CN214628143U - Weeding robot with keep away seedling protection architecture - Google Patents
Weeding robot with keep away seedling protection architecture Download PDFInfo
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- CN214628143U CN214628143U CN202121124207.1U CN202121124207U CN214628143U CN 214628143 U CN214628143 U CN 214628143U CN 202121124207 U CN202121124207 U CN 202121124207U CN 214628143 U CN214628143 U CN 214628143U
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- weeding
- seedling
- frame
- robot
- chassis
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Abstract
The utility model discloses a weeding robot with a seedling avoiding protection structure, which comprises a robot body, a frame type chassis, a top cover and a rear cover, wherein the top cover and the rear cover are arranged on the frame type chassis; a driving component is arranged in the frame type chassis; the weeding mechanism is arranged at the front end of the frame type chassis; the walking mechanisms are arranged on two sides of the robot body and comprise chassis heightening driving components and walking wheels arranged on the chassis heightening driving components; the seedling avoidance protective structures are arranged on the left side and the right side of the frame type chassis, and the front ends of the seedling avoidance protective structures extend forwards and inwards. The utility model has simple structure, adopts the frame-type chassis, and the weeding mechanism is arranged on the front end surface of the frame-type chassis, thereby realizing the synchronous proceeding of weeding and robot advancing and improving the weeding efficiency; the front end of the seedling avoidance protection structure extends forwards and inwards, seedlings in the advancing direction of the robot are poked away from the running track of the robot, and the seedlings are prevented from being accidentally injured by the weeding mechanism.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, concretely relates to weeding robot with keep away seedling protection architecture.
Background
It is known that weeds are plants which grow in farmland and harm the vigorous growth of crops, and in the farmland ecosystem, the weeds compete with crops for resources such as growth space, fertilizer nutrients, light, heat and the like, and are one of the important reasons for the reduction of the yield and the quality of the crops. Effective weed growth control is an important link in improving crop yield, application of chemical herbicides is a weed prevention and control mode widely applied at present, but long-term, large-amount and high-frequency application can cause negative problems of weed drug resistance, phytotoxicity, environmental pollution and the like. Therefore, the key to ensuring the sustainable development of agriculture is the vigorous development of mechanical weeding. However, in actual operation, the seedling belt bending changes to cause the problem that the weeding executive component damages the seedlings, and the development of mechanical weeding technology is severely restricted.
The invention provides a special weeding robot for a farmland and a control method thereof, wherein the special weeding robot for the farmland comprises a movable trolley main body, traveling wheels, a weeding mechanism and a mechanical gripper hand, wherein the movable trolley main body is provided with a plurality of traveling wheels, the traveling wheels are driven by a traveling wheel driving device arranged in the movable trolley main body to operate, the movable trolley main body is provided with an adjustable weeding mechanical arm mechanism, the adjustable weeding mechanical arm mechanism is provided with the weeding mechanism and the mechanical gripper hand, and the movable trolley main body is internally provided with an industrial personal computer and a power module which are used for controlling the adjustable weeding mechanical arm mechanism, the traveling wheel driving device, the weeding mechanism and the mechanical gripper hand.
However, the above solution has the following disadvantages:
(1) the weeding robot is complex in structure, and weed forms need to be recognized by means of a depth camera and a weed recognition system, so that seedling avoidance during weeding is realized, and the application cost of the weeding robot is greatly increased;
(2) weeding mechanism and mechanical tongs set up respectively at the both ends of the cross axle of adjustable weeding arm mechanism, only can weed to the unilateral of weeding robot, at the practical application in-process, need the weeding robot to turn back the operation repeatedly, have reduced the weeding efficiency of robot, have great application limitation.
In view of this, there is an urgent need to improve the structure of the weeding robot in the prior art, so as to simplify the structure of the robot, reduce the application cost of avoiding seedlings of the weeding robot, and improve the weeding efficiency of the weeding robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that current weeding robot structure is complicated, applied with high costs, weeding inefficiency, the big problem of application limitation.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts as follows:
a weeding robot with avoid seedling protection architecture includes:
the robot body comprises a frame type chassis, and a top cover and a rear cover which are arranged on the frame type chassis; a driving assembly is arranged in the frame type chassis;
the weeding mechanism is arranged on the front end surface of the frame type chassis;
the walking mechanisms are arranged on the left side and the right side of the robot body and comprise chassis heightening driving components and walking wheels arranged on the chassis heightening driving components;
and the seedling avoidance protective structures are arranged on the left side and the right side of the frame type chassis, and the front ends of the seedling avoidance protective structures extend forwards and inwards.
