CN213523278U - Mushroom picking device - Google Patents
Mushroom picking device Download PDFInfo
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- CN213523278U CN213523278U CN202021606636.8U CN202021606636U CN213523278U CN 213523278 U CN213523278 U CN 213523278U CN 202021606636 U CN202021606636 U CN 202021606636U CN 213523278 U CN213523278 U CN 213523278U
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- 235000001674 Agaricus brunnescens Nutrition 0.000 title claims abstract description 39
- 210000000078 claw Anatomy 0.000 claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 11
- 239000010409 thin film Substances 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 10
- 238000012806 monitoring device Methods 0.000 claims description 10
- 240000007651 Rubus glaucus Species 0.000 claims description 5
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 3
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000003306 harvesting Methods 0.000 abstract 2
- 239000010408 film Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 235000021013 raspberries Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Abstract
The utility model provides a mushroom picking device, belongs to automatic picking technical field, has solved artifical picking technical problem such as inefficiency, intensity of labour are big. The solution is as follows: a mushroom picking device comprises two groups of guide rails, a vehicle body, two groups of mechanical arm devices and an environment monitoring system; the vehicle body comprises a frame, two groups of wheel devices and two groups of mechanical arm transverse fixing devices; the two groups of mechanical arm transverse fixing devices are symmetrically arranged on the top surface of the frame respectively, each mechanical arm transverse fixing device comprises a lead screw device and a fixing shaft device arranged on the inner side of the lead screw device, the two groups of mechanical arm devices are arranged on the two groups of mechanical arm transverse fixing devices respectively, each mechanical arm device comprises an arm support, a mechanical arm and a mechanical claw, and the environment monitoring system comprises a camera device, an environment detection device, a laser ranging module, a thin film type piezoelectric sensor, a single chip microcomputer, a wireless communication module and a remote monitoring platform. The utility model discloses a to the automatic harvesting of mushroom, improved harvesting efficiency.
Description
Technical Field
The utility model belongs to the technical field of automatic pick, concretely relates to device is picked to mushroom.
Background
The mushroom cultivation has already formed the industrial production, and the current many mushrooms are planted and adopt the multilayer culture layer, and the layer frame is higher, picks comparatively difficultly, needs to invest a large amount of labour for a long time to guarantee to reap in good time to mushroom growth has anisotropy, density and sparsity inequality difference, and the mechanical operation of non-intelligence is also difficult to satisfy such complicated operating mode.
Therefore, mushroom picking develops towards a mechanized era, mechanical equipment gradually replaces the original picking mode of people, and the mechanized picking has the characteristics of high efficiency, safety and convenience. However, the mechanical picking of mushrooms is not researched much at the present stage and is basically in the blank field of design and development, and the intelligent picking of mushrooms becomes a key technical problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming, provide a mushroom picking device, solved artifical technical problem such as picking inefficiency, intensity of labour are big.
In order to solve the above problem, the technical scheme of the utility model is that: a mushroom picking device, wherein: the device comprises two groups of guide rails, a vehicle body, two groups of mechanical arm devices and an environment monitoring system;
the two groups of guide rails are U-shaped guide rails and are respectively arranged on the left side and the right side above the mushroom culture layer;
the vehicle body comprises a frame, a plurality of groups of wheel devices, wheel motors and two groups of mechanical arm transverse fixing devices; the frame is arranged between the two groups of guide rails, the plurality of groups of wheel devices are respectively symmetrically arranged on the left side and the right side of the bottom of the frame, the wheel devices are respectively arranged on the two groups of guide rails, the wheel motor is arranged on the inner side of the wheel devices, and the power output end of the wheel motor is connected with the wheel devices; the two groups of mechanical arm transverse fixing devices are respectively and symmetrically arranged on the top surface of the frame, each mechanical arm transverse fixing device comprises a lead screw device and a fixing shaft device arranged on the inner side of the lead screw device, and each lead screw device comprises a lead screw horizontally arranged in a transverse direction, a lead screw nut arranged on the lead screw rod body and a lead screw motor arranged at one end of the lead screw; the fixing shaft device comprises a fixing shaft horizontally arranged in the transverse direction and fixing frames respectively arranged on two sides of the fixing shaft;
