CN101707445B - Sheet and dual traveling wave type rotary ultrasonic motor and control method thereof - Google Patents
Sheet and dual traveling wave type rotary ultrasonic motor and control method thereof Download PDFInfo
- Publication number
- CN101707445B CN101707445B CN 200910212679 CN200910212679A CN101707445B CN 101707445 B CN101707445 B CN 101707445B CN 200910212679 CN200910212679 CN 200910212679 CN 200910212679 A CN200910212679 A CN 200910212679A CN 101707445 B CN101707445 B CN 101707445B
- Authority
- CN
- China
- Prior art keywords
- stator
- rotor
- wave
- face
- ultrasonic motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000009977 dual effect Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 12
- 229910052751 metal Inorganic materials 0.000 claims abstract description 20
- 239000002184 metal Substances 0.000 claims abstract description 20
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims abstract description 15
- 229910052709 silver Inorganic materials 0.000 claims abstract description 15
- 239000004332 silver Substances 0.000 claims abstract description 15
- 229920001971 elastomer Polymers 0.000 claims abstract description 13
- 239000000919 ceramic Substances 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 239000002245 particle Substances 0.000 claims description 10
- 230000010287 polarization Effects 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 claims 1
- 239000002131 composite material Substances 0.000 abstract description 3
- 238000003754 machining Methods 0.000 abstract 1
- 230000003287 optical effect Effects 0.000 abstract 1
- 238000007747 plating Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000005284 excitation Effects 0.000 description 4
- 230000010355 oscillation Effects 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Images
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a sheet and dual traveling wave type rotary ultrasonic motor and a control method thereof, belonging to the field of ultrasonic motors. The motor consists of a rotor, a base, a bearing, a rubber spring and a stator, wherein the rotor and the base are located through the bearing; the rubber spring is pressed between the stator and the base to fix the stator and provide a pre-pressure between the stator and the rotor simultaneously; the stator adopts a composite structure consisting of an annular metal sheet and an annular piezoelectric ceramic plate, and the piezoelectric ceramic plate is polarized in unidirection and provided with a fan-shaped silver plating electrode with uniform subareas. The movement of the rotor of the sheet and dual traveling wave type rotary ultrasonic motor is driven by friction provided by the circumferential vibration of the stator, the rotate speed of the rotor is not limited by the axial size of the stator, and teeth are not needed to be arranged on the end surface of the stator. Compared with a traditional traveling wave type ultrasonic motor, the invention has the advantages of simple structure, low machining cost and easy microminiaturization and miniaturization, and can be applied to precise mechanical equipment and optical instruments and equipment.
Description
Technical field:
The present invention relates to a kind of thin board type dual traveling wave rotary ultrasonic motor and control method thereof, belong to the technical field of rotary ultrasonic motor and control method thereof.
Background technology:
Ultrasound electric machine is a kind of inverse piezoelectric effect of utilizing piezoelectric, excites elastomer to produce micro breadth oscillation in supersonic range, and converts thereof into the New-type electric machine of revolution (straight line) motion of rotor (mover) by the friction between the stator and rotor.Wherein, travelling-wave type rotary ultrasonic motor basic principle is by exciting flexural vibrations on annulus or the plectane (or out-of-plane vibration) row ripple, forming the elliptic motion of stator surface.The length of the circumferential axis of track ellipse also is directly proportional with the thickness of stator simultaneously except with the length of normal axis is directly proportional, and oval circumferential axis is longer, motor speed is higher, and vice versa.Yet stator flexural vibrations amplitude is also relevant with thickness: stator is thicker, and amplitude is less.Therefore, the method that improves motor speed by increasing stator thickness is infeasible.At present, the travelling-wave type rotary ultrasonic motor adopts stator faces to offer the version of teeth groove, can relax to a certain extent the contradiction of two aspects.But brought simultaneously a new problem: teeth groove has increased the complexity of stator, is unfavorable for design and processing; Also be unfavorable for little, miniaturization, range of application is limited.
Summary of the invention:
The object of the invention is to defective for prior art propose a kind of simple in structure, be easy to that little, miniaturization, high pulling torque, efficient are high, fast response time, thin board type dual traveling wave rotary ultrasonic motor and control method thereof that range of application is wider.