In the above aspect, preferably, the frame-type chassis includes:
the chassis framework is a box-shaped framework formed by splicing four longitudinal rods, two transverse rods and four vertical rods, the longitudinal rods, the transverse rods and the vertical rods are vertically arranged in pairs, and a weeding mechanism mounting frame is arranged on the front end face of the box-shaped framework;
the front sealing plate is arranged on the front end surface of the box-shaped frame;
the side sealing plates are arranged on the left side and the right side of the box-shaped frame and arranged on the outer side surface of the box-shaped frame;
and the bottom sealing plate is arranged on the lower end surface of the chassis framework.
In the above aspect, preferably, the chassis heightening drive assembly includes:
the left side surface and the right side surface of the box-shaped frame are provided with inner flange mounting parts, and the inner flanges are mounted on the inner flange mounting parts; the upper part of the inner flange is provided with a driving shaft hole, and a driving motor shaft of the driving motor penetrates through the driving motor shaft hole;
the transmission assembly is arranged on the outer end face of the inner flange, is arranged below the shaft hole of the driving motor and is in transmission connection with the driving motor shaft;
the outer flange is buckled on the outer end face of the inner flange, and a driving wheel shaft hole is formed in the outer flange;
and the driving wheel shaft penetrates through the driving wheel shaft hole, and two ends of the driving wheel shaft are respectively connected with the transmission assembly and the travelling wheel.
In the above aspect, preferably, the transmission assembly includes:
the driven wheel is sleeved on the driving wheel shaft; a driving wheel is arranged on a shaft of the driving motor, and the driving wheel and the driven wheel are in transmission through a belt or a chain;
and the driven wheel bearing is arranged between the driven wheel and the inner flange.
In the above aspect, preferably, the transmission assembly further includes:
and the back tensioning type idle wheel is installed on the outer end face of the inner flange through an idle wheel fixing plate and is arranged between the driving wheel and the driven wheel.
In the above aspect, preferably, the rear cover includes:
the cover plate frame is arranged on the rear end face of the frame type chassis, and a rear door frame is arranged on the cover plate frame;
and the rear door is rotatably installed in the rear door frame, and an electric cabinet door lock is arranged on the rear door.
In the above scheme, it is preferable that an indicator light and a switch knob are arranged on the cover plate frame, and the switch knob is electrically connected with the driving assembly.
In the above aspect, preferably, the seedling-avoiding protection structure includes:
the supporting plates are arranged on the left side and the right side of the frame type chassis, and the inner end faces of the supporting plates are provided with connecting parts used for being connected with the side sealing plates; the supporting plate is arranged above the travelling mechanism;
the shielding part is perpendicular to the supporting plate, comprises a side shielding part arranged on the outer side surface of the supporting plate and a front shielding part arranged on the front end surface of the supporting plate, and is used for preventing weeds or seedlings from being drawn into the travelling mechanism;
and the seedling avoiding shifting part is arranged at the front end of the shielding part, and the front end of the seedling avoiding shifting part extends inwards.
In the above aspect, preferably, the weeding mechanism includes:
the weeding lifting support is detachably mounted on the weeding mechanism mounting frame, a long hole is formed in the rear end face of the weeding lifting support, and the long hole is formed in the height direction of the weeding lifting support;
the mounting bottom plate is mounted at the lower end of the weeding lifting bracket through a steel wire rope damping device;
the weeding motor is arranged on the top surface of the mounting bottom plate, and a weeding motor shaft of the weeding motor penetrates out of the mounting bottom plate downwards;
the blade assembly comprises a blade mounting seat and a blade mounted on the blade mounting seat, and the blade mounting seat is mounted on a weeding motor shaft.
