CN209531496U - A kind of solar panel cleaning robot - Google Patents
A kind of solar panel cleaning robot Download PDFInfo
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- CN209531496U CN209531496U CN201821770206.2U CN201821770206U CN209531496U CN 209531496 U CN209531496 U CN 209531496U CN 201821770206 U CN201821770206 U CN 201821770206U CN 209531496 U CN209531496 U CN 209531496U
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- support
- steering engine
- solar panel
- retarder
- bottom plate
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The utility model discloses a kind of solar panel cleaning robots, belong to robotic technology field.It includes rack, walking mechanism, rotating mechanism, driving structure control system, it has a controller, the controller is fixed on the bottom plate, and controller and driving wheel, rotation-control members, the first steering engine-retarder and the second steering engine-retarder are electrically connected.The intelligence for realizing solar panel, effectively improves working efficiency, while the artificial packaged type of the machine and having good adaptability, can clean current all types of solar panels.
Description
Technical field
The utility model belongs to robotic technology field, more specifically to a kind of solar panel cleaning robot
People.
Background technique
Solar panel (Solar panel) be by absorbing sunlight, by solar radiant energy by photoelectric effect or
Person's photochemical effect is converted directly or indirectly into the device of electric energy, and the main material of most of solar panel is " silicon ", but
Because cost of manufacture is larger, so that it is generally used, there are also certain limitations.Relative to common batteries and recyclable charging electricity
For pond, solar battery belongs to the green product of more energy efficient environmental protection.
Solar panel is tasted for a long time in outside work, and surface can fall into many dusts, and dust is easy to block sun
Light or reflection sunlight, decline, therefore in solar panel technology field, cleaning so as to cause the power of solar panel
And good sunlight permeability is kept, it is always an important factor for influencing photovoltaic efficiency, however, under existing cleaning model
Generally artificial cleaning, on the one hand artificial cleaning solar plate cost is too high, and on the other hand artificial cleaning needs to step down in solar panel
On, it is easy to step on and splits solar panel, intelligence is not achieved, and clean Zhou Mingchang, cause generated energy loss larger.It needs faster, more
Efficient equipment carries out the tight cleaning of frequency to power station, and cleaning information is real-time transmitted to backstage, can operate cleaning from backstage
The running of equipment, therefore be badly in need of solving the problems, such as this wait invent a equipment.
In order to solve the above technical problems, it is retrieved, such as Chinese Patent Application No. 201610793149.9, the applying date
It is on August 31st, 2016, denomination of invention are as follows: a kind of solar panels sweeping robot, including solar panels, support frame, roller machine
Structure, cleaning roller brush, robot ambulation driving motor, roller brush drive motor, robot ambulation transmission shaft and machine rack；Roller machine
Structure is mounted on the two sides of machine rack；Idler wheel mechanism and support frame, which roll, to be connected；Several solar panels installations are on the support frame；Roller
Brush drive motor is mounted on machine rack, and roller brush drive motor is connect by belt with cleaning roller brush, cleaning roller brush and the sun
It can plate contact；Cleaning roller brush both ends and machine rack are rotatablely connected；Robot ambulation driving motor is fixed on machine rack, machine
Device people's travel driving motor is driven axis connection, robot ambulation both ends of the drive shaft and idler wheel mechanism by belt and robot ambulation
Connection.The robot of the structure realizes the cleaning of solar panels by cleaning roller brush, since the robot is fixed with support frame
Together, therefore, the solar panels that can only clean the fixed area cause the application range of robot small；Meanwhile robot
Cost is higher, and row's solar panels need to be equipped with a robot, and cost input is big, is unfavorable for the market competition of enterprise.
