Drawings
Fig. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic view of the walking device and the ball returning device of the present invention;
FIG. 3 is a schematic view of the ball guiding device of the present invention;
FIG. 4 is a schematic view of the goal device of the present invention;
in the figure: 1. the device comprises a supporting frame, 2, a shell frame, 21, a baffle, 3, a ball feeding device, 31, an air cylinder, 32, a moving plate, 33, a ball feeding motor, 34, a first driving wheel, 35, a first transmission belt, 36, a first driven wheel, 37, a ball feeding roller, 4, a traveling device, 41, a traveling motor, 42, a first duplicate gear, 43, a first traveling roller, 44, a traveling gear, 45, a second traveling roller, 46, a second duplicate gear, 5, a ball guiding device, 51, a ball guiding motor, 52, a second driving wheel, 53, a second transmission belt, 54, a second driven wheel, 55, a transmission shaft, 56, a ball guiding rope, 6, a supporting plate, 7, a ball withdrawing device, 71, a ball withdrawing motor, 72, a third driving wheel, 73, a third transmission belt, 74, a supporting shaft, 75, a ball withdrawing roller, 8 and a ball guiding plate.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1 to 4, the automatic ball collecting robot includes a support frame 1, a walking device 4, a ball inlet device 3 and a ball guiding device 5;
the supporting frame 1 consists of a bottom plate, a front plate and a rear plate, and the bottom plate of the supporting frame 1 is provided with ball guide plates 8 which are arranged left and right;
the walking devices 4 are in a pair and are symmetrically arranged at the two sides of the supporting frame 1 in the front-back direction;
the pair of goal devices 3 are symmetrically arranged at the right part of the support frame 1 in a front-back manner, each group of goal devices 3 comprises a moving plate 32 and a goal component, the goal components are arranged on the moving plate 32 and comprise a goal motor 33, a first driving wheel 34, a first driven wheel 36 and a goal roller 37, the moving plate 32 is arranged on the support frame 1, the output end of the goal motor 33 is fixedly connected with the first driving wheel 34, the first driven wheel 36 is connected with the first driving wheel 34 through a first driving belt 35 wound on the outer side of the first driving wheel, the goal roller 37 and the first driven wheel 36 are coaxially arranged, and the goal roller 37 is positioned between the front plate and the rear plate of the support frame 1;
the ball guiding device 5 is arranged in the middle of the supporting frame 1 and is positioned above the ball guiding plate 8, and the ball guiding device 5 comprises a supporting plate 6, a driving device and a transmission shaft 55; the supporting plate 6 is erected above the supporting frame 1, the axes of the transmission shafts 55 are arranged in the front and back directions and are provided with a plurality of annular grooves uniformly arranged in the front and back directions, the transmission shafts 55 are in a pair, the pair of transmission shafts 55 are installed between the front plate and the back plate of the supporting frame 1 in a left-right rotating manner, the left and right adjacent annular grooves are connected through a ball guiding rope 56 wound on the transmission shafts, the driving device comprises a ball guiding motor 51, a second driving wheel 52 and a second driven wheel 54, the ball guiding motor 51 is fixedly installed on the supporting plate 6, the output end of the ball guiding motor is fixedly connected with the second driving wheel 52, the second driven wheel 54 is fixedly installed on one of the transmission shafts 55 and is connected with the second driving wheel 52 through a second transmission belt;
the left end of the supporting frame 1 is provided with a collecting device;
as shown in fig. 2, further, the device further includes a ball returning device 7, the ball returning device 7 is disposed on the left side of the ball guiding device 5 and located above the left end of the ball guiding plate 8, the ball returning device 7 includes a ball returning motor 71, a third driving wheel 72, a third driven wheel, a supporting shaft 74 and a ball returning roller 75, the ball returning motor 71 is mounted on the supporting plate 6, the output end of the ball returning motor is fixedly connected with the third driving wheel 72, the supporting shaft 74 is rotatably mounted on the supporting frame 1, the third driven wheel is fixedly mounted on the supporting shaft 74 and connected with the third driving wheel 72 through a third transmission belt 73 wound on the outer side of the third driving wheel, the ball returning rollers 75 are plural, and the plural ball returning rollers 75 are uniformly disposed on the supporting shaft 74 in the front-back direction and located above the ball guiding plate 8;
when the ball moves to the left end of the ball guide plate 8 under the traction action of the ball guide ropes 56, in order to enable the ball to better enter the collecting device (such as a collecting bag), the ball returning motor 71 is started, the ball returning motor 71 drives the third driving wheel 72 and the third driven wheel, the rotation of the ball returning roller 75 on the supporting shaft 74 is realized, the ball returning roller 75 and the ball guide ropes 56 rotate in the same direction, therefore, after the ball passes through the ball guide ropes 56, the ball returning roller 75 moves from the ball guide plate 8 under the action of the ball returning roller 75, and when the left end of the ball guide plate 8 is of a rising arc structure, the ball is more stably returned into the collecting device, and the grinding of the ball between the left end of the ball guide plate 8 and the ball guide ropes 56 is avoided, so that the accumulation is caused, and the collection is influenced.