In the above scheme, preferably, the traveling wheel includes a flange hub and a rubber tire sleeved on the flange hub, and the lower end of the side shielding part is arranged between the wheel axle of the flange hub and the lower end face of the flange hub.
Compared with the prior art, the utility model provides a weeding robot with keep away seedling protection architecture can be through setting up the seedling protection architecture of keeping away on the robot body, and the orbit of advancing that will be located the ascending direction of robot seedling and dial away from the robot avoids the seedling to be drawn into running gear or weeding mechanism and harms the robot and move the part, perhaps weeds the structure and accidentally injures the seedling and cause economic loss. The utility model discloses, simple structure, convenient operation need not to be equipped with extra image transmission device or system, can realize keeping away the seedling and weed, and weeding mechanism sets up at the robot front end, has realized that robot operation and herbicidal synchronization go on, has improved weeding efficiency, the utility model discloses but wide application is weeded in the farmland, greatly reduced weeding cost, wide application prospect has.
Drawings
Fig. 1 is a perspective view of a weeding robot with a seedling avoiding protection structure in the utility model;
fig. 2 is a perspective view of another angle of the weeding robot with the seedling-avoiding protection structure of the present invention;
fig. 3 is a schematic structural view of the robot body of the present invention;
fig. 4 is a schematic structural view of the weeding mechanism of the present invention;
FIG. 5 is a schematic structural view of the middle traveling mechanism of the present invention;
fig. 6 is a schematic structural view of the seedling-avoiding protection structure of the present invention.
Detailed Description
The utility model provides a weeding robot with keep away seedling protection architecture, the front end of robot body sets up weeding mechanism, and the seedling protection architecture is kept away in the both sides setting, has improved weeding robot's weeding efficiency, avoids weeding in-process seedling to disturb the seedling loss or the mechanical damage that hinders that the weeding caused simultaneously, has improved weeding efficiency, has reduced the weeding cost. The invention is described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1, the utility model provides a weeding robot with keep away seedling protection architecture includes robot 1, weeding mechanism 2, running gear 3 and keeps away seedling protection architecture 4.
As shown in fig. 3, the robot body 1 includes a frame-type chassis 10, a top cover 11, and a rear cover 12, and the top cover 11 and the rear cover 12 are respectively disposed on a top surface and a rear end surface of the frame-type chassis 10. A drive assembly is provided within the frame chassis 10.
The frame-type chassis 10 includes chassis skeleton 13, preceding shrouding 14, side shrouding 15 and bottom shrouding 16, and chassis skeleton 11 is the box-shaped frame that forms by four vertical poles 111, two horizontal poles 112 and the concatenation of four pole setting 113, and vertical pole 111, horizontal pole 112 and 113 two liang of perpendicular settings of pole setting are equipped with weeding mechanism mounting bracket 17 on the preceding terminal surface of box-shaped frame. The front seal plate 14 is arranged on the front end face of the box-shaped frame, the side seal plates 15 are arranged on the left side and the right side of the box-shaped frame, the side seal plates 15 are arranged on the outer side face of the box-shaped frame, and the bottom seal plate 16 is arranged on the lower end face of the chassis framework 11. Frame-type chassis 10 is box-shaped frame construction, has reduced the weight and the material of chassis, has increased structural stability and weeding robot's mobility, is applicable to the weeding operation of various complicated topography.
As shown in fig. 2 and 3, the rear cover 12 includes a cover plate frame 121 and a rear door 122 disposed on the cover plate frame 121, the cover plate frame 121 is mounted on a rear end surface of the frame-type chassis 10, and a rear door frame is disposed on the cover plate frame 121. The back door 122 is rotated in the back door frame through the hinge, and an electric cabinet door lock 123 is further arranged on the back door 122. The cover plate frame 121 is provided with an indicator light 124 and a switch knob 125, and the switch knob 125 is electrically connected to the driving assembly.
