CN102275743A - Metamorphic mechanism type stacking robot mechanism - Google Patents
Metamorphic mechanism type stacking robot mechanism Download PDFInfo
- Publication number
- CN102275743A CN102275743A CN2011101845209A CN201110184520A CN102275743A CN 102275743 A CN102275743 A CN 102275743A CN 2011101845209 A CN2011101845209 A CN 2011101845209A CN 201110184520 A CN201110184520 A CN 201110184520A CN 102275743 A CN102275743 A CN 102275743A
- Authority
- CN
- China
- Prior art keywords
- rod
- controllable motor
- side rod
- freedom
- link
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a metamorphic mechanism type stacking robot mechanism which comprises a rack, a controllable motor, a side link, an arm rod, a triangular connecting rod component and an arc limiting block, wherein the controllable motor is fixedly connected to the rack; the side link is driven by the controllable motor; the triangular connecting rod component comprises a first side rod, a second side rod and a third side rod; the tail end of the arm rod is an output end; when the mechanism is in work, limiting is performed by the arc limiting block at the hinged place of a first smooth cylinder, the second side rod of the triangular connecting rod component is partially overlapped with the first smooth cylinder hinge and the second smooth cylinder hinge of the arm rod to realize conversion between a two-degree-of-freedom mechanism and a single-degree-of-freedom mechanism; and the metamorphic mechanism type stacking robot mechanism has performance of controllability, adjustability and output flexibility as well as characteristics of multifunctional stage change, multi-topology structure change and multi-degree-of-freedom change, and adapts to different tasks, occasions and working objects.
Description
Technical field
The present invention relates to the robot design field, formula robot palletizer mechanism of particularly a kind of change born of the same parents mechanism.
Background technology
Raising along with the mechanical automation level, it gradually serves as extensive that robot palletizer makes its application with its advantage at aspects such as physical construction, Applicable scope, alerting ability, cost and maintenances, and become a kind of development tendency, be widely used in automated production enterprises such as food, electronics, machinery, medicine.Existing robot palletizer mechanism is fixing degree of freedom mechanism, and motion space is limited, can not change its working space according to functional requirement or environmental change.
Becoming born of the same parents mechanism is the key concept of scholar's proposition in recent years, but be the novel mechanism of variable freedom or variable number of components, this class mechanism can contract except height with similar expandable mechanism and ductile, also can change topological diagram and cause variable freedom, have features such as multi-functional phase change, multiple topology variation, multiple degree of freedom variation, can adapt to different task according to the variation of functional requirement or environment etc., flexible Application is in different occasions.
To become born of the same parents mechanism and be applied to the robot palletizer design, will produce formula robot palletizer mechanism of the later-model change of class born of the same parents mechanism, make its function of the bigger performance of robot palletizer.
Summary of the invention
The purpose of this invention is to provide formula robot palletizer mechanism of a kind of change born of the same parents mechanism, it can overcome the deficiency of existing robot palletizer mechanism, can be according to the variation of functional requirement or environment etc., on the go changes the structure attitude, carry out oneself's reorganization or reconstruct, make robot palletizer adapt to different task, flexible Application is in different occasions.
The present invention achieves the above object by the following technical programs:
Formula robot palletizer mechanism of a kind of change born of the same parents mechanism, by frame, motor, side link, the arm bar, delta link member and arc limiting stopper constitute, described motor is a controllable motor, form by first controllable motor and second controllable motor, controllable motor is connected on the frame, side link comprises first side link and second side link, the arm bar is a knee, the delta link member comprises first side rod, second side rod and the 3rd side rod, first side link, one end is connected in the rotating shaft of first controllable motor, the other end links to each other with the arm bar by first hinge, the first smooth cylindrical hinge place is hinged arc limiting stopper simultaneously, described second side link, one end is connected in the rotating shaft of second controllable motor, the other end links to each other with delta link member first side rod one end by the 3rd smooth cylindrical hinge, and the delta link member first side rod other end is hinged by the middle bending part of the second smooth cylindrical hinge and arm bar.The fraising of described arm bar end is for becoming the mouth of formula robot palletizer mechanism of born of the same parents mechanism.Described first side link and second side link are measure-alike, are driven by first controllable motor and second controllable motor respectively, realize that by programming robot palletizer arm end loads and unloads and carry the output of action in working space.
Described first is hinged to the length and the described delta link member second side rod equal in length at the second hinge place, described the 3rd side rod length equal two controlled spacing motors from.
