CN204209692U - Based on transformer station's indoor screen cabinet checkout gear of crusing robot - Google Patents
Based on transformer station's indoor screen cabinet checkout gear of crusing robot Download PDFInfo
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- CN204209692U CN204209692U CN201420609952.9U CN201420609952U CN204209692U CN 204209692 U CN204209692 U CN 204209692U CN 201420609952 U CN201420609952 U CN 201420609952U CN 204209692 U CN204209692 U CN 204209692U
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- screen cabinet
- crusing robot
- door
- robot
- transformer station
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Abstract
The utility model discloses the transformer station's indoor screen cabinet checkout gear based on crusing robot, comprise robot body, telescoping mechanism, checkout equipment and position detecting device; Inspection machine human body there is kinematic driving unit, crusing robot is arranged on guide rail by robot body, and robot body has decelerator and the first motor, the first motor output shaft is connected with decelerator, reducer output shaft is connected by flat key with belt wheel, and belt wheel is connected with telescoping mechanism; Checkout equipment and position detecting device are arranged on telescoping mechanism; Position detecting device identification is located at the location tags on screen cabinet door.The utility model safety precautions is good, and in switch gate process, robot can not interfere with equipment, can not damage equipment.Effectively can not only patrol and examine single screen cabinet, effectively can also patrol and examine many row's screen cabinets; The utility model guide rail is arbitrarily spliced into various shape according to the deployment scenarios of screen cabinet, patrols and examines flexibly, can realize patrolling and examining the comprehensive of equipment.
Description
Technical field
The utility model relates to Intelligent Measurement field, particularly relates to a kind of transformer station based on crusing robot indoor screen cabinet checkout gear.
Background technology
At present, transformer station's cell, as protective chamber etc. has screen cabinet, as exchanged feeder line screen, exchanging inlet wire screen, DC feeder screen, emergency lighting switching board, DC charging screen etc.Require to make regular check on cable heat condition in part screen cabinet, whether joint burns out, bolt has non-loosening etc.; And part shields cabinet to heat request not strictly, switch folding condition, meter reading, indicator lamp situation etc. when patrolling and examining in emphasis inspection screen cabinet.
1, because indoor screen cabinet door is generally all in closed condition, only have and just open when staff patrols and examines, the equipment such as therefore general infrared measurement of temperature, visible ray are all difficult to directly effectively patrol and examine.
Although the 2 existing modes such as passive and wireless thermometric, active radio thermometric, need equal mounting temperature sensor in each screen cabinet, price is relatively expensive.
3, now the detection of screen cabinet is detected by manpower mostly, need to consume a large amount of manpower and materials, also there is certain potential safety hazard simultaneously.
Utility model content
In order to solve the problem, the utility model provides a kind of transformer station based on crusing robot indoor screen cabinet checkout gear, and this apparatus structure is simple, and cost is lower, and automaticity is high.
To achieve these goals, the utility model adopts following technical scheme:
Based on transformer station's indoor screen cabinet checkout gear of crusing robot, comprise robot body, telescoping mechanism, checkout equipment and position detecting device;
Described crusing robot is arranged on guide rail by robot body, described robot body is provided with decelerator and the first motor, described first motor output shaft is connected with decelerator, and reducer output shaft is connected by flat key with belt wheel, and described belt wheel is connected with telescoping mechanism.
Described inspection machine human body is provided with kinematic driving unit, and described kinematic driving unit is connected with control system, and described kinematic driving unit is connected with slide wire power supply device.Described kinematic driving unit comprises servo-driver, drive motors and encoder, for controlling crusing robot orbiting, described servo-driver for controlling the action of drive motors, with encoder on drive motors.
Described control system comprises motion control case, and described motion control case is arranged on robot body, and described motion control case is connected with checkout equipment, linkage, kinematic driving unit, terminal communication case, position detecting device respectively.