As shown in fig. 4, the weeding mechanism 2 is installed on the front end face of the frame-type chassis 10, and includes a weeding lifting bracket 21, an installation bottom plate 22, a weeding motor 23 and a blade assembly, the weeding lifting bracket 21 is detachably installed on the weeding mechanism installation frame 17, a long hole 211 is provided on the rear end face of the weeding lifting bracket 21, the long hole 211 is arranged along the height direction of the weeding lifting bracket 21, the weeding lifting bracket is convenient to move up and down, and accordingly the weeding height of the weeding mechanism is adjusted. The mounting base plate 22 is installed on the lower end face of the weeding lifting support 21, and a steel wire rope damping device 24 is arranged between the mounting base plate 22 and the weeding lifting support 21. The weeding motor 23 is installed on the top surface of the installation bottom plate 22, and the motor shaft of the weeding motor 23 penetrates through the installation bottom plate 22 downwards. The weeding motor shaft of the weeding motor 23 is sleeved with an anti-winding shielding sleeve 231. The blade assembly includes a blade mount 25 and a blade 26 mounted on the blade mount 25, the blade mount 25 being mounted on the weeding motor shaft.
As shown in fig. 5, the traveling mechanisms 3 are installed on the left and right sides of the robot body 1, and include a chassis heightening driving assembly and a traveling wheel 30 provided on the chassis heightening driving assembly, and the traveling wheel 30 includes a flange hub and a rubber tire fitted on the flange hub. The chassis heightening drive assembly comprises an inner flange 31, a transmission assembly, an outer flange 32 and a drive axle 33. Inner flange installation parts 18 are arranged on the left side surface and the right side surface of the box-shaped frame, an inner flange 31 is installed on the inner flange installation parts 18, a driving shaft hole 311 is formed in the upper portion of the inner flange 31, and a driving motor shaft of a driving motor penetrates through the driving motor shaft hole 311 to be arranged for driving the traveling wheels 30 to run.
The transmission assembly is arranged on the outer end face of the inner flange 31, is arranged below the driving motor shaft hole 311 and is used for being in transmission connection with a driving motor shaft and driving the traveling wheels 30 to run. The transmission assembly comprises a driven wheel 34, a driving wheel is arranged on a shaft of the driving motor, and the driven wheel 34 is in transmission connection with the driving wheel on the shaft of the driving motor through a belt or a chain. A driven wheel bearing 35 is further arranged between the driven wheel 34 and the inner flange 31 and used for preventing abrasion between the driven wheel 34 and the inner flange 31 and improving the stability of the transmission structure.
The transmission assembly further includes a back-tension type idler 36, the back-tension type idler 36 being mounted on the outer end face of the inner flange 31 by an idler fixing plate 37, the back-tension type idler 36 being disposed between the drive pulley and the driven pulley 34. Through back tensioning type idler, make belt or chain tensioning, reduce vibrations and energy loss in its motion process to improve transmission assembly's stability, make drive mechanism even running.
The outer flange 32 is fastened on the outer end face of the inner flange, and a driving axle hole 321 is arranged on the outer flange 32. The driving wheel shaft 33 is arranged through the driving wheel shaft hole 321, and two ends of the driving wheel shaft 33 are respectively connected with the driven wheel 34 and the travelling wheel 30 in the transmission assembly.
Keep away seedling protection architecture 4 and set up in the left and right sides of frame-type chassis 10, keep away seedling protection architecture 4 and include backup pad 41, shielding part 42 and keep away seedling shifting part 43, and backup pad 41 sets up in the left and right sides of frame-type chassis 10, is equipped with the connecting portion 411 that are used for being connected with side seal board 15 on the interior terminal surface of backup pad 41, and backup pad 41 passes through connecting portion 411 to be installed on side seal board 15. The supporting plate 41 is arranged above the travelling mechanism 3, the shielding part 42 is perpendicular to the supporting plate 41 and comprises a side shielding part 421 arranged on the outer side surface of the supporting plate 41 and a front shielding part 422 arranged on the front end surface of the supporting plate 41, the side shielding part 421 and the front shielding part 422 are respectively arranged on the outer side and the front side of the travelling wheel 30, the travelling mechanism 3 is protected, and weeds or seedlings are prevented from being drawn into the travelling mechanism 3. The lower extreme setting of side shielding plate 421 is between the wheel axle of the flange wheel hub of walking wheel 30 and the lower terminal surface of flange wheel hub, both can prevent that weeds or seedling from being drawn into flange wheel hub, can form horizontal passageway of passing through again, and the high trafficability characteristic that influences the chassis that crosses lowly of shielding plate lower extreme when avoiding meetting barriers such as stone. Keep away seedling and dial fender portion 43 and set up the front end at occlusion part 42, keep away seedling and dial the front end of fender portion 43 and inwards stretch out the setting for the orbit of advancing of dialling away the robot with the seedling that is located the robot direction of advance, avoid the seedling to be drawn into running gear or weeding mechanism and harm the robot moving part, perhaps weed the structure and accidentally injure the seedling and cause economic loss.