Thin board type dual traveling wave rotary ultrasonic motor, consisted of by bearing, pedestal, rotor and stator, rotor, stator and pedestal be coaxial to hold setting, it is characterized in that: also comprise rubber spring, described stator compoundly is made of coaxial the holding of endless metal thin slice and ring piezoelectric potsherd, the top of endless metal thin slice connects rotor, the bottom of endless metal thin slice connects the top of annular piezoelectric ceramic piece, bottom and the pedestal of ring piezoelectric potsherd are oppositely arranged, the fan-shaped silver-coated electrode of subregion of the uniform unidirectional polarization in bottom of described ring piezoelectric potsherd; Rubber spring passes the ring piezoelectric potsherd and is pressed between endless metal thin slice and the pedestal, and described rubber spring isolation annular piezoelectric ceramic piece and bearing, fixed stator provide the precompression between stator and rotor simultaneously.
Described thin board type dual traveling wave rotary ultrasonic motor is characterized in that: the number of partitions of the fan-shaped silver-coated electrode of described ring piezoelectric potsherd is 4 or 8 or 12 or 16 or 20 or 24 or 28 or 32.
The control method of described thin board type dual traveling wave rotary ultrasonic motor, it is characterized in that: drive annular piezoelectric ceramic piece (2) through fan-shaped silver-coated electrode (8) to port (13) the input driving signal of telecommunication and produce ultrasonic vibration, described ultrasonic vibration excites endless metal thin slice (6) to produce the outer standing wave (9) of a face and a face standing internal wave (11); Meanwhile, process
Phase place is driven the signal of telecommunication for port (14) input by fan-shaped silver-coated electrode (8) and drives annular piezoelectric ceramic piece (2) generation ultrasonic vibration, and described ultrasonic vibration excites the endless metal thin slice (6) on the stator to produce the outer standing wave (10) of another face and another face standing internal wave (12); Two synthetic face layman ripples of the outer standing wave of face, two expert ripples of the synthetic face of face standing internal wave, form the dual-travel-wave of advancing in the same way at stator, so that the surperficial particle of stator ring sheet metal (6) is done the motion of elliptical path, rotate by the particle at place, stator capable wave-wave peak and the frictional force drive rotor (7) of rotor (7) contact area, wherein n is the natural number greater than 0.
Two elliptic motions that capable ripple synthesizes the stator surface particle that the dual-travel-wave of thin board type dual traveling wave rotary ultrasonic motor namely utilizes the stack of the interior rotational vibration mode of face and outer (flexural vibrations) mode of face to form, the length of oval circumferential axis is determined jointly by the amplitude of in plane vibration and the transversal effect of out-of-plane vibration thus.This type ultrasound electric machine is except the general characteristic with ultrasound electric machine, and structure is compacter, is easy to little, miniaturization; Can realize the forward and backward motion, by the two-way sinusoidal signal excitation, drive circuit is simple; The piezoelectricity of stator is made pottery and is had uniform electrode subregion.
Description of drawings:
Fig. 1 is thin board type dual traveling wave rotary ultrasonic motor stator, rotor structures schematic diagram.
Fig. 2 is thin board type dual traveling wave rotary ultrasonic motor stator structure schematic diagram.
Fig. 3 is the operation mode schematic diagram of thin board type dual traveling wave rotary ultrasonic motor.Wherein figure (a) is the outer mode of oscillation B of stator surface
12Figure (b) is stator surface internal vibration mode θ
12
Fig. 4 is the excitation of thin board type dual traveling wave rotary ultrasonic motor operation mode.Be that structure shown in Figure 2 is circumferentially opened on edge, radius r place, circumferential origin is arranged on the pitch diameter, during in plane vibration, surperficial particle for ease of observing, represents (e), (f) such as figure with its displacement with vertical coordinate along rotational vibration.Wherein figure (c) is for to apply alternation driving voltage E sin (ω to port (13)
1T) time, stator produces vibration, forms standing wave w
A(θ, t)=W sin (2 θ) sin (ω
1T); Figure (d) is for to apply alternation driving voltage E cos (ω to port (14)
1T) time, stator produces vibration, forms standing wave w
B(θ, t)=W cos (2 θ) cos (ω
1T).Standing wave w
A(θ, t)=Wsin (2 θ) sin (ω
1T) and w
B(θ, t)=W cos (2 θ) cos (ω
1T) stack forms face layman ripple.Figure (e) is for to apply alternation driving voltage E sin (ω to port (13)
2T) time, stator produces vibration, forms standing wave δ
A(θ, t)=U cos (2 θ) sin (ω
2T); Figure (f) is for to apply alternation driving voltage E cos (ω to port (14)
2T) time, stator produces vibration, forms standing wave δ
B(t)=-U sin (2 θ) cos (ω
2T).Standing wave δ
A(θ, t)=U cos (2 θ) sin (ω
2T) and δ
B(t)=-U sin (2 θ) cos (ω
2T) stack forms the expert ripple of face.Wherein: E is magnitude of voltage, and ω is model frequency, and t is the time, and θ is the phase angle, and W is the outer amplitude of face, and U is amplitude in the face, and h is that neutral line is apart from the vertical range on surface.