Described terminal communication case is connected with background monitoring case by optical fiber, is connected with motion control case by trolley;
Described background monitoring case is arranged in master-control room, and described terminal communication case is arranged on indoor to be inspected.
Guide rail is made up of line slideway and arc guide rail, and can patrol and examine requirement and is arbitrarily overlapped to form various shape according to the installation situation of screen cabinet, guide rail 10 by support installing on the body of wall or column of indoor.
Described telescoping mechanism comprises expansion link I, expansion link II, and the telescopic process of described expansion link I makes two bites at a cherry, and the output of described expansion link II is provided with checkout equipment, position detecting device and optoelectronic switch.Described checkout equipment is arranged on keyset, and keyset is fixed on one end of expansion link II; Described checkout equipment comprises thermal infrared imager, visible light camera and ultraviolet detector.Described optoelectronic switch is arranged on keyset, before being positioned at checkout equipment.Described position detecting device can identify the location tags be arranged on screen cabinet doorframe; Location tags controls crusing robot and carries out the spread its tail detection of cabinet door and cabinet door detection of not spreading its tail.Described cabinet door of spreading its tail detects and mainly carries out infrared detection, visible detection and UV detect to equipment in screen cabinet; Described cabinet door of not spreading its tail detects and comprises the visible detections such as meter reading, LED status and switch folding condition.
Screen cabinet outer side of door is hinged with a linkage, forms double rocker mechanism with screen cabinet door; By support installing on the ground, driven by the second motor, the second motor output shaft is connected with decelerator double rocker mechanism, and reducer output shaft is connected with drive rocker rotating pin, and described crusing robot can control the start and stop of the second motor.
The inner side of screen cabinet threshold is provided with pass door limit switch, and the side of cabinet is provided with door open limit switch, and described pass door limit switch, door open limit switch coordinate with the second motor respectively, the pass of control flow cabinet door, opens.
When screen cabinet is two-door structure, described linkage, door open limit switch and pass door limit switch etc. are arranged on one of them door or 2 doors accordingly, and location tags is arranged on corresponding doorframe.
Based on transformer station's indoor screen cabinet checkout gear of crusing robot, its operation principle is as follows:
The first step, crusing robot advances along guide rail, when crusing robot runs to screen cabinet side to be inspected along guide rail, expansion link I extends designated length L1, action puts in place rear telescopic rod II elongation, when distance screen cabinet certain distance, optoelectronic switch works, and expansion link II no longer extends, and prevents checkout equipment from colliding with screen cabinet door.The setting of extended length L1 to guarantee screen cabinet door in opening procedure can not with expansion link II and on equipment interfere.The setting of the distance of reaction of optoelectronic switch will guarantee that position detecting device can detect location tags.
Second step, position detecting device identifies the location tags on screen cabinet doorframe, automatically completes and detects screen cabinet, be divided into following several situation according to recognition result crusing robot:
One, when the ID address of location tags be do not spread its tail cabinet door detect address time:
(1) expansion link I extends L3, and L3 determines according to patrolling and examining requirement, and after action completes, inspection device arrives and patrols and examines position;
(2) meter reading, LED status, switch folding condition etc. of checkout equipment to screen cabinet is carried out visible ray and is patrolled and examined, without the need to opening screen cabinet door.When patrolling and examining by the information back that collects to background work station, work station identifies automatically to the information detected, the screen cabinet that there is fault or potential safety hazard can automatic alarm;
(3) after having patrolled and examined, expansion link I shrinks L3, so that follow-up location tags identification, enters the 3rd step.