the two groups of mechanical arm devices are respectively arranged on the two groups of mechanical arm transverse fixing devices, and each mechanical arm device comprises an arm frame, a mechanical arm and a mechanical claw;
the bottom of the arm support is fixedly connected with the screw rod nut, a fixed shaft through hole is formed in the rear side of the arm support, the fixed shaft penetrates through the fixed shaft through hole, and the arm support moves left and right along the screw rod and the fixed shaft; a mechanical arm installation cavity is formed in one side of the arm frame, flange sliding grooves are formed in two sides of the top surface of the mechanical arm installation cavity, rack clamping grooves are formed in the upper portions of the side walls of the left side and the right side of the mechanical arm installation cavity, a rack motor is arranged on the side wall of the outer side of each rack clamping groove, and a gear is connected to the power output end of the rack motor;
the mechanical arm comprises a fixed rod, a movable rod and racks, wherein the movable rod is arranged at the bottom of the fixed rod and can move up and down along the fixed rod, the racks are arranged on the left side and the right side of the upper part of the fixed rod, and a connecting flange plate is arranged at the top of the fixed rod; a movable rod control motor is arranged on one side of the fixed rod; the mechanical arm is arranged in the mechanical arm mounting cavity, the connecting flange plate is clamped in the flange sliding groove, the rack is clamped in the rack clamping groove, and the rack motor is matched with the rack through a gear;
a steering engine and a mechanical claw motor are arranged above the mechanical claw, and the mechanical claw is connected with the bottom end of the moving rod through the steering engine and the mechanical claw motor;
the environment monitoring system comprises a camera device, an environment detection device, a laser ranging module, a thin film type piezoelectric sensor, a single chip microcomputer, a wireless communication module and a remote monitoring platform, wherein the camera device and the environment monitoring device are arranged on the bottom surface of the vehicle body; the signal output ends of the camera device, the environment monitoring device, the laser ranging module and the thin film type piezoelectric sensor are connected with the signal input end of a single chip microcomputer, the signal port of the single chip microcomputer is connected with the signal port of a wireless communication module, and the wireless communication module is connected with a remote monitoring platform through wireless signals; and the signal output end of the singlechip is respectively connected with the signal input ends of a wheel motor, a screw motor, a rack motor, a moving rod control motor, a steering engine and a mechanical claw motor.
Further, the camera device comprises a camera and a raspberry pi.
Furthermore, the wheel device comprises two groups of driving wheel sets which are respectively arranged at the front and the rear and a group of supporting wheel sets which are arranged in the middle.
Furthermore, the mechanical claw is a fin-ray effect mechanical claw, the mechanical claw is made of flexible materials, and each finger of the mechanical claw is wrapped by a rubber sleeve.
Further, the environment monitoring device comprises a temperature and humidity sensor and CO2A sensor.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the mushroom picking-up device comprises a pick-up head, a laser ranging module, a film piezoelectric sensor, a single chip microcomputer and a control module, wherein the pick-up head in the pick-up device shoots mushrooms, raspberries process shot images to obtain relative coordinates of each mushroom, the relative coordinates are transmitted to the single chip microcomputer, the laser ranging module can measure the height difference between the mushrooms and a mechanical claw and transmit the height difference to the single chip microcomputer, the film piezoelectric sensor can detect the clamping force on the mushrooms and then transmit the clamping force to the single chip microcomputer, and finally the;
2. the wheel motor drives the wheel device to realize longitudinal picking, the lead screw motor drives the lead screw to realize transverse picking, and the rack motor drives the rack to drive the mechanical arm to move so as to realize longitudinal movement in a small range.
The work of each drive is controlled through the single chip microcomputer, the automatic mushroom picking is achieved, and the intelligent control of the system is achieved through the remote monitoring platform.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of the installation and structure of the mechanical arm device of the present invention;
fig. 3 is a schematic structural view of a mechanical arm in the present invention;
fig. 4 is a schematic structural view of the boom of the present invention;
fig. 5 is a flowchart of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
A mushroom picking apparatus as shown in fig. 1 to 5, wherein: the device comprises two groups of guide rails 1, a vehicle body 2, two groups of mechanical arm devices 3 and an environment monitoring system;