In an embodiment of the present invention, the seedling-avoiding poking plate 43 is an arc-shaped baffle plate, and the front end of the arc-shaped baffle plate is bent inward. The length of the arc-shaped baffle plate can be less than half of the length of the side baffle plate so as to reduce the size of a working space occupied by the weeding robot.
The utility model discloses a use as follows:
the driving component in the robot body 1 is connected with the walking mechanism 3 through the motor shaft of the driving motor, and the motor shaft controls the driving wheel shaft 33 to rotate through the transmission mechanism on the inner flange 31, so that the walking wheel 30 is driven to rotate. Because the transmission mechanism is arranged below the shaft of the driving motor, the frame type chassis 10 can be lifted to adapt to weeding operation on various terrains.
When weeding, shielding part 42 forms the protection in the outside of running gear 3, can avoid weeds or seedling to be drawn into running gear 3, keeps away the seedling and dials the leading end of fender portion 43 and inwards stretches out the setting, can dial the seedling in the dead ahead of weeding mechanism 2 and open, avoids weeding mechanism 2 accidental injury seedling.
Compared with the prior art, the utility model provides a weeding robot with keep away seedling protection architecture through setting up the seedling protection architecture that keeps away in robot body both sides, dials the orbit of advancing from the robot with the ascending seedling of robot direction of advance, avoids weeding structure accidental injury seedling, avoids the seedling to be drawn into running gear or weeding mechanism simultaneously and leads to robot operation part to damage, need not to realize weeding through extra image acquisition device and identification system and keeps away the seedling, greatly reduced weeding robot's application cost.
The utility model discloses in, weeding mechanism sets up in weeding robot's the place ahead, can improve weeding robot's weeding efficiency, has reduced the working space size that weeding robot needs when working simultaneously, but wide application in polytype farmland is weeded, has wider range of application.
The present invention is not limited to the above-mentioned best mode, and any person should learn the structural change made under the teaching of the present invention, all with the present invention has the same or similar technical solution, all fall into the protection scope of the present invention.
Claims (10)
1. A weeding robot with a seedling-avoiding protection structure is characterized by comprising:
the robot body comprises a frame type chassis, and a top cover and a rear cover which are arranged on the frame type chassis; a driving assembly is arranged in the frame type chassis;
the weeding mechanism is arranged on the front end surface of the frame type chassis;
the walking mechanisms are arranged on the left side and the right side of the robot body and comprise chassis heightening driving components and walking wheels arranged on the chassis heightening driving components;
and the seedling avoidance protective structures are arranged on the left side and the right side of the frame type chassis, and the front ends of the seedling avoidance protective structures extend forwards and inwards.
2. A weeding robot with seedling avoiding protection structure according to claim 1, wherein the frame-type chassis includes thereon:
the chassis framework is a box-shaped framework formed by splicing four longitudinal rods, two transverse rods and four vertical rods, the longitudinal rods, the transverse rods and the vertical rods are vertically arranged in pairs, and a weeding mechanism mounting frame is arranged on the front end face of the box-shaped framework;
the front sealing plate is arranged on the front end surface of the box-shaped frame;
the side sealing plates are arranged on the left side and the right side of the box-shaped frame and arranged on the outer side surface of the box-shaped frame;
and the bottom sealing plate is arranged on the lower end surface of the chassis framework.