Two, when the ID address of location tags be spread its tail cabinet door detect address time:
(1) crusing robot sends control instruction to the second motor, the second driven by motor connecting rod mechanism movement, is opened by screen cabinet door; When shielding cabinet door and being opened to a certain degree, door open limit switch works, and the second motor quits work;
(2) crusing robot control expansion link I extends L3, and L3 determines according to patrolling and examining requirement, and after action completes, inspection device arrives and patrols and examines position;
(3), after action puts in place, crusing robot starts to carry out infrared detection, visible detection, UV detect to screen cabinet, and the information back that will collect, there is the screen cabinet meeting automatic alarm of fault or potential safety hazard;
(4) after having patrolled and examined, expansion link I shrinks L3, and inspection machine sends control instruction to the second motor makes the second motor reversely rotate, and will shield cabinet door and close, the closedown of the correct control flow cabinet door of pass door limit switch energy of the inner side of screen cabinet threshold;
(5), after shielding the closedown of cabinet door, the 3rd step is entered.
Three, when position detecting device does not detect location tags, show that this screen does not have location tags cashier's office in a shop, patrol and examine screen cabinet for non-, do not need to patrol and examine.Directly enter the 3rd step.
3rd step, Robot guide rail continues to run, and finds next location tags and patrols and examines.Crusing robot along guide rail run through arc section turn time, expansion link I and expansion link II are all in complete contraction state.
4th step, after Robot guide rail has run, completes patrolling and examining all screen cabinet sides to be checked; Now, crusing robot sends control instruction to the first motor, and the first driven by motor belt wheel rotates 180 °, and then drives telescoping mechanism to rotate 180 °, and when carrying out this action, expansion link I and expansion link II are all in complete contraction state; And then crusing robot starts along track inverted running, the opposite side of all screen cabinets to be checked is patrolled and examined.
The beneficial effects of the utility model:
(1) opening and closing of the utility model screen cabinet door drive by linkage, and this connecting rod machine mechanism is without dead point, and two extreme positions of open and close door are all provided with limit switch, ensure that the security in enabling and door closing procedure;
(2) the utility model robot is provided with telescoping mechanism, there is level, vertically and rotate the free degree in 3 directions, patrol and examine flexibly;
(3) the utility model Zhi Xuyitai robot can complete patrolling and examining all inspection screen cabinets, greatly reduces cost;
(4) the utility model is rational in infrastructure, and safety precautions is better, and in switch gate process, robot can not interfere with equipment, can not damage equipment.；
(5) the utility model effectively can not only be patrolled and examined single screen cabinet, effectively can also be patrolled and examined by reasonable Arrangement track to many row's screen cabinets;
(6) the utility model guide rail and can be patrolled and examined requirement and is arbitrarily spliced into various shaped form according to the deployment scenarios of screen cabinet, patrols and examines flexibly, can realize patrolling and examining the comprehensive of equipment.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the utility model when patrolling and examining;
Fig. 2 is the structural representation of open and close Ping Guimen mechanism;
Side view when Fig. 3 is the utility model original state;
Fig. 4 is the structural representation before screen cabinet door is opened;
Fig. 5 is the side view before screen cabinet door is opened;
Side view when Fig. 6 is the door unlatching of screen cabinet;
Fig. 7 be the utility model spread its tail cabinet door detect time side view;
Fig. 8 be spread its tail cabinet door detect at the end of side view;
Fig. 9 is that the utility model carries out patrolling and examining schematic diagram when many row's screen cabinets are are just patrolled and examined;
Figure 10 is that the utility model patrols and examines schematic diagram when carrying out that many row's screen cabinets are inverse patrols and examines;
Figure 11 is Control system architecture block diagram of the present utility model.
Wherein, 1, location tags; 2, cabinet is shielded; 201, doorframe; 202, cabinet; 203, threshold; 3, position detecting device; 4, checkout equipment; 5, cabinet door is shielded; 6, door limit switch is closed; 7, linkage; 701, the second motor; 702, drive rocker; 703, connecting rod; 8, telescoping mechanism; 801, expansion link I; 802, expansion link II; 9, robot body; 10, guide rail; 11, door open limit switch; 12, optoelectronic switch; 13, belt wheel; 15. kinematic driving unit; 16. motion control casees; 17. background monitoring casees; 18. terminal communication casees; 19. optical fiber; 20. trolleys.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As shown in Figure 1,3, based on transformer station's indoor screen cabinet checkout gear of crusing robot, robot body 9, telescoping mechanism 8, checkout equipment 4 and position detecting device 3 is comprised; Crusing robot is arranged on guide rail 10 by robot body 9, robot body 9 is provided with decelerator and the first motor, described first motor output shaft is connected with decelerator, and reducer output shaft is connected by flat key with belt wheel 13, and belt wheel 13 is connected with telescoping mechanism 8.
