CN212892774U - Hacking machine of aerated concrete block - Google Patents
Hacking machine of aerated concrete block Download PDFInfo
- Publication number
- CN212892774U CN212892774U CN202021223049.0U CN202021223049U CN212892774U CN 212892774 U CN212892774 U CN 212892774U CN 202021223049 U CN202021223049 U CN 202021223049U CN 212892774 U CN212892774 U CN 212892774U
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- aerated concrete
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Abstract
The utility model relates to a stacker crane for aerated concrete blocks, which comprises a translation frame, a vertical moving frame connected with the upper part of the translation frame in a sliding way along the length direction of the translation frame, a vertical moving frame translation mechanism arranged on the vertical moving frame and driving the vertical moving frame to move along the length direction of the translation frame, a vertical moving plate connected with the vertical moving frame in a sliding way along the vertical direction, a vertical moving plate driving mechanism arranged on the vertical moving frame and driving the vertical moving plate to move along the vertical direction, a rotary disc arranged on the lower surface of the vertical moving plate, a gripper arranged on the lower part of the rotary disc and having the same vertical central line as the rotary disc rotating vertical axis, wherein the gripper comprises a gripper plate arranged at the center of the lower surface of the rotary disc, four abutting plates respectively hinged at the horizontal peripheral side edges of the gripper plate, and a bottom plate driving mechanism arranged on the gripper plate and capable of driving the abutting plates to move towards a concrete block layer, the stacker crane has four abutting against the four vertical sides of the aerated concrete block layer respectively, the aerated concrete block is not easy to drop in the rotating process, and the effect is stable.
Description
Technical Field
The utility model belongs to the technical field of the relevant equipment of aerated concrete block and specifically relates to a hacking machine of aerated concrete block is related to.
Background
The autoclaved aerated concrete block is a porous concrete product which is prepared by taking fly ash, lime, cement, gypsum, slag and the like as main raw materials, adding a proper amount of a gas former, a regulator and a bubble stabilizer, and carrying out the technical processes of proportioning, stirring, pouring, standing, cutting, high-pressure steam curing and the like.
At present, a packaging method of aerated concrete blocks is provided, and the publication number is CN103723298B, and the packaging method of the aerated concrete blocks mainly comprises the steps of conveying finished products, transferring the finished products, stacking the finished products in a crossed mode, replacing waste products, packaging and bundling. The stacking machine for aerated concrete blocks comprises a guide rail frame, a translation support, a lifting support, a rotary disc and a clamping hand, wherein the rotary disc can rotate clockwise or anticlockwise, the clamping hand can clamp an aerated concrete block finished product, the lifting support can move up and down relative to the translation support, the rotary disc is fixed on the lifting support, and the clamping hand is fixed on the rotary disc.
In view of the above-mentioned related art, the inventor believes that there is a defect that when the aerated concrete block layer is clamped by only one clamping plate and two clamping plates, the aerated concrete block is unstable and easily falls off during the process of rotating ninety degrees.
SUMMERY OF THE UTILITY MODEL
In order to promote aerated concrete block in the stability of rotation in-process, this application provides an aerated concrete block's hacking machine.
The application provides a hacking machine of aerated concrete block adopts following technical scheme:
the utility model provides an aerated concrete block's hacking machine, includes the translation frame, along translation frame length direction sliding connection in the vertical frame that translates upper portion, locate the translation frame and drive the vertical frame translation mechanism that translates along translation frame length direction removal, along vertical direction sliding connection in the vertical board that moves of moving, locate the vertical frame and drive the vertical board drive mechanism that moves along vertical direction, locate the gyration dish that erects and move the board lower surface, locate gyration dish below and vertical central line and gyration dish and rotate the same tongs of vertical axis, the tongs is including locating gyration dish below and driven the vertical central line pivoted tongs board around self by the gyration dish, articulate respectively in four vertical side department's of tongs board four support plates, locate the tongs board and can drive the bottom plate drive mechanism that supports the board and move towards aerated concrete block layer.