During work, spacing by the first hinge place arc limiting stopper, make between delta link member second side rod and described arm bar first hinge and second hinge and overlap, become formula robot palletizer mechanism of born of the same parents mechanism and be the single degree of freedom parallel-crank mechanism this moment, when part separate between delta link member second side rod and described arm bar first hinge and second hinge, become formula robot palletizer mechanism of born of the same parents mechanism at this moment and be the controlled connecting rod mechanism of two-freedom.Realize single degree of freedom and the inter-agency transformation of two-freedom, make robot palletizer mechanism both had controllable mechanism controlled, adjustable, output flex capability, have features such as the multi-functional phase change of the born of the same parents mechanism of change, multiple topology variation, multiple degree of freedom variation again, make the stacker robot adapt to different task, flexible Application is in different occasions and different targets.
Outstanding advantage of the present invention is:
1, robot palletizer mechanism is in the work engineering, can realize that mechanism's single degree of freedom and two-freedom change, for variable freedom becomes born of the same parents mechanism, have multi-functional phase change, multiple topology variation, multiple degree of freedom variation characteristic, make the stacker robot adapt to different task, flexible Application is in different occasions and different targets, during the mechanism two-freedom, can realize becoming formula robot palletizer mechanism of born of the same parents mechanism mouth and accurately locate, during single degree of freedom, can effectively realize the carrying action.
2, owing to adopt the controlled connecting rod mechanism of closed chain, all motors all are installed on the frame, effectively reduce arm weight, improve the robot palletizer work efficiency.
3, two controlled motors can be realized the output of piling action arbitrarily in working space of robot palletizer mechanism by programming.
Description of drawings
Fig. 1 is the structural representation of formula robot palletizer mechanism of change of the present invention born of the same parents mechanism.
Configuration state figure when Fig. 2 is formula robot palletizer mechanism of change of the present invention born of the same parents mechanism two-freedom.
Configuration state figure when Fig. 3 is formula robot palletizer mechanism of change of the present invention born of the same parents mechanism single degree of freedom.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is clearly and completely described, obviously, embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on embodiments of the invention, those skilled in the art all belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
Contrast Fig. 1, formula robot palletizer mechanism of described a kind of change born of the same parents mechanism comprises frame, motor, side link, arm bar, delta link member and arc limiting stopper,
Described motor is a controllable motor, is made up of first controllable motor 2 and second controllable motor 14, and controllable motor is connected on the frame 1.
Described side link is by first side link 3, second side link 12 is formed, described arm bar is made up of knee 6, described delta link member comprises first side rod 8, second side rod 9 and the 3rd side rod 10, described first side link, 3 one ends are connected in controllable motor 2 rotating shafts, the other end links to each other with knee 6 one ends by the first smooth cylindrical hinge 4, the first smooth cylindrical hinge, 4 places are hinged arc limiting stopper 5 simultaneously, described second side link, 12 1 ends are connected in 13 rotating shafts of second controllable motor, the other end links to each other with delta link member first side rod 8 one ends by the 3rd smooth cylindrical hinge 11, first side rod, 8 other ends are hinged by the second smooth cylindrical hinge 7 and knee 6 middle bending parts, and described knee 6 ends fraising 14 is for becoming the mouth of formula robot palletizer mechanism of born of the same parents mechanism.
Described first side link 3, second side link 12 are measure-alike, are driven by first controllable motor 2 and second controllable motor 14 respectively, accurately realize becoming the piling action in working space of formula robot palletizer mechanism of born of the same parents mechanism mouth by programming.
Described first smooth cylindrical hinge 4 to second smooth cylindrical hinge 7 sizes equate with the described delta link member second side rod size, described the 3rd side rod 10 length equal first controllable motor 2 and 13 distances of second controllable motor, in the robot palletizer mechanism working process, arc limiting stopper 5 by the first smooth cylindrical hinge, 4 places is spacing, delta link member second side rod 9 and the described arm bar first smooth cylindrical hinge 4 and second 7 of the smooth cylindrical hinge are overlapped, this becomes formula robot palletizer mechanism of born of the same parents mechanism and is the single degree of freedom parallel-crank mechanism, when delta link member second side rod 9 and 7 parts of the described arm bar first smooth cylindrical hinge 4 and the second smooth cylindrical hinge were separated, this became formula robot palletizer mechanism of born of the same parents mechanism and is the controlled connecting rod mechanism of two-freedom.
Become formula robot palletizer mechanism of born of the same parents mechanism when work, arc limiting stopper 5 by the first smooth cylindrical hinge, 4 places is spacing, delta link member second side rod 9 and the described arm bar first smooth cylindrical hinge 4 and second 7 of the smooth cylindrical hinge are overlapped, realize changing between two-freedom and mechanism with single degree of freedom, it is controlled to make robot palletizer mechanism both have a controllable mechanism, adjustable, the output flex capability, has the multi-functional phase change of the born of the same parents mechanism of change again, multiple topology changes, features such as multiple degree of freedom variation, make the stacker robot adapt to different task, flexible Application is in different occasions and different targets.