Described telescoping mechanism 8 comprises expansion link I 801, expansion link II 802, the output of expansion link II 802 is provided with checkout equipment 4, position detecting device 3 and optoelectronic switch 12.Position detecting device 3 identifiable design is located at the location tags 1 on screen cabinet door 5, and optoelectronic switch 12 is arranged on keyset, before being positioned at checkout equipment.
As shown in Fig. 1,11, described inspection machine human body is provided with kinematic driving unit 15, described kinematic driving unit 15 is connected with control system, and described kinematic driving unit 15 is connected with slide wire power supply device.Described kinematic driving unit 15 comprises servo-driver, drive motors and encoder, for controlling crusing robot orbiting, described servo-driver for controlling the action of drive motors, with encoder on drive motors.
Described control system comprises motion control case 16, and described motion control case 16 is arranged on robot body, described motion control case 16 respectively with checkout equipment 4; Linkage 7, kinematic driving unit 15, terminal communication case 18, position detecting device 13 connect.
Described terminal communication case 18 is connected with background monitoring case by optical fiber 20, is connected with motion control case 16 by trolley 21;
Described background monitoring case is arranged in master-control room, and described terminal communication case 18 is arranged on indoor to be inspected.
As shown in Figure 1, 2, shield cabinet door 5 and form double rocker mechanism, the Push And Release of control flow cabinet door 5 with linkage 7.Drive rocker 702 is driven by the second motor 701, and the second motor output shaft is connected with decelerator, and reducer output shaft is connected with drive rocker 702 rotating pin, and connecting rod 703 is hinged on screen cabinet door 5, and crusing robot can control the start and stop of the second motor.
Guide rail 10 is made up of line slideway and arc guide rail, according to the installation situation of screen cabinet 2 with patrol and examine requirement and be arbitrarily overlapped to form various shape, guide rail 10 by support installing on the body of wall or column of indoor.
Namely the structural representation before cabinet door 5 unlatching is shielded as shown in Figure 4 and Figure 5 for crusing robot moves to the structural representation before shielding cabinet door 5.Before crusing robot enters to screen cabinet 2 along guide rail 10 operation, expansion link I 801 extend designated length L1, action put in place rear telescopic rod II 802 extend, when distance screen cabinet 2 certain distance time optoelectronic switch 12 work, expansion link II 802 no longer extends, and prevents checkout equipment 4 from colliding with screen cabinet door 5.
When arranging extended length L1, guarantee can not interfere with expansion link II 802 and upper equipment thereof in screen cabinet door 5 opening procedure; The distance of reaction of optoelectronic switch 12 will meet the distance that position detecting device 3 can detect location tags 1 information.
According to the recognition result of location tags 1, crusing robot completes the detection to screen cabinet automatically, is divided into following several situation:
One, when the ID address of location tags 1 be do not spread its tail cabinet door 5 detect address time:
(1) expansion link I 801 elongation L3, L3 determine according to patrolling and examining requirement, control checkout equipment 4 arrival and patrol and examine position;
(2) outward appearance such as meter reading, LED status, switch folding condition of checkout equipment 4 to screen cabinet 2 is carried out visible ray and is patrolled and examined, by the information back that collects to background work station, work station identifies automatically to the information detected, there is the screen cabinet 2 meeting automatic alarm of fault or potential safety hazard;
(3), after having patrolled and examined, expansion link I 801 shrinks L3, to facilitate follow-up location tags identification;
(4) crusing robot continues to run along guide rail 10, finds next location tags 1 and identifies.