Further, the walking device 4 comprises a walking motor 41, a first duplicate gear 42, a second walking roller 45, a second duplicate gear 46 and a walking assembly; the walking motor 41 is fixedly arranged on the support frame 1, the output end of the walking motor is fixedly provided with a first duplicate gear 42, the second walking roller 45 is rotatably arranged in the middle of the support frame 1, and a second duplicate gear 46 is coaxially connected with the second walking roller 45;
the walking components are a pair and are symmetrically arranged at two sides of the second walking roller 45, each group of walking components comprises a first walking roller 43 and a walking gear 44 coaxially connected with the first walking roller 43, the left walking gear 44 and the first duplicate gear 42 are connected through a first transmission chain wound at the outer side of the first walking roller, the right walking gear 44 and the second duplicate gear 46 are connected through a third transmission chain wound at the outer side of the second walking roller, and the first duplicate gear 42 and the second duplicate gear 46 are connected through a second transmission chain wound at the outer side of the second walking roller;
the pair of walking motors 41 are connected with a controller, and the controller controls the actions of the walking motors 41;
when the collecting robot walks, the walking motor 41 is started, the walking motor 41 drives the first duplicate gear 42 to rotate, the first walking roller 43 and the second walking roller 45 on the left side are rotated through the first transmission chain and the second transmission chain, the first walking roller 43 on the right side is rotated through the first walking roller 43 arranged on the second walking roller 45 and the right side in a winding manner, namely the second walking roller 45 and the pair of first walking rollers 43 rotate in the same direction, and the collecting robot walks;
in addition, a visual sensing device can be arranged on the supporting frame 1 and is connected with the controller, the barrier encountered when the device walks is checked through the visual sensing device, the controller controls the walking motor 41 to effectively avoid collision, and the controller controls the pair of walking motors 41 to realize differential walking of the device, namely, the device turns, backs and walks straight according to actual conditions, so that the device is more comprehensive and is suitable for different walking working environments.
Further, the device also comprises a control device, wherein the control device comprises an induction device and a counting device, the induction device and the counting device are arranged on the supporting frame 1 and are connected with a controller, and the controller controls the actions of the ball guiding motor 51 and the ball withdrawing motor 71;
when the ball entered from the right-hand member of carriage 1, induction system response was started, with signal transmission to controller in, the start-up of controller control ball motor 51 was drawn, removed the ball to collection device through drawing ball motor 51, and counting assembly starts, will respond to the count according to the condition that the ball got into collection device, realizes the automatic measure to the ball collection quantity, avoids artifical the number of looking into, and is more high-efficient.
Further, the goal device 3 further comprises an air cylinder 31, the air cylinder 31 is fixedly installed on the support frame 1, the piston end is fixedly connected with a moving plate 32, and the moving plate 32 is arranged on the support frame 1 in a left-right sliding manner;
when the goal is carried out, for some balls which are inconvenient to enter the goal, for example, when the balls are in a narrow space, the cylinder 31 is started, the cylinder 31 drives the moving plate 32 to move on the supporting frame 1, so that the goal assembly on the moving plate 32 can move in a telescopic manner, and the balls in the narrow space can be conveniently collected.
Further, the device also comprises an outer shell frame 2 and a pair of baffles 21, wherein the outer shell frame 2 is arranged on the left side, the front side and the rear side of the supporting frame 1, the baffles 21 are in a pair, and the pair of baffles 21 are symmetrically and flexibly arranged on the outer shell frame 2 in the front-rear direction and are positioned on the right side of the supporting frame 1; effectively protect collection robot through shell frame 2, bump and rub and bump when avoiding walking.
Further, a plurality of the ball inlet rollers 37 are uniformly arranged on the same axis of the first driven wheel 36 from top to bottom;
further, the left part of the ball guide plate 8 is arranged upwards in an arc shape;
when the robot for automatically collecting the balls is used, the walking device 4 drives the whole robot to move freely, a visual sensing device or a detection device can be arranged on the robot, when the front surface of the robot is sensed or detected to have the balls, the balls can be table tennis balls, basketball balls and the like, the ball inlet device 3 is started, namely, the ball inlet motor 33 drives the first driving wheel 34 and the first driven wheel 36 to rotate the ball inlet roller 37, the balls on the front side are sent to the ball guide plate 8 of the support frame 1 through the ball inlet roller 37, and the primary collection of the balls is realized;
when a ball enters the ball guide plate 8 in the support frame 1, the ball guide device 5 is started, namely the ball guide motor 51 drives the second driving wheel 52 and the second driven wheel 54 to realize the rotation of the transmission shaft 55, because the transmission shaft 55 is a pair arranged on the left and right, each transmission shaft 55 is provided with a plurality of annular grooves, and the transmission shafts are connected through ball guide ropes 56 wound in the annular grooves, the ball is elastically clamped through the ball guide ropes 56 and is guided to move to the other end (left end) of the ball guide plate 8 on the ball guide plate 8, so that the transmission effect on the balls is realized;
the ball withdrawing device 7 can be arranged, namely the ball withdrawing motor 71 is started, the ball withdrawing motor 71 drives the third driving wheel 72 and the third driven wheel, the ball withdrawing roller 75 on the supporting shaft 74 rotates, the ball withdrawing roller 75 and the ball leading rope 56 rotate in the same direction, so that balls pass through the ball leading rope 56 and then move from the ball guide plate 8 under the action of the ball withdrawing roller 75, when the left end of the ball guide plate 8 is of a rising arc-shaped structure, the balls are withdrawn into the collecting device more stably, and the balls are prevented from being polished between the left end of the ball guide plate 8 and the ball leading ropes 56 to cause accumulation and influence the collection;
be equipped with collection device at the left end of carriage 1, realize the collection to the ball that breaks away from ball guide plate 8, realize the automatic collection to the ball, it is more high-efficient, avoid manual operation.
Claims (8)
1. The robot for automatically collecting the balls is characterized by comprising a supporting frame (1), a walking device (4), a ball inlet device (3) and a ball guiding device (5);
the supporting frame (1) consists of a bottom plate, a front plate and a rear plate, and ball guide plates (8) are arranged on the left and right of the bottom plate of the supporting frame (1);
the walking devices (4) are in a pair and are symmetrically arranged at the two sides of the supporting frame (1) in the front-back direction;
the pair of goal devices (3) are symmetrically arranged at the right part of the supporting frame (1) in a front-back mode, each group of goal devices (3) comprises a moving plate (32) and goal components, the goal components are arranged on the moving plate (32) and comprise a goal motor (33), a first driving wheel (34), a first driven wheel (36) and a goal roller (37), the moving plate (32) is arranged on the supporting frame (1), the output end of the goal motor (33) is fixedly connected with the first driving wheel (34), the first driven wheel (36) is connected with the first driving wheel (34) through a first driving belt (35) wound on the outer side of the first driving wheel, the goal roller (37) and the first driven wheel (36) are coaxially arranged, and the goal roller (37) is located between the front plate and the rear plate of the supporting frame (1);
the ball guiding device (5) is arranged in the middle of the supporting frame (1) and is positioned above the ball guiding plate (8), and the ball guiding device (5) comprises a supporting plate (6), a driving device and a transmission shaft (55);
the support plate (6) is erected above the support frame (1), the axes of the transmission shafts (55) are arranged in the front and back directions and are provided with a plurality of annular grooves uniformly arranged in the front and back directions, the transmission shafts (55) are in a pair, the pair of transmission shafts (55) are installed between the front plate and the rear plate of the support frame (1) in a left-right rotating mode, the left and right adjacent annular grooves are connected through ball guiding ropes (56) wound on the left and right adjacent annular grooves, the driving device comprises a ball guiding motor (51), a second driving wheel (52) and a second driven wheel (54), the ball guiding motor (51) is fixedly installed on the support plate (6), the output end of the ball guiding motor is fixedly connected with the second driving wheel (52), and the second driven wheel (54) is fixedly installed on one of the transmission shafts (55) and is connected with the second driving wheel (52) through a second transmission belt;
the left end of the supporting frame (1) is provided with a collecting device.