the two groups of guide rails 1 are U-shaped guide rails, and the two groups of guide rails 1 are respectively arranged on the left side and the right side above the mushroom culture layer;
the vehicle body 2 comprises a vehicle frame 2-1, a plurality of groups of wheel devices 2-2, wheel motors and two groups of mechanical arm transverse fixing devices; the vehicle frame 2-1 is arranged between the two groups of guide rails 1, the plurality of groups of wheel devices 2-2 are respectively symmetrically arranged at the left side and the right side of the bottom of the vehicle frame 2-1, the wheel devices 2-2 are respectively arranged on the two groups of guide rails 1, the wheel motor is arranged at the inner side of the wheel device 2-2, and the power output end of the wheel motor is connected with the wheel device 2-2; the two groups of mechanical arm transverse fixing devices are respectively and symmetrically arranged on the top surface of the frame 2-1, each mechanical arm transverse fixing device comprises a screw rod device 2-3 and a fixing shaft device 2-4 arranged on the inner side of the screw rod device 2-3, and each screw rod device 2-3 comprises a screw rod 2-3-1 horizontally arranged in a transverse direction, a screw rod nut 2-3-2 arranged on a rod body of the screw rod 2-3-1 and a screw rod motor 2-3-3 arranged at one end of the screw rod 2-3-1; the fixed shaft device 2-4 comprises a fixed shaft 2-4-1 horizontally arranged in the transverse direction and fixed frames 2-4-2 respectively arranged at two sides of the fixed shaft 2-4-1;
the two groups of mechanical arm devices 3 are respectively arranged on the two groups of mechanical arm transverse fixing devices, and each mechanical arm device 3 comprises an arm frame 3-1, a mechanical arm 3-2 and a mechanical claw 3-3;
the bottom of the arm support 3-1 is fixedly connected with the screw nut 2-3-2, a fixed shaft through hole 3-1-1 is formed in the rear side of the arm support 3-1, the fixed shaft 2-4-1 penetrates through the fixed shaft through hole 3-1-1, and the arm support 3-1 moves left and right along the screw 2-3-1 and the fixed shaft 2-4-1; a mechanical arm installation cavity 3-1-2 is formed in one side of the arm support 3-1, flange sliding grooves 3-1-3 are formed in two sides of the top surface of the mechanical arm installation cavity 3-1-2, rack clamping grooves 3-1-4 are formed in the upper portions of the side walls of the left side and the right side of the mechanical arm installation cavity 3-1-2, a rack motor 3-4 is arranged on the side wall of the outer side of each rack clamping groove 3-1-4, and a gear 3-5 is connected to the power output end of each rack motor 3-4;
the mechanical arm 3-2 comprises a fixed rod 3-2-1, a moving rod 3-2-3 which is arranged at the bottom of the fixed rod 3-2-1 and can move up and down along the fixed rod, and racks 3-2-4 which are arranged at the left side and the right side of the upper part of the fixed rod 3-2-1, wherein a connecting flange plate 3-2-2 is arranged at the top of the fixed rod 3-2-1; a moving rod control motor 3-2-5 is arranged on one side of the fixed rod 3-2-1; the mechanical arm 3-2 is arranged in the mechanical arm mounting cavity 3-1-2, the connecting flange plate 3-2-2 is clamped in the flange sliding groove 3-1-3, the rack 3-2-4 is clamped in the rack clamping groove 3-1-4, and the rack motor 3-4 is matched with the rack 3-2-4 through a gear 3-5;
a steering engine 3-3-1 and a gripper motor 3-3-2 are arranged above the gripper 3-3, and the gripper 3-3 is connected with the bottom end of the moving rod 3-2-3 through the steering engine 3-3-1 and the gripper motor 3-3-2;
the environment monitoring system comprises a camera device, an environment detection device, a laser ranging module, a thin film type piezoelectric sensor, a single chip microcomputer, a wireless communication module and a remote monitoring platform, wherein the camera device and the environment monitoring device are arranged on the bottom surface of the vehicle body 2, the laser ranging module is arranged at the bottom of the mechanical claw 3-3, and the thin film type piezoelectric sensor is arranged on the inner side of the mechanical claw 3-3; the signal output ends of the camera device, the environment monitoring device, the laser ranging module and the thin film type piezoelectric sensor are connected with the signal input end of a single chip microcomputer, the signal port of the single chip microcomputer is connected with the signal port of a wireless communication module, and the wireless communication module is connected with a remote monitoring platform through wireless signals; and the signal output end of the singlechip is respectively connected with the signal input ends of a wheel motor, a screw motor 2-3-3, a rack motor 3-4, a moving rod control motor 3-2-5, a steering engine 3-3-1 and a mechanical claw motor 3-3-2.
Further, the camera device comprises a camera and a raspberry pi.
Further, the wheel device 2-2 comprises two groups of driving wheel groups 2-2-1 which are respectively arranged at the front and the rear and a group of supporting wheel groups 2-2-2 which are arranged in the middle.
Further, the mechanical claw 3-3 is a fin-effect mechanical claw, the mechanical claw 3-3 is made of a flexible material, and each finger of the mechanical claw 3-3 is wrapped with a rubber sleeve.
Further, the environment monitoring device comprises a temperature and humidity sensor and CO2A sensor.
The utility model discloses a working process:
firstly, a camera shoots mushrooms, raspberries process shot images to obtain the relative position of each mushroom, signals are transmitted to a single chip microcomputer, the single chip microcomputer controls a wheel motor to drive a vehicle body 2 to move longitudinally, a screw motor 2-3-3 controls a screw nut 2-3-2 to move so as to drive a mechanical arm device 3 to move transversely, a rack motor 3-4 drives a mechanical arm 3-2 to perform fine adjustment, a laser ranging module transmits the signals to the single chip microcomputer after the position of the mushroom is reached, the single chip microcomputer controls a moving rod control motor 3-2-5 to move a moving rod 3-2-3 up and down, a mechanical claw 3-3 controls the opening degree of a mechanical claw 3-3 to clamp the mushroom after the mechanical claw 3-3 reaches the most suitable position for grabbing the mushroom, the signal transmission of the film type piezoelectric sensor controls the clamping force degree to avoid damage to the mushrooms caused by improper clamping force, and at the moment, the steering engine 3-3-1 works to rotate the mechanical claw 3-3, so that the mushrooms are picked.
Medium temperature and humidity sensor and CO in environment monitoring device2The sensor can collect the growth environment information of mushroom, and the environment monitorAnd the signal monitored in the measuring device is transmitted to the singlechip. The wireless communication module transmits signals related to picking and environment information in the singlechip to the remote monitoring platform through wireless signals, so that the mushroom picking condition and the mushroom growing environment are monitored.
Claims (5)
1. A mushroom picking device is characterized in that: the device comprises two groups of guide rails (1), a vehicle body (2), two groups of mechanical arm devices (3) and an environment monitoring system;
the two groups of guide rails (1) are U-shaped guide rails, and the two groups of guide rails (1) are respectively arranged on the left side and the right side above the mushroom culture layer;
the vehicle body (2) comprises a vehicle frame (2-1), a plurality of groups of wheel devices (2-2), wheel motors and two groups of mechanical arm transverse fixing devices; the vehicle frame (2-1) is arranged between the two groups of guide rails (1), the plurality of groups of wheel devices (2-2) are respectively and symmetrically arranged on the left side and the right side of the bottom of the vehicle frame (2-1), the wheel devices (2-2) are respectively arranged on the two groups of guide rails (1), the wheel motor is arranged on the inner side of the wheel devices (2-2), and the power output end of the wheel motor is connected with the wheel devices (2-2); the two groups of mechanical arm transverse fixing devices are respectively and symmetrically arranged on the top surface of the frame (2-1), each mechanical arm transverse fixing device comprises a screw rod device (2-3) and a fixing shaft device (2-4) arranged on the inner side of the screw rod device (2-3), and each screw rod device (2-3) comprises a screw rod (2-3-1) horizontally arranged in a transverse direction, a screw rod nut (2-3-2) arranged on a rod body of the screw rod (2-3-1) and a screw rod motor (2-3-3) arranged at one end of the screw rod (2-3-1); the fixed shaft device (2-4) comprises a fixed shaft (2-4-1) horizontally arranged in the transverse direction and fixed frames (2-4-2) respectively arranged at two sides of the fixed shaft (2-4-1);
the two groups of mechanical arm devices (3) are respectively arranged on the two groups of mechanical arm transverse fixing devices, and each mechanical arm device (3) comprises an arm support (3-1), a mechanical arm (3-2) and a mechanical claw (3-3);
the bottom of the arm support (3-1) is fixedly connected with the screw nut (2-3-2), a fixed shaft through hole (3-1-1) is formed in the rear side of the arm support (3-1), the fixed shaft (2-4-1) penetrates through the fixed shaft through hole (3-1-1), and the arm support (3-1) moves left and right along the screw nut (2-3-1) and the fixed shaft (2-4-1); a mechanical arm installation cavity (3-1-2) is arranged on one side of the arm support (3-1), flange sliding grooves (3-1-3) are formed in two sides of the top surface of the mechanical arm installation cavity (3-1-2), rack clamping grooves (3-1-4) are formed in the upper portions of the side walls of the left side and the right side of the mechanical arm installation cavity (3-1-2), a rack motor (3-4) is arranged on the side wall of the outer side of each rack clamping groove (3-1-4), and a gear (3-5) is connected to the power output end of each rack motor (3-4);