Two, when the ID address of location tags 1 be spread its tail cabinet door 5 detect address time:
(1) crusing robot sends control instruction to the second motor, and driven by motor linkage 7 moves, and is opened by screen cabinet door 5, and when shielding cabinet door 5 and being opened to a certain degree, door open limit switch 11 works, and the second motor quits work, as shown in Figure 6;
(2) now, robot controlling expansion link I 801 continuation elongation L3, L3 determines according to patrolling and examining requirement.Such checkout equipment 4 arrives and patrols and examines position;
(3), after action puts in place, crusing robot starts to patrol and examine, as shown in Figure 7.Mainly carry out infrared detection, visible detection and UV detect, and the information back that will collect, the screen cabinet 2 that there is fault or potential safety hazard can automatic alarm.
(4), after having patrolled and examined, expansion link I 801 shrinks L3, as shown in Figure 8.Simultaneously crusing robot controls the second motor and reversely rotates and closed by screen cabinet door 5.Screen cabinet doorframe 203 is provided with and closes door limit switch 6, the closedown of the correct control flow cabinet door 5 of energy;
(5), after shielding the closedown of cabinet door 5, crusing robot continues to run along guide rail 10, finds next location tags and identifies.
Three, when location tags is empty:
Show that this screen does not have location tags 1 cashier's office in a shop, patrol and examine screen cabinet 2 for non-, do not need to patrol and examine.Crusing robot move on find next location tags 1 patrol and examine.
Crusing robot along guide rail 10 run through arc section turn time, for avoiding interfering with surrounding devices, expansion link I 801 and expansion link II 802 are in complete contraction state.
As shown in Figure 9, crusing robot completes patrolling and examining all screen cabinet 2 sides to be checked after having run along guide rail 10; Now, crusing robot sends control instruction to the first motor, and the first driven by motor belt wheel 13 rotates 180 °, and then drives telescoping mechanism 8 to rotate 180 °, and when carrying out this action, expansion link I 801 and expansion link II 802 are all in complete contraction state; And then crusing robot starts along guide rail 10 inverted running, as shown in Figure 10, the opposite side of all screen cabinets 2 to be checked is patrolled and examined.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (10)
1., based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, comprise robot body, telescoping mechanism, checkout equipment and position detecting device;
Described crusing robot is arranged on guide rail by robot body, described robot body is provided with decelerator and the first motor, described first motor output shaft is connected with decelerator, and reducer output shaft is connected by flat key with belt wheel, and described belt wheel is connected with telescoping mechanism;
Described inspection machine human body is provided with kinematic driving unit, and described kinematic driving unit is connected with control system, and described kinematic driving unit is connected with slide wire power supply device;
Described checkout equipment and position detecting device are arranged on telescoping mechanism;
Described position detecting device identification is located at the location tags on screen cabinet doorframe.
2., as claimed in claim 1 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, screen cabinet outer side of door is hinged with a linkage, forms double rocker mechanism with screen cabinet door; By support installing on the ground, driven by the second motor, the second motor output shaft is connected with decelerator double rocker mechanism, and reducer output shaft is connected with drive rocker rotating pin, and described crusing robot can control the start and stop of the second motor.
3. as claimed in claim 2 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, the inner side of screen cabinet threshold is provided with pass door limit switch, the side of cabinet is provided with door open limit switch, described pass door limit switch, door open limit switch coordinate with the second motor respectively, the pass of control flow cabinet door, open.
4. as described in claim 1 or 2 or 3 based on the transformer station of crusing robot indoor screen cabinet checkout gear, it is characterized in that, when screen cabinet is two-door structure, described linkage, door open limit switch and pass door limit switch etc. are arranged on one of them door or 2 doors accordingly, and location tags is arranged on corresponding doorframe.
5. as claimed in claim 1 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, described location tags carries out for controlling crusing robot the spread its tail detection of cabinet door and cabinet door detection of not spreading its tail.