Annotate: among the figure all take the even sector electrode subregion of ceramic ring 4n=8 as the example explanation.
Label and designation among Fig. 1, Fig. 2: 1 rubber spring, 2 ring piezoelectric potsherds, 3 check rings, 4 bearings, 5 pedestals, 6 endless metal thin slices, 7 rotors, 8 fan-shaped silver-coated electrodes.
Label title among Fig. 4: 13, the belt ripple driving signal input of 14 stators.
Embodiment:
The below is take the number of partitions of fan-shaped silver-coated electrode 8 as 8 as example explanation thin board type dual traveling wave rotary ultrasonic motor operation principle and embodiment.
As shown in Figure 1 and Figure 2, thin board type dual traveling wave rotary ultrasonic motor of the present invention mainly is made of stator module, rotor and bracket component.Stator module adopts the composite construction of an endless metal thin slice 6 and a ring piezoelectric potsherd 2.The unidirectional polarization of piezoelectric ceramic ring has the fan-shaped silver-coated electrode 8 of eight even subregions; Rotor 7 and pedestal 5 are by bearing 4 location; Rubber spring 1 is pressed in 5 of stator and pedestals, and fixed stator provides the precompression between stator and rotor simultaneously.Thin board type dual traveling wave rotary ultrasonic motor of the present invention, it is made of rotor, pedestal, bearing, rubber spring, stator.Rotor and base via shaft are held the location, and rubber spring is pressed between stator and pedestal, and fixed stator provides the precompression between stator and rotor simultaneously.Stator adopts the composite construction of an endless metal thin slice and a ring piezoelectric potsherd, and the unidirectional polarization of piezoelectric ceramic ring has the fan-shaped silver-coated electrode of even subregion.
As shown in Figure 3, be the operation mode schematic diagram of thin board type dual traveling wave rotary ultrasonic motor.Wherein figure (a) is the outer mode of oscillation B of stator surface
12Figure (b) is stator surface internal vibration mode θ
12
Control method of the present invention is as follows: ring piezoelectric potsherd 2 drives signal of telecommunication E sin (ω t) for port one 3 inputs through fan-shaped silver-coated electrode 8 and produces ultrasonic vibration, excites the endless metal thin slice 6 on the stator to produce the outer standing wave 9 of a face and a face standing internal wave 11; Ring piezoelectric potsherd 2 drives signal of telecommunication E cos (ω t) for port one 4 inputs through fan-shaped silver-coated electrode 8 and produces ultrasonic vibration, excites the endless metal thin slice 6 on the stator to produce the outer standing wave 10 of a face and a face standing internal wave 12; Two synthetic face layman ripples of the outer standing wave of face, two expert ripples of the synthetic face of face standing internal wave, the stack of two capable ripples makes the movement locus of stator surface particle for oval; Place, stator capable wave-wave peak through with rotor 7 contact points near the frictional force acting in conjunction in rotor 7, realize that rotor 7 rotates.Concrete grammar is as shown in Figure 4:
Figure (c) is depicted as to port one 3 and applies alternation driving voltage E sin (ω
1T) time, stator produces vibration, forms standing wave w
A(θ, t)=W sin (2 θ) sin (ω
1T), ω
1Be B
12The natural frequency of mode.Figure (d) is for to apply alternation driving voltage E cos (ω to port one 4
1T) time, stator produces vibration, forms standing wave w
B(θ, t)=W cos (2 θ) cos (ω
1T).Apply above-mentioned excitation for simultaneously port one 3 and 14, can get the synthetic capable ripple of two standing waves: w (θ, t)=W sin (2 θ+ω
1T).
Figure (e) is depicted as to port one 3 and applies alternation driving voltage E sin (ω
2T) time, stator produces vibration, forms standing wave δ
A(θ, t)=U cos (2 θ) sin (ω
2T), ω
2Be θ
12The natural frequency of mode.Figure (f) is for to apply alternation driving voltage E cos (ω to port one 4
2T) time, stator produces vibration, forms standing wave δ
B(t)=-U sin (2 θ) cos (ω
2T).Apply above-mentioned excitation for simultaneously port (13) and 14, can get the synthetic capable ripple of two standing waves: δ
2(θ, t)=U cos (2 θ+ω
2T).