Through adopting above-mentioned technical scheme, four support the board butt in four vertical sides on aerated concrete block layer for when the gyration dish drives the tongs board and carries out the horizontal rotation around vertical central line, the difficult condition that drops that appears of aerated concrete block makes aerated concrete block obtain promoting at the in-process stability of rotating the pile up neatly, avoids reducing the efficiency of product pile up neatly because of aerated concrete block drops, and the product that drops simultaneously can ruin the damage, causes the loss.
Preferably, the supporting plate driving mechanism comprises four groups of sliding block grooves which are respectively arranged along the long edge direction of the vertical side surface of the four supporting plates in the thickness direction and are deviated from the side surface of the aerated concrete block layer, four groups of sliding blocks which are respectively connected to the sliding block grooves in a sliding manner along the length direction of the four groups of sliding block grooves, four hinged rods which are respectively hinged to the four groups of sliding blocks, intermediate rods which are respectively fixedly connected to the peripheral side edges of the upper surface of the gripper plate and are respectively rotatably connected to the four hinged rods, and a hinged rod driving mechanism which is arranged on the gripper plate and is provided with a hinged rod for rotating, wherein the four hinged rod rotating planes are consistent with the corresponding supporting plate rotating planes.
Through adopting above-mentioned technical scheme, the effort is applyed to the bottom of butt plate to the hinge bar for the butt plate mainly comes from the bottom department of butt plate to the clamp force of concrete block, makes the aerated concrete block layer that is located the bottom of centre gripping more difficult the dropping, avoids appearing deformation because of the connection between butt plate upper portion and the tongs board, makes to have great interval between butt plate lower part and the aerated concrete block layer, consequently can not carry out comparatively firm centre gripping to the aerated concrete block layer.
Preferably, the hinge rod driving mechanism comprises a gripper sleeve fixedly connected to the upper surface of the gripper plate and fixedly connected to the lower surface of the rotary disc at the upper end, a driving oil cylinder fixedly connected to the inner wall of the upper portion of the gripper sleeve, hinge insertion rods respectively inserted in the length direction of the gripper sleeve part along the four hinge rods and slidably connected to the hinge insertion rods corresponding to the grids, four block grooves arranged on the outer wall of the gripper sleeve along the vertical direction in a penetrating manner, oil cylinder blocks respectively hinged to the four hinge insertion rods at one end of the support plate far away from the four hinge insertion rods along the four parts of the gripper sleeve inner wall and the exposed block grooves along the vertical direction in a sliding manner, and the upper surface of each oil cylinder block is.
Through adopting above-mentioned technical scheme, drive the hydro-cylinder and drive the hydro-cylinder piece and slide along vertical direction, then make four articulated rods articulated mutually with the hydro-cylinder piece in step round the axis of the intermediate lever that corresponds separately rotate in step for four are supported the board and are carried out the centre gripping to four vertical sides on concrete building block layer in step, make four support the board function in step, promote the stability of supporting the board centre gripping.
Preferably, a plurality of rubber strips which are horizontal in the length direction are uniformly arranged on the side face, facing the aerated concrete block, of the abutting plate along the vertical side edge direction of the abutting plate.
Through adopting above-mentioned technical scheme, the rubber strip makes aerated concrete block and support the frictional force grow between the board, further avoids when supporting board centre gripping concrete block layer and shifts up, and the condition that the aerated concrete block dropped appears.
Preferably, the vertical moving plate moving mechanism comprises a vertical moving oil cylinder fixedly connected to the upper surface of the vertical moving frame and a power rod fixedly connected to the upper surface of the vertical moving plate, a vertical moving plate groove which is arranged on the opposite side surfaces of the two vertical sections of the vertical moving frame along the vertical direction and is used for the vertical moving plate to slide along the vertical direction, and guide rods which are respectively fixedly connected to the inner part of the vertical moving plate groove along the vertical direction and are respectively arranged at the two ends of the vertical moving plate in a penetrating manner in the length direction.
Through adopting above-mentioned technical scheme, the guide bar makes to erect and moves the board and can stabilize and remove along vertical direction, makes then to support the board and can drive aerated concrete block layer and carry out stable the removal along vertical direction.