Claims (2)
1. one kind becomes formula robot palletizer mechanism of born of the same parents mechanism, it is characterized in that, this robot mechanism is by frame, motor, side link, the arm bar, delta link member and arc limiting stopper constitute, described motor is first controllable motor and second controllable motor, controllable motor is connected on the frame, side link comprises first side link and second side link, the arm bar is a knee, the delta link member comprises first side rod, second side rod and the 3rd side rod, first side link, one end is connected in the rotating shaft of first controllable motor, the other end links to each other with the arm bar by first hinge, the first smooth cylindrical hinge place is hinged arc limiting stopper simultaneously, described second side link, one end is connected in the rotating shaft of second controllable motor, the other end links to each other with delta link member first side rod one end by the 3rd smooth cylindrical hinge, and the delta link member first side rod other end is hinged by the middle bending part of the second smooth cylindrical hinge and arm bar.
2. formula robot palletizer mechanism of change born of the same parents according to claim 1 mechanism, it is characterized in that, described first side link and second side link are measure-alike, described first is hinged to the length and the described delta link member second side rod equal in length at the second hinge place, described the 3rd side rod length equal two controlled spacing motors from.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110184520 CN102275743B (en) | 2011-07-01 | 2011-07-01 | Metamorphic mechanism type stacking robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110184520 CN102275743B (en) | 2011-07-01 | 2011-07-01 | Metamorphic mechanism type stacking robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102275743A true CN102275743A (en) | 2011-12-14 |
| CN102275743B CN102275743B (en) | 2013-02-06 |
Family
ID=45101565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110184520 Expired - Fee Related CN102275743B (en) | 2011-07-01 | 2011-07-01 | Metamorphic mechanism type stacking robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102275743B (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990664A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Stacker crane with metamorphic function |
| CN102990663A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Single-motor driving type metamorphic stacker crane |
| CN103624802A (en) * | 2013-12-09 | 2014-03-12 | 广西大学 | Electromagnetic limiting device for robot mechanism |
| CN104047317A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Metamorphic mechanism type mechanical loading mechanism |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN106607868A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for assembling operation |
| CN106607867A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Variable-degree-of-freedom link mechanism mechanical arm for carrying operation |
| CN106607930A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation |
| CN106607917A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation |
| CN106607905A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Mechanical arm with variable degree-of-freedom link mechanism for assembling operation |
| CN106625558A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Variable-degree-of-freedom linkage mechanism welding mechanical arm |
| CN106938458A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state of tilting-type full hydraulic drive three becomes the training of cell type trees and cut down trees robot |
| CN106938461A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state metamorphic mechanisms of eight connecting rod three with three kinds of mapping of freedom degree |
| CN106945039A (en) * | 2017-03-24 | 2017-07-14 | 广西大学 | A kind of structure state metamorphic mechanisms of ten connecting rod of large space two |
| CN106945038A (en) * | 2017-03-24 | 2017-07-14 | 广西大学 | A kind of three structure state metamorphic mechanisms with single-degree-of-freedom and double two-freedom conversion |
| CN107088879A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of hydraulic-driven three is cut down trees robot |
| CN107901025A (en) * | 2017-11-07 | 2018-04-13 | 广西大学 | A kind of four structure state metamorphic mechanisms formula robot palletizer mechanisms |
| CN107934577A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of controllable metamorphic mechanisms formula robot palletizer mechanism in space |
| CN108081253A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the variable linkage make-up machinery arm of degree of freedom |
| CN108080840A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | One kind can variable freedom multi link spot welding manipulator |
| CN108080843A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the simple spot welding manipulator of the variable linkage of degree of freedom |
| CN108080842A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the variable linkage spot welding manipulator of degree of freedom |
| CN108116898A (en) * | 2016-11-28 | 2018-06-05 | 广西大学 | A kind of servomotor drive link formula can variable freedom feed stacking manipulator |
| CN108213795A (en) * | 2016-12-12 | 2018-06-29 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0538698A (en) * | 1991-07-29 | 1993-02-19 | Nippondenso Co Ltd | Origine correction amount detection method of robot and jig thereof |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| JP2003170380A (en) * | 2001-12-03 | 2003-06-17 | Teijin Seiki Co Ltd | Robot arm |
| US20040123694A1 (en) * | 2001-04-19 | 2004-07-01 | Negri Simone Pio | Modular and reconfigurable parallel kinematic robot |
| CN202163919U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Metamorphic stacking robot mechanism |
-
2011
- 2011-07-01 CN CN 201110184520 patent/CN102275743B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0538698A (en) * | 1991-07-29 | 1993-02-19 | Nippondenso Co Ltd | Origine correction amount detection method of robot and jig thereof |