As two mode B
12And θ
12Has identical natural frequency (ω
1=ω
2=ω) time, port (13) and (14) are applied respectively driving voltage E sin (ω t) and E cos (ω t), can excite simultaneously two capable ripples on the stator, a face layman ripple and the expert ripple of face.The surface particle along circumferential vibration is:
δ(θ，t)＝δ
1(θ，t)+δ
2(θ，t)＝(U-2hW)cos(2θ+ωt)
The motion of any particle P can be expressed as on the surface:
This is an elliptic equation.After having described two capable ripple stacks, the movement locus of stator surface particle.
Claims (3)
1. thin board type dual traveling wave rotary ultrasonic motor, by bearing (4), pedestal (5), rotor (7) and stator consist of, rotor (7), coaxial the holding of stator and pedestal (5) (4) arranges, it is characterized in that: also comprise rubber spring (1), described stator is by endless metal thin slice (6) and the compound formation of coaxial the holding of ring piezoelectric potsherd (2) (4), the top of endless metal thin slice (6) contacts with rotor (7), the bottom of endless metal thin slice (6) is fixed with ring piezoelectric potsherd (2), the bottom of ring piezoelectric potsherd (2) and pedestal (5) are oppositely arranged, the fan-shaped silver-coated electrode of subregion (8) of the uniform unidirectional polarization in bottom of described ring piezoelectric potsherd (2); Rubber spring (1) passes ring piezoelectric potsherd (2) and is pressed between endless metal thin slice (6) and the pedestal (5), described rubber spring (1) isolation annular piezoelectric ceramic piece (2) and bearing (4) and fixed stator provide the precompression between stator and rotor simultaneously.
2. thin board type dual traveling wave rotary ultrasonic motor according to claim 1, it is characterized in that: the number of partitions of the fan-shaped silver-coated electrode (8) of described ring piezoelectric potsherd (2) is 4 or 8 or 12 or 16 or 20 or 24 or 28 or 32.
3. control method based on thin board type dual traveling wave rotary ultrasonic motor claimed in claim 1, it is characterized in that: drive annular piezoelectric ceramic piece (2) through fan-shaped silver-coated electrode (8) to port (13) the input driving signal of telecommunication and produce ultrasonic vibration, described ultrasonic vibration excites endless metal thin slice (6) to produce the outer standing wave (9) of a face and a face standing internal wave (11); Meanwhile, process
Phase place is driven the signal of telecommunication for port (14) input by fan-shaped silver-coated electrode (8) and drives annular piezoelectric ceramic piece (2) generation ultrasonic vibration, and described ultrasonic vibration excites the endless metal thin slice (6) on the stator to produce the outer standing wave (10) of another face and another face standing internal wave (12); Two synthetic face layman ripples of the outer standing wave of face, two expert ripples of the synthetic face of face standing internal wave, form the dual-travel-wave of advancing in the same way at stator, so that the surperficial particle of stator ring sheet metal (6) is done the motion of elliptical path, rotate by the particle at place, stator capable wave-wave peak and the frictional force drive rotor (7) of rotor (7) contact area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910212679 CN101707445B (en) | 2009-11-12 | 2009-11-12 | Sheet and dual traveling wave type rotary ultrasonic motor and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910212679 CN101707445B (en) | 2009-11-12 | 2009-11-12 | Sheet and dual traveling wave type rotary ultrasonic motor and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101707445A CN101707445A (en) | 2010-05-12 |
| CN101707445B true CN101707445B (en) | 2013-01-09 |
Family
ID=42377643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910212679 Expired - Fee Related CN101707445B (en) | 2009-11-12 | 2009-11-12 | Sheet and dual traveling wave type rotary ultrasonic motor and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101707445B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102185398B (en) * | 2011-05-04 | 2012-12-19 | 哈尔滨工程大学 | Composite material double-body rotor for light motor |
| CN102647108B (en) * | 2012-04-10 | 2014-11-12 | 上海交通大学 | Traveling wave ultrasonic motor similar to the gear transmission and control method thereof |
| CN103259448A (en) * | 2013-04-25 | 2013-08-21 | 南京航空航天大学 | Ultrasonic motor partition matching and driving circuit |