Preferably, erect and move a translation mechanism including seting up in the screw rod groove of the close side of two horizontal segments on translation frame upper portion, rotate respectively and connect in two screw rod inslots and length direction be on a parallel with translation frame length direction's translation screw rod, locate the translation frame and drive translation screw rod pivoted screw rod slewing mechanism, two translation screw rods respectively threaded connection in the vertical frame along translation frame length direction sliding connection in the two parts in screw rod groove.
Through adopting above-mentioned technical scheme, the translation screw rod drives and erects the frame and carry out horizontal migration along translation frame length direction for under the circumstances that erects the frame impurity and need not remove, translation screw rod's screw thread can be better to erect move the frame play the system stop effect.
Preferably, the screw rotating mechanism comprises two screw sheaves respectively and coaxially and fixedly connected to the same proximal ends of the two translation screw exposed translation frames, a translation motor fixedly connected to the upper part of the translation frame, a motor sheave coaxially and fixedly connected to an output shaft of the translation motor, and a sheave belt in transmission connection with the motor sheave and the two screw sheaves.
Through adopting above-mentioned technical scheme, drive two translation screw rods through a translation motor and carry out synchronous rotation for vertical movement frame both ends carry out synchronous movement, make vertical movement frame can stabilize and carry out comparatively stable horizontal migration along translation frame length direction.
Preferably, the side of the support plate facing the aerated concrete block is provided with a plurality of inserting grooves which are horizontal in the length direction, each inserting groove can be inserted with a small-sized support strip along the length direction, and the length of each small-sized support strip is smaller than that of the support plate.
Through adopting above-mentioned technical scheme for when aerated concrete block layer's length of side is less, can carry out the grafting of the small-size butt strip that suits to in the inserting groove, so that the longer butt plate of length of side can carry out the centre gripping to the shorter aerated concrete block layer of length of side, and the suitability obtains the reinforcing.
In summary, the present application includes at least one of the following benefits:
the four abutting plates abut against the four vertical side faces of the aerated concrete block layer, so that when the rotary disc drives the gripper plate to horizontally rotate around the vertical central line, the aerated concrete blocks are not easy to fall off, the stability of the aerated concrete blocks in the rotating and stacking process is improved, the reduction of product stacking efficiency due to the falling of the aerated concrete blocks is avoided, and meanwhile, the fallen products can be damaged and lost;
when the aerated concrete block layer is small in side length, the small-size butt joint strips which are matched with each other can be inserted into the insertion grooves, so that the butt plate with the long side length can clamp the aerated concrete block layer with the small side length, and the applicability is enhanced.
Drawings
FIG. 1 is a main structure view of the present invention;
fig. 2 is a schematic structural view of another view of the hand grip.
FIG. 3 is an enlarged view at A in FIG. 2;
fig. 4 is an enlarged view at B in fig. 1.
Description of reference numerals: 1. a translation frame; 2. a vertical moving frame; 3. vertically moving the plate; 31. inserting grooves; 32. a small butt strip; 33. supporting legs; 34. a rectangular frame; 35. a hinged inserted link; 36. a sliding block groove; 37. a sliding block; 4. a rotary disk; 41. vertically moving the oil cylinder; 42. vertically moving the plate groove; 43. a guide bar; 44. a screw channel; 45. translating the screw rod; 46. a screw grooved pulley; 47. a translation motor; 48. a motor sheave; 49. a grooved belt; 5. a gripper; 51. a gripper plate; 52. a resisting plate; 53. a hinged lever; 54. an intermediate lever; 55. a gripper sleeve; 56. driving the oil cylinder; 57. a block groove; 58. a cylinder block; 59. a rubber strip.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
The embodiment of the application discloses a stacker crane for aerated concrete blocks, and referring to fig. 1 and 2, the stacker crane comprises a translation frame 1, the translation frame 1 comprises four vertical supporting legs 33, the upper parts of the four supporting legs 33 are fixedly connected with a horizontal rectangular frame 34, the rectangular frame 34 is connected with a vertical moving frame 2 which is vertical along the length direction thereof and the length direction of which is parallel to the width direction of the rectangular frame 34 in a sliding way, the section of the vertical moving frame 2 is door-shaped, the rectangular frame 34 is provided with a vertical moving frame translation mechanism which can drive the vertical moving frame 2 to move along the length direction of the rectangular frame 34, a vertical moving plate 3 which is parallel to the width direction of the rectangular frame 34 in the length direction is connected between two vertical sections of the vertical moving frame 2 in a sliding way along the vertical direction, the vertical moving frame 2 is provided with a vertical moving plate driving mechanism which can drive the vertical moving plate 3 to move along the vertical direction, the lower surface of the vertical moving plate 3 is provided, therefore, the description is omitted, and the hand grip 5 which can be driven by the rotary disc 4 to rotate around the vertical central line of the hand grip is arranged below the rotary disc 4.