3. A weeding robot with seedling avoidance protection structure according to claim 2, wherein the chassis heightening driving assembly includes:
the left side surface and the right side surface of the box-shaped frame are provided with inner flange mounting parts, and the inner flanges are mounted on the inner flange mounting parts; the upper part of the inner flange is provided with a driving shaft hole, and a driving motor shaft of the driving motor penetrates through the driving motor shaft hole;
the transmission assembly is arranged on the outer end face of the inner flange, is arranged below the shaft hole of the driving motor and is in transmission connection with the driving motor shaft;
the outer flange is buckled on the outer end face of the inner flange, and a driving wheel shaft hole is formed in the outer flange;
and the driving wheel shaft penetrates through the driving wheel shaft hole, and two ends of the driving wheel shaft are respectively connected with the transmission assembly and the travelling wheel.
4. A weeding robot with seedling avoidance protection structure according to claim 3, wherein the transmission assembly includes:
the driven wheel is sleeved on the driving wheel shaft; a driving wheel is arranged on a shaft of the driving motor, and the driving wheel and the driven wheel are in transmission through a belt or a chain;
and the driven wheel bearing is arranged between the driven wheel and the inner flange.
5. A weeding robot with seedling avoidance protection structure according to claim 4, wherein the transmission assembly further includes:
and the back tensioning type idle wheel is installed on the outer end face of the inner flange through an idle wheel fixing plate and is arranged between the driving wheel and the driven wheel.
6. A weeding robot with seedling evasion protection structure according to claim 1, wherein said back cover includes:
the cover plate frame is arranged on the rear end face of the frame type chassis, and a rear door frame is arranged on the cover plate frame;
and the rear door is rotatably installed in the rear door frame, and an electric cabinet door lock is arranged on the rear door.
7. A weeding robot with seedling avoidance protection structure according to claim 6, wherein the cover plate frame is provided with an indicator lamp and a switch knob, and the switch knob is electrically connected with the driving assembly.
8. A weeding robot with seedling avoidance protection structure according to claim 2, wherein the seedling avoidance protection mechanism includes:
the supporting plates are arranged on the left side and the right side of the frame type chassis, and the inner end faces of the supporting plates are provided with connecting parts used for being connected with the side sealing plates; the supporting plate is arranged above the travelling mechanism;
the shielding part is perpendicular to the supporting plate, comprises a side shielding part arranged on the outer side surface of the supporting plate and a front shielding part arranged on the front end surface of the supporting plate, and is used for preventing weeds or seedlings from being drawn into the travelling mechanism;
and the seedling avoiding shifting part is arranged at the front end of the shielding part, and the front end of the seedling avoiding shifting part extends inwards.
9. A weeding robot with seedling evasion protection structure according to claim 2, wherein said weeding mechanism includes:
the weeding lifting support is detachably mounted on the weeding mechanism mounting frame, a long hole is formed in the rear end face of the weeding lifting support, and the long hole is formed in the height direction of the weeding lifting support;
the mounting bottom plate is mounted at the lower end of the weeding lifting bracket through a steel wire rope damping device;
the weeding motor is arranged on the top surface of the mounting bottom plate, and a weeding motor shaft of the weeding motor penetrates out of the mounting bottom plate downwards;
the blade assembly comprises a blade mounting seat and a blade mounted on the blade mounting seat, and the blade mounting seat is mounted on a weeding motor shaft.
10. A weeding robot with seedling avoidance protection structure according to claim 8, wherein the traveling wheel includes a flange hub and a rubber tire sleeved on the flange hub, and the lower end of the side shielding portion is disposed between the wheel axle of the flange hub and the lower end face of the flange hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121124207.1U CN214628143U (en) | 2021-05-24 | 2021-05-24 | Weeding robot with keep away seedling protection architecture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121124207.1U CN214628143U (en) | 2021-05-24 | 2021-05-24 | Weeding robot with keep away seedling protection architecture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214628143U true CN214628143U (en) | 2021-11-09 |
Family
ID=78485714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121124207.1U Expired - Fee Related CN214628143U (en) | 2021-05-24 | 2021-05-24 | Weeding robot with keep away seedling protection architecture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214628143U (en) |
-
2021
- 2021-05-24 CN CN202121124207.1U patent/CN214628143U/en not_active Expired - Fee Related
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211109 |