Chinese Patent Application No. 201521115346.2, the applying date are on December 30th, 2015, denomination of invention are as follows: Yi Zhongtai
It is positive can board cleaning machine device people, including moving trolley is provided with hydraulic telescopic arm on moving trolley, and the front end of hydraulic telescopic arm is provided with logical
The roller brush device of brush holder rotating electric machine control is crossed, control moving trolley, hydraulic telescopic arm and rotating electric machine are provided in moving trolley
Control system；Control system includes: control unit of engine, by CAN bus and controller communication, receives the finger of controller
It enables, completes the automatic control to engine throttle, also control the air-conditioning system of entire robot；Data acquisition equipment is distributed in
On solar panels cleaning robot human body, for acquiring the environmental data of solar panels cleaning robot, and it is sent to controller
Parsing；Controller acquires the data of equipment acquisition for receiving data, and carries out comprehensive analysis processing to data collected,
Control robot manipulating task；Display passes through CAN bus and controller communication.For the robot of the structure, pass through moving trolley
The hydraulic telescopic arm of upper setting, roller brush device is arranged in the front end of hydraulic telescopic arm, and combines its attached drawing, it can be seen that due to too
Positive energy plate has certain tilt angle, and the mode of the solar panels installation in each base is different, therefore, in use process
In, the angle of continuous regulating roller brush device is needed, but hydraulic telescopic arm adjusts more difficulty, finally will cause in cleaning
Solar panels damage.
Summary of the invention
1. to solve the problems, such as
For existing artificial cleaning solar energy cell plate, one side cost of labor is too high, and on the other hand artificial cleaning needs
It steps down on solar panel, is easy to step on and splits solar panel, intelligentized problem is not achieved, the utility model provides a kind of solar panel
Cleaning robot realizes the intelligence of solar panel, effectively improves working efficiency, at the same the artificial packaged type of the machine and
With good adaptability, cleaning angle can freely be adjusted, and can clean current all types of solar panels.
2. technical solution
To solve the above-mentioned problems, technical solution used by the utility model is as follows:
A kind of solar panel cleaning robot of the utility model, comprising: rack with bottom plate, is mounted on bottom
Support bracket above plate and the side plate for being symmetricly set on bottom plate two sides；
Walking mechanism, with driving wheel and traveling crawler, the driving wheel is fixedly connected with the side plate, traveling crawler
On the drive wheel, driving wheel provides power resources for robot ambulation for winding；
Rotating mechanism, with turntable and rotation-control members, the turntable is fixed on the Support bracket, rotation
Turn the side of control unit setting on a spinstand, turntable can be rotated around Support bracket；
Driving structure, with first support, adjuster, second support, the first actuating arm, connecting rod, the first steering engine-deceleration
Device, the second actuating arm, support, the second steering engine-retarder and end effector, the first support and the turntable are fixed to be connected
It connects, the first steering engine-retarder is arranged in first support on both sides of the middle, and the below the first steering engine-retarder is arranged in adjuster
On one bracket；First actuating arm upper end and the second support are rotatablely connected, and lower end and the first steering engine-retarder rotation connect
It connects, connecting rod one end connects first actuating arm, and the other end connects second support；Second actuating arm both ends are separately connected second
The second steering engine-retarder is arranged on support in frame and support, and the second steering engine-retarder is connect with end effector, end effector
It can be connect with cleaning cloth, the second steering engine-retarder drives end effector reciprocally swinging, to realize the reciprocal wiping of cleaning cloth
It wipes；
Control system has a controller, and the controller is fixed on the bottom plate, controller and driving wheel, rotation
Turn control unit, the first steering engine-retarder and the electrical connection of the second steering engine-retarder.
It further include information remote control reception mechanism in a kind of possible embodiment of the utility model, the information is distant
It controls receiving mechanism to be arranged above bottom plate, and is electrically connected with the controller, which includes signal receiver, by manual
It is remotely controlled the cleaning that the robot realizes solar panel.
In a kind of possible embodiment of the utility model, the end effector includes a pair of of execution pawl, and two hold
The tail portion of row pawl is equipped with the gear teeth and the two engages, and two execution pawls are connect by shaft with the second steering engine-retarder.
It further include water tank in a kind of possible embodiment of the utility model, the water tank is arranged below bottom plate,
The height of water tank is less than the effective height of walking mechanism, and width is less than the width of the bottom plate, and water tank is connected to by water pipe
On support.
In a kind of possible embodiment of the utility model, the Support bracket is in zigzag shape, in Support bracket
Center offer through-hole, turntable is set in through-hole, and around through-hole rotate.
In a kind of possible embodiment of the utility model, the signal receiver is arranged in controller and supporting bracket
Between frame, and the central axis of three is on the same line.
In a kind of possible embodiment of the utility model, the controller is PLC controller.
In a kind of possible embodiment of the utility model, the water tank is located at immediately below Support bracket, water tank with
Bottom plate is bolted.
In a kind of possible embodiment of the utility model, the first steering engine-retarder, the second steering engine-deceleration
Device is MG955 steering engine-retarder.
3. beneficial effect
Compared with the prior art, the utility model has the following beneficial effects:
(1) the solar panel cleaning robot of the utility model, the robot include rack, walking mechanism, rotation
Mechanism, driving structure and control system, walking mechanism can move between solar panel with mobile robot, driving mechanism
End effector can be connect with cleaning cloth, the second steering engine-retarder drives end effector reciprocally swinging, to realize clear
The reciprocal wiping of clean cloth, realizes the intelligence of solar panel, effectively improves working efficiency, while the machine artificially moves
Formula and there is good adaptability, current all types of solar panels can be cleaned；
(2) the solar panel cleaning robot of the utility model, can be reduced using caterpillar type tavelling wheel to battery
The damage of plate, and gap or obstacle between certain solar panel can be crossed over, it is not necessarily to other jumper devices or manual handling, is passed through
The cleaning of remote manual control robot realization solar panel；
(3) the solar panel cleaning robot of the utility model, water tank are arranged below bottom plate, and water tank passes through water
Pipe is connected on support, and water is filled in water tank, can increase the weight of entire robot, while can reduce entire robot
Center, it is mobile more steady flexible；
(4) the solar panel cleaning robot of the utility model, structure is simple, convenient for production.
Detailed description of the invention
The technical solution of the utility model is described in further detail below with reference to drawings and examples, still
It should be known that these attached drawings are designed for task of explanation, therefore not as the restriction of the scope of the utility model.In addition,
Unless otherwise indicated, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to carry out to scale
It draws.
Fig. 1 is the structural schematic diagram of the utility model solar panel cleaning robot；
Fig. 2 is the structure top view of the utility model solar panel cleaning robot；
Fig. 3 is the structural side view of the utility model solar panel cleaning robot；
Fig. 4 is the execution pawl structural schematic diagram of the utility model solar panel cleaning robot.
Description of symbols in figure:
100, rack；110, bottom plate；120, Support bracket；130, side plate；
200, walking mechanism；210, driving wheel；220, traveling crawler；
300, rotating mechanism；310, turntable；320, rotation-control members；
400, driving structure；410, first support；420, adjuster；430, second support；440, the first actuating arm；450,
Connecting rod；460, the first steering engine-retarder；470, the second actuating arm；480, support；490, the second steering engine-retarder；4100, last
Hold actuator；4101, pawl is executed；
500, control system；510, controller；
600, information remote control reception mechanism；610, signal receiver；
700, water tank.
Specific embodiment
Hereafter to the detailed description of the exemplary embodiment of the utility model with reference to attached drawing, which forms the one of description
Part has been shown as example the enforceable exemplary embodiment of the utility model in the figure.Although these exemplary realities
Example is applied to be described in sufficient detail so that those skilled in the art can implement the utility model, it is to be understood that it can be realized
His embodiment and can various changes can be made to the utility model in the case where not departing from the spirit and scope of the utility model.Hereafter
Required the scope of the utility model is not limited to the more detailed description of the embodiments of the present invention, and only
The description of the characteristics of in order to be illustrated and not limit to the utility model and feature, to propose to execute the utility model
Best mode, and it is sufficient to make those skilled in the art that can implement the utility model.Therefore, the scope of the utility model only by
Appended claims limit.
Hereafter the detailed description of the utility model and example embodiment are more fully understood in combination with attached drawing, wherein this reality
It is identified with novel element and feature by appended drawing reference.
Embodiment 1
A kind of solar panel cleaning robot as shown in Figures 1 to 4, comprising: rack 100, walking mechanism 200, rotation
Rotation mechanism 300, driving structure 400 and control system 500.
Wherein: rack 100 has bottom plate 110, is mounted on the Support bracket 120 of 110 top of bottom plate and is symmetricly set on bottom
The side plate 130 of 110 two sides of plate.
Further, walking mechanism 200 has driving wheel 210 and traveling crawler 220, and driving wheel 210 and side plate 130 are fixed
Connection, traveling crawler 220 is wound around on driving wheel 210, and driving wheel 210 is built-in with servo motor, motor output power to idler wheel,
Driving wheel 210 provides power resources for robot ambulation, and the walking stability of robot can be effectively ensured in traveling crawler 220,
It is safe and reliable.
Further, rotating mechanism 300 has turntable 310 and rotation-control members 320, and turntable 310 is same built-in
There is servo motor, turntable 310 is fixed on Support bracket 120, and one on turntable 310 is arranged in rotation-control members 320
Side, rotation-control members 320 are electrically connected with motor, and then rotation-control members 320 control motor driven turntable 310 around branch
Bracketing frame 120 rotates, therefore 360 ° that the robot may be implemented are cleaned without dead angle.
Further, driving structure 400 has first support 410, adjuster 420, second support 430, the first actuating arm
440, connecting rod 450, the first steering engine-retarder 460, the second actuating arm 470, support 480, the second steering engine-retarder 490 and end
Actuator 4100, the first steering engine-retarder 460, the second steering engine-retarder 490 are MG955 steering engine-retarder, first support
410 are fixedly connected with turntable 310, and the first steering engine-retarder 460 is arranged in 410 on both sides of the middle of first support, adjuster 420
It is arranged in the first support 410 below the first steering engine-retarder 460, the first actuating arm 440 is realized by adjuster 420
It adjusts；First actuating arm, 440 upper end and second support 430 are rotatablely connected, and lower end and the first steering engine-retarder 460 are rotatablely connected,
450 one end of connecting rod connects the first actuating arm 440, and the other end connects second support 430；Second actuating arm, 470 both ends are separately connected
The second steering engine-retarder 490, the second steering engine-retarder 490 and end is arranged on support 480 in second support 430 and support 480
Actuator 4100 connects, and end effector 4100 includes a pair of of execution pawl 4101, and the tail portions of two execution pawls 4101 are equipped with the gear teeth
And the two engages, two execution pawls 4101 are connect by shaft with the second steering engine-retarder 490, and the two of end effector 4100 hold
Row pawl 4101 can be connect with cleaning cloth, and the second steering engine-retarder 490 drives 4100 reciprocally swinging of end effector, thus real
The reciprocal wiping of existing cleaning cloth.
In addition, two execution pawls 4101 can also be connect with others cleaning component, such as cleaning hairbrush etc..
First support 410 and second support 430 are made by plate light-weight metal, and the first actuating arm 440 is in tabular,
The section of second actuating arm 470 is circle, and while reducing weight, whole intensity meets requirement.
Further, control system 500 has a controller 510, and controller 510 is PLC controller 510, controller 510
It is fixed on bottom plate 110, controller 510 and driving wheel 210, rotation-control members 320, the first steering engine-retarder 460 and second
Steering engine-retarder 490 is electrically connected.
From figure 3, it can be seen that Support bracket 120 is in zigzag shape, the Support bracket 120 being made by steel plate has
Higher intensity offers through-hole at the center of Support bracket 120, and turntable 310 is set in through-hole, and revolves around through-hole
Turn.
It is worth noting that: the walking mechanism of the robot can move between solar panel with mobile robot,
The end effector of driving mechanism can be connect with cleaning cloth, and the second steering engine-retarder drives end effector reciprocally swinging, from
And realize the reciprocal wiping of cleaning cloth, it realizes the intelligence of solar panel, effectively improves working efficiency, while the robot
For packaged type and there is good adaptability, current all types of solar panels can be cleaned.
Embodiment 2
The structure of the present embodiment and the structure of embodiment 1 are substantially consistent, the difference is that, the robot of the present embodiment
Further include information remote control reception mechanism 600, information remote control reception mechanism 600 is arranged above bottom plate 110, and with controller 510
Electrical connection, the mechanism include signal receiver 610, and signal receiver 610 can be Bluetooth information receiver etc., pass through hand
The dynamic cleaning for being remotely controlled the robot and realizing solar panel.
In addition, signal receiver 610 is arranged between controller 510 and Support bracket 120, and the central axis of three exists
On same straight line.
Embodiment 3
The structure of the present embodiment and the structure of embodiment 1 are substantially consistent, the difference is that, the robot of the present embodiment
It further include water tank 700, water tank 700 is arranged below bottom plate 110, and the height of water tank 700 is less than effective height of walking mechanism 200
Degree, width are less than the width of bottom plate 110, and water tank 700 is connected on support 480 by water pipe.
In addition, water tank 700 is located at immediately below Support bracket 120, water tank 700 is bolted with bottom plate 110.
Embodiment 4
The structure of the present embodiment and the structure of embodiment 1 are substantially consistent, the difference is that, the robot of the present embodiment
It further include a water spraying mechanism, which includes a pressure valve, the first connecting tube, the second connecting tube, nozzle and high pressure
Pump, the both ends of the first connecting tube are separately connected pressure valve and nozzle, and second connecting tube one end connects high-pressure pump, and the other end protrudes into water
In case 700, high-pressure pump and controller 510 are electrically connected.
There are tiny gap between the plate and plate of solar panel, dust can be pierced in gap, not cleared up for a long time,
It then will lead to dust accretions, a small amount of dust impregnates by rainwater, can generate acidic materials, lead to the corruption of solar panel
Erosion influences the normal use of solar panel when serious.
High-pressure pump can be to nozzle conveying high-pressure water, during cleaning, and high pressure water can wash away the dust in gap, protects
Demonstrate,prove the cleaning in gap；High pressure water is under the action of pressure valve simultaneously, and when reaching certain pressure, pressure valve is opened, and nozzle is in wink
Between to cleaning cloth carry out high speed wash away, can take away cleaning cloth slight gap in dust particles, realize cleaning cloth automatically cleaning.
The pressure valve of the present embodiment can be according to specifically being selected, for example, the pressure value of pressure valve is
0.5MPa etc..
Schematically the utility model and embodiments thereof are described above, description is not limiting, attached drawing
Shown in be also one of the embodiments of the present invention, section that actual structure is not limited to this.So if ability
The those of ordinary skill in domain is enlightened by it, without deviating from the purpose of the present invention, is not inventively designed
Frame mode similar with the technical solution and embodiment out, all should belong to the protection range of the utility model.
Claims (9)
1. a kind of solar panel cleaning robot characterized by comprising rack (100), with bottom plate (110), peace
Support bracket (120) above bottom plate (110) and the side plate (130) for being symmetricly set on bottom plate (110) two sides；
Walking mechanism (200), with driving wheel (210) and traveling crawler (220), the driving wheel (210) and the side plate
(130) it is fixedly connected, traveling crawler (220) is wound around on driving wheel (210), and driving wheel (210) provides dynamic for robot ambulation
Power source；
Rotating mechanism (300), with turntable (310) and rotation-control members (320), the turntable (310) is fixed on
On the Support bracket (120), the side that rotation-control members (320) are arranged on turntable (310), turntable (310) can
To be rotated around Support bracket (120)；
Driving structure (400), with first support (410), adjuster (420), second support (430), the first actuating arm
(440), connecting rod (450), the first steering engine-retarder (460), the second actuating arm (470), support (480), the second steering engine-deceleration
Device (490) and end effector (4100), the first support (410) are fixedly connected with the turntable (310), the first rudder
Machine-retarder (460) setting is arranged in first support (410) on both sides of the middle, adjuster (420) in the first steering engine-retarder
(460) in the first support (410) below；First actuating arm (440) upper end and the second support (430) are rotatablely connected, under
End is rotatablely connected with the first steering engine-retarder (460), and connecting rod (450) one end connects first actuating arm (440), separately
One end connects second support (430)；Second actuating arm (470) both ends are separately connected second support (430) and support (480), branch
It is arranged the second steering engine-retarder (490) on seat (480), the second steering engine-retarder (490) is connect with end effector (4100)；
Control system (500) has a controller (510), and the controller (510) is fixed on the bottom plate (110), controls
Device (510) processed and driving wheel (210), rotation-control members (320), the first steering engine-retarder (460) and the second steering engine-deceleration
Device (490) electrical connection.
2. solar panel cleaning robot according to claim 1, which is characterized in that further include information remote control reception
Mechanism (600), information remote control reception mechanism (600) are arranged above bottom plate (110), and electric with the controller (510)
Gas connection, which includes signal receiver (610), and the cleaning of solar panel is realized by the remote manual control robot.
3. solar panel cleaning robot according to claim 2, which is characterized in that the end effector
It (4100) include a pair of of execution pawl (4101), two tail portions for executing pawl (4101) are equipped with the gear teeth and the two engages, and two execute pawl
(4101) it is connect by shaft with the second steering engine-retarder (490).
4. solar panel cleaning robot according to any one of claims 1 to 3, which is characterized in that further include water
Case (700), below bottom plate (110), the height of water tank (700) is less than having for walking mechanism (200) for water tank (700) setting
Effect height, width are less than the width of the bottom plate (110), and water tank (700) is connected on support (480) by water pipe.
5. solar panel cleaning robot according to claim 4, which is characterized in that the Support bracket
(120) it is in zigzag shape, offers through-hole at the center of Support bracket (120), turntable (310) is set in through-hole, and is surrounded
Through-hole rotation.
6. solar panel cleaning robot according to claim 2, which is characterized in that the signal receiver
(610) it is arranged between controller (510) and Support bracket (120), and the central axis of three is on the same line.
7. solar panel cleaning robot according to claim 6, which is characterized in that the controller (510) is
PLC controller.
8. solar panel cleaning robot according to claim 4, which is characterized in that the water tank (700) is located at
Immediately below Support bracket (120), water tank (700) is bolted with bottom plate (110).
9. solar panel cleaning robot according to claim 1, which is characterized in that the first steering engine-deceleration
Device (460), the second steering engine-retarder (490) are MG955 steering engine-retarder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821770206.2U CN209531496U (en) | 2018-10-30 | 2018-10-30 | A kind of solar panel cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821770206.2U CN209531496U (en) | 2018-10-30 | 2018-10-30 | A kind of solar panel cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209531496U true CN209531496U (en) | 2019-10-25 |
Family
ID=68247626
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821770206.2U Expired - Fee Related CN209531496U (en) | 2018-10-30 | 2018-10-30 | A kind of solar panel cleaning robot |
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| Country | Link |
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| CN (1) | CN209531496U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261559A (en) * | 2018-10-30 | 2019-01-25 | 安徽省马鞍山市第七中学 | A kind of solar panel cleaning robot |
| US20200164414A1 (en) * | 2018-11-27 | 2020-05-28 | Steam Tech, Llc | Mobile Panel Cleaner |
-
2018
- 2018-10-30 CN CN201821770206.2U patent/CN209531496U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261559A (en) * | 2018-10-30 | 2019-01-25 | 安徽省马鞍山市第七中学 | A kind of solar panel cleaning robot |
| US20200164414A1 (en) * | 2018-11-27 | 2020-05-28 | Steam Tech, Llc | Mobile Panel Cleaner |
| US11638939B2 (en) * | 2018-11-27 | 2023-05-02 | Steam Tech, Llc | Mobile panel cleaner |
| US20230249231A1 (en) * | 2018-11-27 | 2023-08-10 | Steam Tech, Llc | Mobile Panel Cleaner |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20191025 Termination date: 20211030 |