2. The automatic ball collection robot according to claim 1, further comprising a ball returning device (7), wherein the ball returning device (7) is disposed at the left side of the ball guide device (5), and is positioned above the left end of the ball guide plate (8), the ball returning device (7) comprises a ball returning motor (71), a third driving wheel (72), a third driven wheel, a supporting shaft (74) and a ball returning roller (75), the ball returning motor (71) is arranged on the supporting plate (6), the output end is fixedly connected with the third driving wheel (72), the supporting shaft (74) is rotatably arranged on the supporting frame (1), the third driven wheel is fixedly arranged on the supporting shaft (74), and is connected with a third driving wheel (72) through a third transmission belt (73) wound on the outer side of the third driving wheel, a plurality of ball withdrawing rollers (75), and are uniformly arranged on the supporting shaft (74) in the front-back direction and above the ball guide plate (8).
3. The automatic ball collection robot according to claim 1 or 2, characterized in that said walking means (4) comprise a walking motor (41), a first duplicate gear (42), a second walking roller (45), a second duplicate gear (46) and a walking assembly; the walking motor (41) is fixedly arranged on the supporting frame (1), the output end of the walking motor is fixedly provided with a first duplicate gear (42), the second walking roller (45) is rotatably arranged in the middle of the supporting frame (1), and the second duplicate gear (46) is coaxially connected with the second walking roller (45);
the walking assemblies are a pair and are symmetrically arranged at two sides of the second walking roller (45) in a left-right mode, each group of walking assemblies comprises a first walking roller (43) and walking gears (44) coaxially connected with the first walking roller (43), the walking gears (44) at the left side are connected with the first duplicate gears (42) through first transmission chains wound at the outer sides of the walking gears, the walking gears (44) at the right side are connected with the second duplicate gears (46) through third transmission chains wound at the outer sides of the walking gears, and the first duplicate gears (42) are connected with the second duplicate gears (46) through second transmission chains wound at the outer sides of the walking gears;
the pair of walking motors (41) are connected with a controller, and the controller controls the actions of the walking motors (41).
4. The automatic ball collecting robot according to claim 2, further comprising a control device, wherein the control device comprises a sensing device and a counting device, the sensing device and the counting device are arranged on the supporting frame (1) and are connected with a controller, and the controller controls the actions of the ball guiding motor (51) and the ball withdrawing motor (71).
5. The automatic ball collecting robot according to claim 3, wherein the ball inlet device (3) further comprises a cylinder (31), the cylinder (31) is fixedly installed on the support frame (1), the piston end is fixedly connected with a moving plate (32), and the moving plate (32) is slidably arranged on the support frame (1) from side to side.
6. The automatic ball collecting robot according to claim 1, further comprising a housing frame (2) and a pair of baffles (21), wherein the housing frame (2) is disposed on the left side, the front side and the rear side of the support frame (1), and the pair of baffles (21) are symmetrically disposed on the housing frame (2) and located on the right side of the support frame (1).
7. The automatic ball collecting robot according to claim 1 or 6, wherein said goal rollers (37) are plural and arranged uniformly up and down coaxially on said first driven wheel (36).
8. The automatic ball collection robot according to claim 7, wherein the left portion of the ball guide plate (8) is arc-shaped and is disposed upward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921339529.0U CN210583539U (en) | 2019-08-16 | 2019-08-16 | Automatic ball collecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921339529.0U CN210583539U (en) | 2019-08-16 | 2019-08-16 | Automatic ball collecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210583539U true CN210583539U (en) | 2020-05-22 |
Family
ID=70683177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921339529.0U Expired - Fee Related CN210583539U (en) | 2019-08-16 | 2019-08-16 | Automatic ball collecting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210583539U (en) |
-
2019
- 2019-08-16 CN CN201921339529.0U patent/CN210583539U/en not_active Expired - Fee Related
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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: 20200522 Termination date: 20210816 |