| US20040123694A1 (en) * | 2001-04-19 | 2004-07-01 | Negri Simone Pio | Modular and reconfigurable parallel kinematic robot |
| JP2003170380A (en) * | 2001-12-03 | 2003-06-17 | Teijin Seiki Co Ltd | Robot arm |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN202163919U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Metamorphic stacking robot mechanism |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990664A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Stacker crane with metamorphic function |
| CN102990663A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Single-motor driving type metamorphic stacker crane |
| CN102990664B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Stacker crane with metamorphic function |
| CN103624802A (en) * | 2013-12-09 | 2014-03-12 | 广西大学 | Electromagnetic limiting device for robot mechanism |
| CN104047317A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Metamorphic mechanism type mechanical loading mechanism |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN104493816B (en) * | 2014-12-25 | 2016-11-30 | 广西大学 | A kind of become born of the same parents parallel connection robot palletizer mechanism |
| CN108080842A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the variable linkage spot welding manipulator of degree of freedom |
| CN108080843A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the simple spot welding manipulator of the variable linkage of degree of freedom |
| CN108080840A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | One kind can variable freedom multi link spot welding manipulator |
| CN108081253A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the variable linkage make-up machinery arm of degree of freedom |
| CN106625558A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Variable-degree-of-freedom linkage mechanism welding mechanical arm |
| CN108116898A (en) * | 2016-11-28 | 2018-06-05 | 广西大学 | A kind of servomotor drive link formula can variable freedom feed stacking manipulator |
| CN106607905A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Mechanical arm with variable degree-of-freedom link mechanism for assembling operation |
| CN106607867A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Variable-degree-of-freedom link mechanism mechanical arm for carrying operation |
| CN106607917A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation |
| CN106607868A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for assembling operation |
| CN106607930A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation |
| CN108213795A (en) * | 2016-12-12 | 2018-06-29 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
| CN106945039A (en) * | 2017-03-24 | 2017-07-14 | 广西大学 | A kind of structure state metamorphic mechanisms of ten connecting rod of large space two |
| CN107088879A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of hydraulic-driven three is cut down trees robot |
| CN106945038A (en) * | 2017-03-24 | 2017-07-14 | 广西大学 | A kind of three structure state metamorphic mechanisms with single-degree-of-freedom and double two-freedom conversion |
| CN106938461A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state metamorphic mechanisms of eight connecting rod three with three kinds of mapping of freedom degree |
| CN106938458A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state of tilting-type full hydraulic drive three becomes the training of cell type trees and cut down trees robot |
| CN107934577A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of controllable metamorphic mechanisms formula robot palletizer mechanism in space |
| CN107901025A (en) * | 2017-11-07 | 2018-04-13 | 广西大学 | A kind of four structure state metamorphic mechanisms formula robot palletizer mechanisms |
| CN107934577B (en) * | 2017-11-07 | 2020-04-24 | 广西大学 | Space-controllable metamorphic mechanism type stacking robot mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102275743B (en) | 2013-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102275743B (en) | Metamorphic mechanism type stacking robot mechanism | |
| CN202163919U (en) | Metamorphic stacking robot mechanism | |
| CN104493816B (en) | A kind of become born of the same parents parallel connection robot palletizer mechanism | |
| CN103009384A (en) | Controllable stacking robot | |
| CN105291096B (en) | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom | |
| CN104493809A (en) | Metamorphic mechanism type wheel type mobile robot palletizer mechanism | |
| CN106313016B (en) | A kind of symmetrical Three Degree Of Freedom movement coupling mechanism | |
| CN104401749A (en) | Mechanical linkage stacking arm | |
| CN103302659A (en) | Single-degree-of-freedom metamorphic mechanism | |
| CN203003887U (en) | Large-workspace controllable stacking device | |
| CN102320479A (en) | Controllable mechanism type palletizing robot mechanism | |
| CN202163920U (en) | Controllable mechanism type stacking robot mechanism | |
| CN102320041B (en) | Three freedom degree series-parallel mechanical arm | |
| CN104875201A (en) | Variable-configuration large-space robot palletizer mechanism | |
| CN107571252B (en) | Double-rotation joint robot | |
| CN101733753B (en) | Redundant parallel mechanism containing composite spherical hinge | |
| CN202555453U (en) | Two degree-of-freedom parallel spraying robot | |
| CN202357162U (en) | 3-3-3 type nine-range-of-motion robot mechanism | |
| Boudjedir et al. | Nonlinear PD control of a parallel delta robot: Expermentals results | |
| CN101863021A (en) | Two-degree-of-freedom parallel mechanism of plane polar coordinate | |
| CN210161141U (en) | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN210061122U (en) | Electric cylinder driving two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN103047381A (en) | Six-bar circular locus generation mechanism | |
| CN102678862A (en) | Method for confirming motion singular configuration of hinge bar system mechanism | |
| RO127277B1 (en) | Method and modules for reconfiguration of parallel robots |
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: 20130206 Termination date: 20140701 |
|
| EXPY | Termination of patent right or utility model |