| CN103341794B (en) * | 2013-05-29 | 2015-10-28 | 南京航空航天大学 | A kind of grinding tool for Surface Machining and control method thereof |
| CN206226321U (en) * | 2016-10-27 | 2017-06-06 | 华为技术有限公司 | A kind of supersonic motor |
| CN108832837B (en) * | 2018-08-06 | 2024-03-19 | 深圳市三阶微控实业有限公司 | Stepping ultrasonic motor and control method thereof |
| CN109510508B (en) * | 2018-12-12 | 2020-05-26 | 南京工程学院 | Standing wave type linear ultrasonic motor with H-shaped stator structure |
| CN110200797A (en) * | 2019-06-04 | 2019-09-06 | 解启莲 | One kind being based on super sound-powered external counterpulsation apparatus |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0306530A1 (en) * | 1987-02-28 | 1989-03-15 | Kievsky Politekhnichesky Institut Imeni 50-Letia Velikoi Oktyabrskoi Sotsialisticheskoi Revoljutsii | Piezoelectric motor |
| CN101072001A (en) * | 2007-04-05 | 2007-11-14 | 南京航空航天大学 | Toothless traveling wave rotary ultrasonic motor and working mode and electric exciting manner |
| CN101170287A (en) * | 2007-11-27 | 2008-04-30 | 南京航空航天大学 | High-temperature rotary traveling wave ultrasonic motor |
-
2009
- 2009-11-12 CN CN 200910212679 patent/CN101707445B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0306530A1 (en) * | 1987-02-28 | 1989-03-15 | Kievsky Politekhnichesky Institut Imeni 50-Letia Velikoi Oktyabrskoi Sotsialisticheskoi Revoljutsii | Piezoelectric motor |
| CN101072001A (en) * | 2007-04-05 | 2007-11-14 | 南京航空航天大学 | Toothless traveling wave rotary ultrasonic motor and working mode and electric exciting manner |
| CN101170287A (en) * | 2007-11-27 | 2008-04-30 | 南京航空航天大学 | High-temperature rotary traveling wave ultrasonic motor |
Non-Patent Citations (1)
| Title |
|---|
| JP平6-121560A 1994.04.28 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101707445A (en) | 2010-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101707445B (en) | Sheet and dual traveling wave type rotary ultrasonic motor and control method thereof | |
| CN107742993B (en) | Single-phase excitation type surface internal vibration ultrasonic motor and single-phase excitation method thereof | |
| CN100525058C (en) | Multi-freedom ring stator supersonic dynamo | |
| CN100428618C (en) | Composite ultrasonic micromotor with slotted metal square column piezoelectric sheet | |
| CN101026343B (en) | Multi travelling wave bending-rotation ultrasonic motor | |
| US9407173B2 (en) | Piezo actuator having an electrode structure for a torsional vibration mode, and rotation-type ultrasonic motor including same | |
| Yun et al. | A piezoelectric ultrasonic linear micromotor using a slotted stator | |
| CN101707444A (en) | In-plane traveling wave rotary ultrasonic motor and control method | |
| CN102931869A (en) | SMD (Surface Mount Device) ultrasonic motor vibrator and drive method thereof | |
| CN101227157B (en) | Piezoelectricity thread driver adopting Langevin-type transducer structure | |
| CN103368457A (en) | Thin-plate-type rotating ultrasonic motor | |
| CN106160566A (en) | A kind of traveling wave type ultrasonic motor based on piezoelectric stack type of drive | |
| CN101072001B (en) | Toothless traveling wave rotary ultrasonic motor and working mode and electric exciting manner | |
| CN102055373B (en) | Multi-rotor cylindrical high-torque ultrasonic motor | |
| CN103560694B (en) | One kind indulges curved compound ultrasonic motor | |
| CN102931875A (en) | SMD square ultrasonic motor vibrator and driving method thereof | |
| CN202513846U (en) | Thin-plate type rotatable ultrasonic motor | |
| CN102299663B (en) | Cylindrical traveling-wave ultrasonic motor vibrator pretightened by spring blocks | |
| CN100461609C (en) | Hollow metal square column piezoelectric element composite ultrasonic micromotor | |
| CN104852626B (en) | Rotary ultrasonic motor based on piezoelectric single crystal surface-cut mode | |
| CN110729919A (en) | Coaxial counter-rotating standing wave type double-sided staggered tooth ultrasonic motor stator | |
| CN101741277B (en) | Linear piezoelectric motor | |
| CN104852628B (en) | Columnar rotary ultrasonic micro-machine based on piezoelectric single crystal surface-cut mode | |
| JPS60183981A (en) | Supersonic wave motor | |
| CN115224974A (en) | Rotary piezoelectric ultrasonic motor and driving method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130109 Termination date: 20151112 |
|
| EXPY | Termination of patent right or utility model |