Referring to fig. 2, the hand grip 5 comprises a hand grip plate 51 which is installed below the rotary disc 4 and has the same vertical central line as the rotary axis of the rotary disc 4, the hand grip plate 51 is horizontal and has a rectangular cross section, four vertical side surfaces of the hand grip plate 51 are hinged with abutting plates 52 which can abut against the vertical side surfaces of the aerated concrete block layer, the rotary axes of the four abutting plates 52 are parallel to the peripheral side edge direction of the upper surface of the hand grip plate 51 which is close to and corresponds to each other, the abutting plates 52 are uniformly adhered with a plurality of rubber strips 59 which are parallel to the rotary axis direction of the abutting plates 52 along the vertical side edge direction of the abutting plates 52 towards the side surfaces of the aerated concrete block layer, an inserting groove 31 which is parallel to the length direction of the rubber strips 59 and penetrates through the vertical side surfaces of the abutting plates 52 in the thickness direction is arranged between every two adjacent rubber strips 59, the inserting groove 31 is inserted with a small abutting strip 32 along the length direction of the, the aerated concrete building block layer with the side length smaller than that of the abutting plate 52 needs to be clamped, effective clamping can be carried out through the small abutting strips 32, and the gripper plate 51 is provided with the abutting plate driving mechanism which can drive the abutting plate 52 to rotate along the rotation axis to rotate.
Referring to fig. 2 and 3, the abutting plate driving mechanism includes four sets of two sliding block grooves 36 in each set, the sliding block grooves 36 in each set are respectively arranged along the long side direction of the vertical side face of the thickness direction of the four abutting plates 52 and are away from the side face of the aerated concrete block layer, each set of sliding block grooves 36 is connected with a sliding block 37 in a sliding manner along the length direction of the sliding block groove, a hinge rod 53 is hinged between two sliding blocks 37 in each set, a middle rod 54 with a circular cross section is fixedly connected to the peripheral side edge of the upper surface of the gripping plate 51, the length direction of the middle rod 54 is parallel to the side edge direction of the upper surface of the gripping plate 51, the hinge rod 53 is rotatably connected to the middle rod 54 around the axis of the middle rod 54, and the gripping plate 51 is provided with a hinge rod driving mechanism capable of driving the four hinge rods 53 to.
Referring to fig. 1 and 4, the hinge rod driving mechanism includes a gripper sleeve 55 with a circular ring-shaped cross section and being vertical, the upper end of the gripper sleeve 55 is coaxially and fixedly connected to the rotary disc 4, the lower end of the gripper sleeve 55 is fixedly connected to the upper surface of the gripper plate 51, four vertical block grooves 57 are formed in the circumferential side wall of the gripper sleeve 55 in a penetrating manner, a driving oil cylinder 56 is fixedly connected to the inner wall of the top of the gripper sleeve 55, an oil cylinder block 58 slidably connected to the inner wall of the gripper sleeve 55 in the vertical direction is fixedly connected to the bottom end of a power rod of the driving oil cylinder 56, four hinge rods 53 are respectively inserted and slidably connected to the portions of the gripper sleeve 55 in the respective length directions, and four hinge insertion rods 35 are respectively hinged to the four exposed portions of the oil cylinder block 58 through the block grooves 57 at one.
Referring to fig. 1 and 2, the vertical movement plate moving mechanism includes two vertical movement plate slots 42 respectively opened on the vertical side face of two vertical sections of the vertical movement frame 2 along the vertical direction, the two ends of the length direction of the vertical movement plate 3 are respectively connected with the two vertical movement plate slots 42 along the vertical direction sliding, the two vertical movement plate slots 42 are fixedly connected with guide rods 43 which are vertical and penetrate through the vertical movement plate 3, the two ends of the length direction of the vertical movement plate 3 are respectively connected with the two guide rods 43 along the vertical direction sliding, and the vertical movement frame 2 horizontal section upper surface is fixedly connected with a power rod fixedly connected with the vertical movement oil cylinder 41 on the upper surface of the vertical movement plate 3.
Referring to fig. 1 and 2, the vertical moving frame translation mechanism includes two screw grooves 44 respectively opened on two opposite vertical inner walls of the rectangular frame 34 in the length direction of the rectangular frame 34, the two screw grooves 44 are rotatably connected with translation screws 45 parallel to the length direction of the rectangular frame 34 in the length direction, the two translation screws 45 are respectively screwed on the portions of the vertical moving frame 2 extending into the screw grooves 44, the vertical moving frame 2 is slidably connected to the screw grooves 44 in the length direction of the rectangular frame 34, the rectangular frame 34 is provided with a screw rotation mechanism capable of driving the translation screws 45 to rotate, the screw rotation mechanism includes two screw sheaves 46 respectively coaxially and fixedly connected to one ends of the two translation screws 45 exposed out of the rectangular frame 34, the upper surface of the rectangular frame 34 is fixedly connected with a translation motor 47, an output shaft of the translation motor 47 is coaxially and fixedly connected with a motor sheave 48, and a belt sheave 49 parallel to the width direction of the rectangular frame 34 is connected between the motor sheave 48 and the two screw.
The implementation principle of the stacker crane for aerated concrete blocks in the embodiment of the application is as follows: the oil cylinder 56 is driven to drive the oil cylinder block 58 to move upwards in the vertical direction, and then the hinged insertion rod 35 and the hinged rod 53 are driven to rotate around the axis in the middle, so that the hinged rod 53 moves downwards close to one end of the abutting plate 52, and then the abutting plate 52 is driven to move close to the vertical side face of the aerated concrete block layer around the rotation axis of the abutting plate 52, and clamping is achieved.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (8)
1. The utility model provides an aerated concrete block's hacking machine, including translation frame (1), along translation frame (1) length direction sliding connection in the vertical frame (2) on translation frame (1) upper portion, locate translation frame (1) and drive vertical frame (2) along the vertical translation frame (1) length direction removal of moving a translation mechanism, along vertical direction sliding connection in the vertical board (3) that moves of moving frame (2), locate vertical frame (2) and drive vertical board (3) that move along the vertical board drive mechanism that moves of moving, locate rotation dish (4) of moving board (3) lower surface, locate rotation dish (4) below and vertical central line and rotation dish (4) and rotate tongs (5) that vertical axis is the same, its characterized in that: the gripper (5) comprises a gripper plate (51) which is arranged below the rotary disc (4) and driven by the rotary disc (4) to rotate around the vertical central line of the gripper plate, four abutting plates (52) which are respectively hinged to four vertical side faces of the gripper plate (51), and an abutting plate driving mechanism which is arranged on the gripper plate (51) and can drive the abutting plates (52) to move towards the aerated concrete block layer.
2. A stacker crane for aerated concrete blocks according to claim 1, wherein: the supporting plate driving mechanism comprises four groups of sliding block grooves (36) which are respectively arranged on the side surface of the supporting plate (52) departing from the aerated concrete building block layer along the long edge direction of the vertical side surface of the four supporting plates (52) in the thickness direction, four groups of sliding blocks (37) which are respectively connected to the sliding block grooves (36) in a sliding mode along the length direction of the four groups of sliding block grooves (36), four hinged rods (53) which are respectively hinged to the four groups of sliding blocks (37), intermediate rods (54) which are respectively fixedly connected to the peripheral side edges of the upper surface of the gripper plate (51) and respectively rotatably connected to the four hinged rods (53), and a hinged rod driving mechanism which is arranged on the gripper plate (51) and rotates with the hinged rods (53), wherein the rotating planes of the four hinged rods (53) are consistent with the rotating planes of the corresponding supporting plates (52).
3. A stacker crane for aerated concrete blocks according to claim 2, wherein: the hinged rod driving mechanism comprises a gripper sleeve (55) fixedly connected to the upper surface of the gripper plate (51) and fixedly connected to the lower surface of the rotary disc (4) at the upper end, a driving oil cylinder (56) fixedly connected to the inner wall of the upper portion of the gripper sleeve (55), hinged insertion rods (35) respectively connected to the hinged insertion rods (53) corresponding to the grids in a plugging manner along the length direction of the four hinged rods (53) close to the gripper sleeve (55) in a plugging manner and in a sliding manner, four block grooves (57) penetrating through the outer wall of the gripper sleeve (55) along the vertical direction, oil cylinder blocks (58) respectively hinged to the four hinged insertion rods (35) at one end far away from the abutting plate (52) and connected to the inner wall of the gripper sleeve (55) in a sliding manner along the vertical direction and exposing the block grooves (57), and power rods fixedly connected to the driving oil cylinder (56) on the.
4. A stacker crane for aerated concrete blocks according to claim 3, wherein: the side face, facing the aerated concrete block, of the abutting plate (52) is evenly provided with a plurality of rubber strips (59) which are horizontal in the length direction along the vertical side edge direction of the abutting plate (52).
5. A stacker crane for aerated concrete blocks according to claim 4, wherein: the vertical moving plate moving mechanism comprises a vertical moving oil cylinder (41) fixedly connected to the upper surface of the vertical moving frame (2) and a power rod fixedly connected to the upper surface of the vertical moving plate (3), a vertical moving plate groove (42) which is arranged on the opposite side surfaces of two vertical sections of the vertical moving frame (2) along the vertical direction and is used for vertically moving the plate (3) to slide along the vertical direction, and guide rods (43) which are respectively fixedly connected to the inner part of the vertical moving plate groove (42) along the vertical direction and are respectively arranged at the two ends of the vertical moving plate (3) in a penetrating mode.
6. A stacker crane for aerated concrete blocks according to claim 5, wherein: the vertical moving frame translation mechanism comprises screw grooves (44) arranged on two adjacent side faces of two horizontal sections on the upper portion of the translation frame (1), translation screws (45) which are respectively rotatably connected in the two screw grooves (44) and are parallel to the length direction of the translation frame (1) in the length direction, and a screw rotating mechanism which is arranged on the translation frame (1) and drives the translation screws (45) to rotate, wherein the two translation screws (45) are respectively in threaded connection with the two portions of the vertical moving frame (2) in sliding connection with the screw grooves (44) along the length direction of the translation frame (1).
7. A stacker crane for aerated concrete blocks according to claim 6, wherein: the screw rotating mechanism comprises two screw sheaves (46) which are respectively coaxially and fixedly connected to the phase near ends of the exposed translation frames (1) of the two translation screws (45), a translation motor (47) which is fixedly connected to the upper part of the translation frame (1), a motor sheave (48) which is coaxially and fixedly connected to an output shaft of the translation motor (47), and a sheave belt (49) which is in transmission connection with the motor sheave (48) and the two screw sheaves (46).
8. A stacker crane for aerated concrete blocks according to claim 7, wherein: the side of the supporting plate (52) facing the aerated concrete block is provided with a plurality of inserting grooves (31) which are horizontal in the length direction, each inserting groove (31) can be inserted with a small supporting strip (32) along the length direction, and the length of each small supporting strip (32) is smaller than that of the supporting plate (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021223049.0U CN212892774U (en) | 2020-06-28 | 2020-06-28 | Hacking machine of aerated concrete block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021223049.0U CN212892774U (en) | 2020-06-28 | 2020-06-28 | Hacking machine of aerated concrete block |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212892774U true CN212892774U (en) | 2021-04-06 |
Family
ID=75280757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021223049.0U Expired - Fee Related CN212892774U (en) | 2020-06-28 | 2020-06-28 | Hacking machine of aerated concrete block |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212892774U (en) |
-
2020
- 2020-06-28 CN CN202021223049.0U patent/CN212892774U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210406 |