6., as claimed in claim 5 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, described in cabinet door of spreading its tail detect and comprise infrared detection, visible detection and UV detect.
7., as claimed in claim 5 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, described cabinet door of not spreading its tail detects the detection comprised meter reading, LED status, switch folding condition.
8. as claimed in claim 1 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, described kinematic driving unit comprises servo-driver, drive motors and encoder, control orbiting, described servo-driver connects drive motors, with encoder on drive motors; Control system comprises motion control case, and described motion control case is arranged on robot body, and described motion control case is connected with checkout equipment, linkage, kinematic driving unit, terminal communication case, position detecting device respectively; Described terminal communication case is connected with background monitoring case by optical fiber, and terminal communication case is connected with motion control case by trolley; Described background monitoring case is arranged in master-control room, and described terminal communication case is arranged on indoor to be inspected.
9. as claimed in claim 1 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, described telescoping mechanism comprises the expansion link I and expansion link II that are connected, the output of described expansion link II is provided with checkout equipment, position detecting device and optoelectronic switch, described checkout equipment is arranged on keyset, and keyset is fixed on one end of expansion link II; Described checkout equipment comprises thermal infrared imager, visible light camera and ultraviolet detector; Described optoelectronic switch is arranged on keyset, before being positioned at checkout equipment.
10., as claimed in claim 1 based on transformer station's indoor screen cabinet checkout gear of crusing robot, it is characterized in that, described guide rail is made up of line slideway and arc guide rail, guide rail by support installing on the body of wall or column of indoor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609952.9U CN204209692U (en) | 2014-10-21 | 2014-10-21 | Based on transformer station's indoor screen cabinet checkout gear of crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609952.9U CN204209692U (en) | 2014-10-21 | 2014-10-21 | Based on transformer station's indoor screen cabinet checkout gear of crusing robot |
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| CN204209692U true CN204209692U (en) | 2015-03-18 |
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| CN201420609952.9U Withdrawn - After Issue CN204209692U (en) | 2014-10-21 | 2014-10-21 | Based on transformer station's indoor screen cabinet checkout gear of crusing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385277A (en) * | 2014-10-21 | 2015-03-04 | 山东鲁能智能技术有限公司 | Transformer substation indoor screen cabinet detection device based on inspection robot and detection method of transformer substation indoor screen cabinet detection device |
| CN107046327A (en) * | 2017-03-14 | 2017-08-15 | 江苏濠汉信息技术有限公司 | Pressing plate switch intelligent inspection robot device |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人***有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN108145726A (en) * | 2018-02-24 | 2018-06-12 | 河南摩西机械制造有限公司 | A kind of enabling robot device |
| CN111755973A (en) * | 2020-05-20 | 2020-10-09 | 深圳供电局有限公司 | Cabinet door and monitoring system |
-
2014
- 2014-10-21 CN CN201420609952.9U patent/CN204209692U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385277A (en) * | 2014-10-21 | 2015-03-04 | 山东鲁能智能技术有限公司 | Transformer substation indoor screen cabinet detection device based on inspection robot and detection method of transformer substation indoor screen cabinet detection device |
| CN104385277B (en) * | 2014-10-21 | 2016-02-10 | 山东鲁能智能技术有限公司 | The indoor screen cabinet checkout gear of transformer station based on crusing robot and detection method |
| CN107046327A (en) * | 2017-03-14 | 2017-08-15 | 江苏濠汉信息技术有限公司 | Pressing plate switch intelligent inspection robot device |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人***有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN107825450B (en) * | 2017-12-11 | 2024-04-05 | 苏州新优化投资咨询有限公司 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
| CN108145726A (en) * | 2018-02-24 | 2018-06-12 | 河南摩西机械制造有限公司 | A kind of enabling robot device |
| CN111755973A (en) * | 2020-05-20 | 2020-10-09 | 深圳供电局有限公司 | Cabinet door and monitoring system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150318 Effective date of abandoning: 20160210 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |