CN205906978U - Small -size warehouse intelligence loading and unloading car - Google Patents
Small -size warehouse intelligence loading and unloading car Download PDFInfo
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- CN205906978U CN205906978U CN201620618248.9U CN201620618248U CN205906978U CN 205906978 U CN205906978 U CN 205906978U CN 201620618248 U CN201620618248 U CN 201620618248U CN 205906978 U CN205906978 U CN 205906978U
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- car body
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- chassis
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Abstract
The utility model relates to a commodity circulation transport technical field of mill especially relates to a small -size warehouse intelligence loading and unloading car. Include: automobile body, chassis, capstan head, robotic arm, manipulator, lay the magnetic stripe in the warehouse on the goods shelves haul road, the road can be discerned according to the magnetic stripe of laying voluntarily to the dolly bottom installation magnetic stripe recognizer (NA magnesensor ) of intelligence loading and unloading car, and photoelectric sensor discerns barrier on the road, can make the loading and unloading car imitate and hide the obstacle, the manipulator of intelligence loading and unloading car partially can snatch the goods on the goods shelves automatically, its capstan head liftable, the usage space of the loading and unloading car of increase, the desirable goods of putting a goods shelves high position and depositing, small -size warehouse intelligence loading and unloading car has realized sparingly labour, practices thrift and takes up an area of, go out the warehouse entry operation rapidly, accurate, shortened the activity duration, improved the level of control in warehouse.
Description
Technical field
This utility model is related to Factory Logistics carrying technical field, more particularly, to a kind of small depot intelligence loading-unloading vehicle.
Background technology
Unmanned factory is already known to the trend of development of modern industry in recent years, and automated factory, complete is named again by unmanned factory
Automated factory, refers to that full scale production activity is controlled by electronic computer, forefront of the production is furnished with robot and need not join
The factory of standby workman.Unmanned factory, fabrication order and raw material are input into from factory one end, through product design, technological design, production
Processing and test package, finally from other end output products.All working all by the robot of computer controls, Digit Control Machine Tool,
Realizing, people does not directly work for unmanned travelling bogie and Automatic Warehouse.
One important step of unmanned factory is exactly Automatic Warehouse, and now the operating major part of material is passed through in the factory
Various pass band, industrial waggon, mechanical hand, crane, piler and elevator moving and to carry, with shelf tray and
Movable goods shelf stores material, and these are all completed by artificial operation machinery, and the work of workman is slightly big, and the working time
It is impossible to ensure to pick and place the accurate of part, there is the risk that the misplaced mistake of part takes in length；The shelf of factory position warehouse typically only put 3-4
Layer goods, the space that shelf take is big, causes the waste in space can be utilized.
Content of the invention
Technical problem to be solved in the utility model, is for above-mentioned technical deficiency, there is provided a kind of small-sized
Warehouse intelligence loading-unloading vehicle, using car body, chassis, capstan head, mechanical arm, mechanical hand, realizes unmanned handling goods in factory position warehouse
Thing, the robot section of intelligent loading-unloading vehicle can capture the goods on shelf automatically, its capstan head liftable, the making of the loading-unloading vehicle of increase
The goods deposited with space, a desirable goods putting frame high position, not only saves human cost, and improves speed and the fortune of Factory Logistics
The precision of delivery thing.Magnetic stripe is laid on shelf haul road in warehouse, magnetic stripe evaluator is installed in the dolly bottom of intelligent loading-unloading vehicle
(na magnetic sensor) can make handling automatically according to the magnetic stripe identification road of laying, barrier on photoelectric sensor identification road
Car effect hides obstacle.Small depot intelligence loading-unloading vehicle achieves saving labour force, saves and takes up an area, go out input work rapid, accurately,
Shorten the activity duration, improve the management level in warehouse.
For solving above-mentioned technical problem, this utility model be the technical scheme is that including car body, chassis, capstan head, machine
Tool arm, mechanical hand；Chassis is connected with vehicle bottom, and capstan head is bolted and is fixed on hull back；Under mechanical arm
End is connected by rotating shaft with capstan head；Mechanical hand is connected by rotating shaft with the upper end of mechanical arm on top；The compartment of car body head
Inside is provided with control unit, opens up groove in the head lower end of car body, and inside grooves install photoelectric sensor and magnetic stripe identification
Device, installs mechanical anticollision mechanism in car body head, compartment axis side is provided with motor；The side of motor is installed electronic
Machine output shaft and motor output shaft is just to compartment axis；Motor output shaft passes through bonded tooth sector system and turns to tooth
Train is located on the axis of car body；Motor installed in front accumulator, passes through bolt installment work state and shows above accumulator
Display screen, display screen upper surface installs warning lamp；Bogie is installed on the headstock position axis on chassis, deflecting roller is by bolt even
It is connected on bogie two ends, hull back axis two ends are provided with axle support, in inside chassis, motor is installed, props up in axle
Frame both sides bolt fixed drive wheel；The column foot of capstan head is bolted on car body, and column foot upper surface is provided with servo electricity
Machine installing hole；The output shaft of servomotor and the cooperation of servomotor installing hole and servomotor is upward；Mechanical arm rotating base
It is bolted on the output shaft of servomotor；Mechanical arm rotating base upper end is provided with shaft hole, and mechanical arm revolves
Turn base to be connected with mechanical arm by a rotating shaft；The welding a rotating shaft of mechanical hand large arm two ends and b rotating shaft, a rotating shaft and shaft hole are joined
Close solid mechanical handss large arm；B rotating shaft is welded in mechanical hand large arm upper end, and mechanical hand large arm is connected by b rotating shaft with tool arm, tool
Arm middle part is welded to connect bar, and a rotating shaft is connected by a hydraulic cylinder with connecting rod, installs electric rotating outside tool arm
Machine；Manipulator base connects the upper end of tool arm by electric rotating machine, and in manipulator base, centre position is bolted b
Hydraulic cylinder, a connecting rod is connected with b connecting rod by c rotating shaft, and b hydraulic cylinder is connected with a connecting rod by d rotating shaft, and jaw passes through e rotating shaft and b
Connecting rod connects.
Optimize the technical program further, described car body is formed from a resin, finish coatings, the magnetic stripe that vehicle bottom is installed
Evaluator is na magnetic sensor, and the sensing element of photoelectric sensor is photoconductive resistance.
Optimize the technical program further, described chassis is made up of aluminium alloy and undersurface of bottom disc is trapezoidal, chassis (2) bottom
The trapezoidal narrow side in face is provided with bogie and 2 deflecting rollers, and the trapezoidal broadside of undersurface of bottom disc installs 2 driving wheels.
Optimize the technical program further, described capstan head be stainless steel and by servomotor arranged orthogonal in capstan head
On.
Optimize the technical program further, described mechanical hand large arm selects light-duty stainless steel material with mechanical arm.
Optimize the technical program further, described mechanical hand is made up of aluminium alloy, and outer surface wraps up elastomeric material.
Compared with prior art, this utility model has the advantage that 1, realizes unmanned handling goods in factory position warehouse,
Not only save human cost, and improve the speed of Factory Logistics and the precision transporting goods；2nd, shelf haul road in warehouse
Upper laying magnetic stripe, magnetic stripe evaluator (na magnetic sensor) is installed in the dolly bottom of intelligent loading-unloading vehicle can be automatically according to the magnetic of laying
Bar identifies road, barrier on photoelectric sensor identification road, and loading-unloading vehicle effect can be made to hide obstacle；3rd, the mechanical hand of intelligent loading-unloading vehicle
Part can capture the goods on shelf, its capstan head liftable, the use space of the loading-unloading vehicle of increase automatically, and desirable goods putting frame is high-order
The goods deposited；4th, mechanical hand rotates flexibly, can pick and place the goods that on shelf, optional position is deposited, pick and place action not with shelf
Interfere；5th, mechanical hand with can avoiding barrier dolly combination, use input work rapid, accurately, shorten the activity duration, carry
The high management level in warehouse.
Brief description
Fig. 1 is a kind of small depot intelligence loading-unloading vehicle general structure schematic diagram.
Fig. 2 (a) is a kind of small depot intelligence loading-unloading vehicle overall structure diagram;Fig. 2 (b) is a kind of small depot intelligence
Middle accumulator in the compartment of loading-unloading vehicle, warning lamp, control unit, tooth sector system, motor, the knot between motor output shaft
Composition.
Fig. 3 is a kind of small depot intelligence loading-unloading vehicle chassis structure schematic diagram.
Fig. 4 is a kind of small depot intelligence loading-unloading vehicle turret structure schematic diagram.
Fig. 5 is a kind of small depot intelligence loading-unloading vehicle mechanical arm structural representation.
Fig. 6 is a kind of small depot intelligence loading-unloading vehicle robot manipulator structure schematic diagram.
In figure: 1, car body；2nd, chassis；3rd, capstan head；4th, mechanical arm；5th, mechanical hand；6 grooves；101st, mechanical anticollision mechanism；
102nd, photoelectric sensor；103rd, compartment；104th, magnetic stripe evaluator；105th, working condition display screen；106th, accumulator；107th, warn
Lamp；108th, control unit；109th, tooth sector system；110th, motor；111st, motor output shaft；201st, bogie；202nd, turn
To wheel；203rd, axle support；204th, motor；205th, driving wheel；301st, column foot；302nd, servomotor；303rd, mechanical arm
Rotating base；304th, shaft hole；305th, servomotor installing hole；401st, mechanical hand large arm；402nd, tool arm；403rd, a hydraulic pressure
Cylinder；404th, b rotating shaft；405th, a rotating shaft；406th, electric rotating machine；407th, connecting rod；501st, manipulator base；502nd, b rotating shaft；503、a
Connecting rod；504th, b connecting rod；505 jaws；506th, e rotating shaft；507th, c rotating shaft；508th, d rotating shaft.
Specific embodiment
For making the purpose of this utility model, technical scheme and advantage of greater clarity, with reference to specific embodiment
And referring to the drawings, this utility model is further described.It should be understood that these descriptions are simply exemplary, and do not really want
Limit scope of the present utility model.Additionally, in the following description, eliminate the description to known features and technology, to avoid not
Necessarily obscure concept of the present utility model.
Specific embodiment one: with reference to shown in Fig. 1-5, a kind of small depot intelligence loading-unloading vehicle includes car body 1, chassis 2, turns
Tower 3, mechanical arm 4, mechanical hand 5；Chassis 2 is connected with car body 1 bottom, and capstan head 3 is bolted and is fixed on car body 1 afterbody；
The lower end of mechanical arm 4 is connected by rotating shaft 405 with capstan head 3；Mechanical hand 5 passes through rotating shaft in the upper end on top and mechanical arm
It is connected；Inside the compartment 103 of car body 1 head, control unit 108 is installed, opens up groove 6, groove 6 in the head lower end of car body
Internal installation photoelectric sensor 102 and magnetic stripe evaluator 104, install mechanical anticollision mechanism 101 in car body head, in compartment 103
Axis side is provided with motor 110；Motor output shaft 111 and motor output shaft 111 are just being installed in the side of motor 110
To compartment 103 axis；By bonded tooth sector system 109 and tooth sector system 109 is located at car body to motor output shaft 111
On 1 axis；Motor 110 installed in front accumulator 106, bolt installment work status display is passed through in accumulator 106 top
Screen 105, display screen 105 upper surface installs warning lamp 107；On the headstock position axis on chassis 2, bogie 201 is installed, turns to
Wheel 202 is bolted at bogie 201 two ends, and car body 1 afterbody axis two ends are provided with axle support 203, on chassis
2 internal installation motors 204, in bracing strut 203 both sides bolt fixed drive wheel 205；The column foot 301 of capstan head 3 passes through spiral shell
Bolt is fixed on car body 1, and column foot 301 upper surface is provided with servomotor installing hole 305；Servomotor 302 and servomotor peace
Dress hole 305 coordinate and servomotor 302 output shaft upward；Mechanical arm rotating base 303 is bolted on servo electricity
On the output shaft of machine 302；Mechanical arm rotating base 303 upper end is provided with shaft hole 304, and mechanical arm rotating base 303 leads to
Cross a rotating shaft 405 to be connected with mechanical arm 4；The welding a rotating shaft 405 of mechanical hand large arm 401 two ends and b rotating shaft 404, a rotating shaft 405
Coordinate solid mechanical handss large arm 401 with shaft hole 304；B rotating shaft 404, mechanical hand large arm 401 are welded in mechanical hand large arm 401 upper end
It is connected by b rotating shaft 404 with tool arm 402, tool arm 402 middle part is welded to connect bar 407, a rotating shaft 405 and company
Extension bar 407 connects 403 by a hydraulic cylinder, tool arm 402 outside mounting rotary electric machine 406；Manipulator base 501 passes through rotation
Rotating motor 406 connects the upper end of tool arm 402, and in manipulator base 501, centre position is bolted b hydraulic cylinder 502,
A connecting rod 503 is connected with b connecting rod 504 by c rotating shaft 507, and b hydraulic cylinder 502 is connected with a connecting rod 503 by d rotating shaft 508, folder
Pawl 505 is connected with b connecting rod 504 by e rotating shaft 506；Car body 1 selects resin material, the magnetic stripe evaluator 104 that vehicle bottom is installed
For na magnetic sensor, the sensing element of photoelectric sensor 102 is photoconductive resistance；Chassis 2 is made up of aluminium alloy and chassis 2
Bottom surface is trapezoidal, and the trapezoidal narrow side in chassis 2 bottom surface is provided with bogie 201 and 2 deflecting rollers 202, and chassis 2 bottom surface is trapezoidal
Broadside installs 2 driving wheels 205；Capstan head 3 be stainless steel and by servomotor 302 arranged orthogonal on capstan head；Machinery
Handss large arm 401 selects light-duty stainless steel material with mechanical arm 402；Mechanical hand 5 has to be made up of aluminium alloy, and outer surface wraps up
Elastomeric material.
Operation principle is introduced: lay magnetic stripe on the haul road of factory position warehouse shelf, for the small intelligent loading-unloading vehicle that navigates,
Intelligent loading-unloading vehicle vehicle bottom installs magnetic stripe evaluator (na magnetic sensor) 104 can be automatically according to the magnetic stripe identification road of laying
Road, when running into barrier, photoelectric sensor 102 meeting disturbance of perception thing, barrier changes photoconductive resistance in photoelectric sensor and receives
To the intensity of light, thus producing a signal hiding obstacle no, signal through control unit 108 process after, to motor 110
One enabling signal, will drive tooth sector system 109 rotation, and then makes bogie 201 pivoting, deflecting roller 202 turns therewith
Dynamic, realize loading-unloading vehicle and turn to, after barrier to be avoided, control unit 108 gives 204 1 enabling signals of motor, motor
204 startups will drive driving wheel 205 to rotate, and loading-unloading vehicle travels forward, and after breaking the barriers, loading-unloading vehicle resets and returns to magnetic stripe
Come on track；Loading-unloading vehicle enters shelf loading place, reaches predetermined handling goods yard, and control unit opens for 302 1 to servomotor
Dynamic signal, servomotor 302 starts the goods yard driving column foot 301 rotation to reach goods storage, and the height of mechanical hand can have a liquid
Cylinder pressure adjustment 403, when a hydraulic cylinder stretches out, mechanical hand large arm 401 is motionless, and mechanical arm 402 can rotate around a rotating shaft, realizes
Moving up and down of mechanical arm 402, adjusts mechanical hand 5 and picks and places goods to suitable position, the rotation of electric rotating machine 406 can make
Mechanical hand rotates, so that mechanical hand is close to the putting position of goods, is easy to grip；When mechanical hand is concordant with goods, control
Unit 108 gives the signal of 502 1 contraction hydraulic cylinder rods of b hydraulic cylinder, and b hydraulic cylinder 502 shrinks, and drives a connecting rod, b, connecting rod simultaneously
Around respective rotating shaft rotation, the rotation of b connecting rod can drive the close of two jaws 505, thus jaw clamping goods；Goods to be clamped
Controlling unit 108 after thing will drive mechanical hand 5 and mechanical arm 4 to move up and down and rotate, and goods is taken off from shelf and puts
To in transport vehicle；Complete after goods picks and places task, control unit 108 will will be to mechanical hand 5, mechanical arm 4 to loading-unloading vehicle；Capstan head
3 one reset signals, are returned to off-position, and after allowing, handling dolly startup magnetic stripe of laying along in warehouse returns to dress
Unload the deposit position of dolly.
It should be appreciated that above-mentioned specific embodiment of the present utility model is used only for exemplary illustration or explains this reality
With new principle, and do not constitute to restriction of the present utility model.Therefore, without departing from spirit and scope of the present utility model
In the case of any modification, equivalent substitution and improvement done etc., should be included within protection domain of the present utility model.Additionally,
This utility model claims are intended to fall into scope and border or this scope and border
Whole in equivalents change and modifications example.
Claims (6)
1. a kind of small depot intelligence loading-unloading vehicle it is characterised in that: include car body (1), chassis (2), capstan head (3), mechanical arm
(4), mechanical hand (5)；Chassis (2) is connected with car body (1) bottom, and capstan head (3) is bolted and is fixed on car body (1) afterbody；
The lower end of mechanical arm (4) is connected by rotating shaft (405) with capstan head (3)；Mechanical hand (5) leads in the upper end on top and mechanical arm
Cross rotating shaft to be connected；Inside the compartment (103) of car body (1) head, control unit (108) is installed, opens up in the head lower end of car body
Groove (6), installs photoelectric sensor (102) and magnetic stripe evaluator (104) inside groove (6), install machinery in car body head anti-
Collide structure (101), and compartment (103) axis side is provided with motor (110)；Motor is installed in the side of motor (110)
Output shaft (111) and motor output shaft (111) is just to compartment (103) axis；Motor output shaft (111) passes through bonded
Tooth sector system (109) and tooth sector system (109) are located on the axis of car body (1)；Motor (110) installed in front electric power storage
Pond (106), passes through bolt installment work state display (105) above accumulator (106), display screen (105) upper surface is installed
Warning lamp (107)；Bogie (201) is installed on the headstock position axis on chassis (2), deflecting roller (202) is bolted
At bogie (201) two ends, car body (1) afterbody axis two ends are provided with axle support (203), install inside chassis (2)
Motor (204), in bracing strut (203) both sides bolt fixed drive wheel (205)；The column foot (301) of capstan head (3) passes through spiral shell
Bolt is fixed on car body (1), and column foot (301) upper surface is provided with servomotor installing hole (305)；Servomotor (302) with watch
Take motor installing hole (305) cooperation and servomotor (302) output shaft upward；Mechanical arm rotating base (303) passes through spiral shell
Bolt is fixed on the output shaft of servomotor (302)；Mechanical arm rotating base (303) upper end is provided with shaft hole (304), machine
Tool arm rotating base (303) is connected with mechanical arm (4) by a rotating shaft (405)；Mechanical hand large arm (401) two ends welding a turns
Axle (405) and b rotating shaft (404), a rotating shaft (405) and shaft hole (304) cooperation solid mechanical handss large arm (401)；Mechanical hand large arm
(401) upper end welding b rotating shaft (404), mechanical hand large arm (401) is connected by b rotating shaft (404) with tool arm (402), tool handss
Forearm (402) middle part is welded to connect bar (407), and a rotating shaft (405) is connected (403) with connecting rod (407) by a hydraulic cylinder,
Mounting rotary electric machine (406) outside tool arm (402)；It is little that manipulator base (501) connects tool handss by electric rotating machine (406)
The upper end of arm (402), the upper centre position of manipulator base (501) is bolted b hydraulic cylinder (502), and a connecting rod (503) leads to
Cross c rotating shaft (507) to be connected with b connecting rod (504), b hydraulic cylinder (502) is connected with a connecting rod (503) by d rotating shaft (508), jaw
(505) it is connected with b connecting rod (504) by e rotating shaft (506).
2. a kind of small depot intelligence loading-unloading vehicle according to claim 1 it is characterised in that: car body (1) selects resinous wood
Material, the magnetic stripe evaluator (104) that vehicle bottom is installed is na magnetic sensor, and the sensing element of photoelectric sensor (102) is light
Quick resistance.
3. a kind of small depot intelligence loading-unloading vehicle according to claim 1 it is characterised in that: chassis (2) are by aluminium alloy system
Become and chassis (2) bottom surface is trapezoidal, the trapezoidal narrow side in chassis (2) bottom surface is provided with bogie (201) and 2 deflecting rollers (202)；Bottom
The trapezoidal broadside in disk (2) bottom surface installs 2 driving wheels (205).
4. a kind of small depot intelligence loading-unloading vehicle according to claim 1 it is characterised in that: capstan head (3) is stainless steel
Matter and by servomotor (302) arranged orthogonal on capstan head.
5. a kind of small depot intelligence loading-unloading vehicle according to claim 1 it is characterised in that: mechanical hand large arm (401) with
Mechanical arm (402) selects light-duty stainless steel material.
6. a kind of small depot intelligence loading-unloading vehicle according to claim 1 it is characterised in that: mechanical hand (5) has and is closed by aluminum
Gold is made, and outer surface wraps up elastomeric material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620618248.9U CN205906978U (en) | 2016-06-21 | 2016-06-21 | Small -size warehouse intelligence loading and unloading car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620618248.9U CN205906978U (en) | 2016-06-21 | 2016-06-21 | Small -size warehouse intelligence loading and unloading car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205906978U true CN205906978U (en) | 2017-01-25 |
Family
ID=57812799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620618248.9U Expired - Fee Related CN205906978U (en) | 2016-06-21 | 2016-06-21 | Small -size warehouse intelligence loading and unloading car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205906978U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106044636A (en) * | 2016-06-21 | 2016-10-26 | 龙彦旭 | Intelligent loading and unloading vehicle for small warehouse |
| CN107719512A (en) * | 2017-10-05 | 2018-02-23 | 段建英 | A kind of construction puts brick car with building a wall |
| CN107866805A (en) * | 2017-11-20 | 2018-04-03 | 李万奎 | Light wallboard mounting machine device people |
| CN107914294A (en) * | 2017-11-14 | 2018-04-17 | 徐州欧普莱斯工业机械有限公司 | A kind of self-propelled auxiliary manipulator moved by beacon |
| CN109849020A (en) * | 2019-04-07 | 2019-06-07 | 张学莉 | A kind of water dispenser barreled water transport loading robot |
| CN110269767A (en) * | 2019-07-12 | 2019-09-24 | 百色市人民医院 | A kind of clinical treatment nursing for treating vehicle |
| CN110641534A (en) * | 2018-08-31 | 2020-01-03 | 南京涵铭置智能科技有限公司 | Transfer trolley convenient for loading and unloading goods for intelligent manufacturing industry |
-
2016
- 2016-06-21 CN CN201620618248.9U patent/CN205906978U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106044636A (en) * | 2016-06-21 | 2016-10-26 | 龙彦旭 | Intelligent loading and unloading vehicle for small warehouse |
| CN107719512A (en) * | 2017-10-05 | 2018-02-23 | 段建英 | A kind of construction puts brick car with building a wall |
| CN107914294A (en) * | 2017-11-14 | 2018-04-17 | 徐州欧普莱斯工业机械有限公司 | A kind of self-propelled auxiliary manipulator moved by beacon |
| CN107866805A (en) * | 2017-11-20 | 2018-04-03 | 李万奎 | Light wallboard mounting machine device people |
| CN110641534A (en) * | 2018-08-31 | 2020-01-03 | 南京涵铭置智能科技有限公司 | Transfer trolley convenient for loading and unloading goods for intelligent manufacturing industry |
| CN109849020A (en) * | 2019-04-07 | 2019-06-07 | 张学莉 | A kind of water dispenser barreled water transport loading robot |
| CN110269767A (en) * | 2019-07-12 | 2019-09-24 | 百色市人民医院 | A kind of clinical treatment nursing for treating vehicle |
| CN110269767B (en) * | 2019-07-12 | 2021-11-30 | 百色市人民医院 | Clinical medical care treatment vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| 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: 20170125 Termination date: 20170621 |