the mechanical arm (3-2) comprises a fixed rod (3-2-1), a moving rod (3-2-3) which is arranged at the bottom of the fixed rod (3-2-1) and can move up and down along the fixed rod, and racks (3-2-4) which are arranged at the left side and the right side of the upper part of the fixed rod (3-2-1), wherein a connecting flange plate (3-2-2) is arranged at the top of the fixed rod (3-2-1); a moving rod control motor (3-2-5) is arranged on one side of the fixed rod (3-2-1); the mechanical arm (3-2) is arranged in the mechanical arm mounting cavity (3-1-2), the connecting flange plate (3-2-2) is clamped in the flange sliding groove (3-1-3), the rack (3-2-4) is clamped in the rack clamping groove (3-1-4), and the rack motor (3-4) is matched with the rack (3-2-4) through a gear (3-5);
a steering engine (3-3-1) and a mechanical claw motor (3-3-2) are arranged above the mechanical claw (3-3), and the mechanical claw (3-3) is connected with the bottom end of the moving rod (3-2-3) through the steering engine (3-3-1) and the mechanical claw motor (3-3-2);
the environment monitoring system comprises a camera device, an environment detection device, a laser ranging module, a thin film type piezoelectric sensor, a single chip microcomputer, a wireless communication module and a remote monitoring platform, wherein the camera device and the environment monitoring device are arranged on the bottom surface of the vehicle body (2), the laser ranging module is arranged at the bottom of the mechanical claw (3-3), and the thin film type piezoelectric sensor is arranged on the inner side of the mechanical claw (3-3); the signal output ends of the camera device, the environment monitoring device, the laser ranging module and the thin film type piezoelectric sensor are connected with the signal input end of a single chip microcomputer, the signal port of the single chip microcomputer is connected with the signal port of a wireless communication module, and the wireless communication module is connected with a remote monitoring platform through wireless signals; the signal output end of the singlechip is respectively connected with the signal input ends of a wheel motor, a screw motor (2-3-3), a rack motor (3-4), a moving rod control motor (3-2-5), a steering engine (3-3-1) and a mechanical claw motor (3-3-2).
2. A mushroom picking device according to claim 1, characterised in that: the camera device comprises a camera and a raspberry pi.
3. A mushroom picking device according to claim 1, characterised in that: the wheel device (2-2) comprises two groups of driving wheel sets (2-2-1) which are respectively arranged at the front and the rear and a group of supporting wheel sets (2-2-2) which are arranged in the middle.
4. A mushroom picking device according to claim 1, characterised in that: the mechanical claw (3-3) is a fin-effect mechanical claw, the mechanical claw (3-3) is made of flexible materials, and each finger of the mechanical claw (3-3) is wrapped by a rubber sleeve.
5. A mushroom picking device according to claim 1, characterised in that: the environment monitoring device comprises a temperature and humidity sensor and CO2A sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021606636.8U CN213523278U (en) | 2020-08-05 | 2020-08-05 | Mushroom picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021606636.8U CN213523278U (en) | 2020-08-05 | 2020-08-05 | Mushroom picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213523278U true CN213523278U (en) | 2021-06-25 |
Family
ID=76487782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021606636.8U Expired - Fee Related CN213523278U (en) | 2020-08-05 | 2020-08-05 | Mushroom picking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213523278U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113366973A (en) * | 2021-07-13 | 2021-09-10 | 华南农业大学 | Automatic pineapple picking robot capable of keeping fruit buds and application thereof |
| CN114576488A (en) * | 2022-03-02 | 2022-06-03 | 江西省自然资源事业发展中心 | Digital intelligent distribution network operation and maintenance cloud platform system |
| CN115462279A (en) * | 2021-09-16 | 2022-12-13 | 山东农业大学 | End effector of mushroom bud thinning robot and bud thinning method |
| CN116326429A (en) * | 2023-01-16 | 2023-06-27 | 农业农村部南京农业机械化研究所 | Intelligent picking manipulator for stropharia rugoso-annulata |
-
2020
- 2020-08-05 CN CN202021606636.8U patent/CN213523278U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113366973A (en) * | 2021-07-13 | 2021-09-10 | 华南农业大学 | Automatic pineapple picking robot capable of keeping fruit buds and application thereof |
| CN115462279A (en) * | 2021-09-16 | 2022-12-13 | 山东农业大学 | End effector of mushroom bud thinning robot and bud thinning method |
| CN115462279B (en) * | 2021-09-16 | 2024-04-19 | 山东农业大学 | End effector of mushroom bud thinning robot and bud thinning method |
| CN114576488A (en) * | 2022-03-02 | 2022-06-03 | 江西省自然资源事业发展中心 | Digital intelligent distribution network operation and maintenance cloud platform system |
| CN116326429A (en) * | 2023-01-16 | 2023-06-27 | 农业农村部南京农业机械化研究所 | Intelligent picking manipulator for stropharia rugoso-annulata |
| CN116326429B (en) * | 2023-01-16 | 2023-10-10 | 农业农村部南京农业机械化研究所 | Intelligent picking manipulator for stropharia rugoso-annulata |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210625 |