CN103863434A - Obstacle crossing traveling device with variable form - Google Patents

Obstacle crossing traveling device with variable form Download PDF

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Publication number
CN103863434A
CN103863434A CN201410118499.6A CN201410118499A CN103863434A CN 103863434 A CN103863434 A CN 103863434A CN 201410118499 A CN201410118499 A CN 201410118499A CN 103863434 A CN103863434 A CN 103863434A
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CN
China
Prior art keywords
axle housing
support portion
rotates
bracket
bracing frame
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Granted
Application number
CN201410118499.6A
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Chinese (zh)
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CN103863434B (en
Inventor
李辉
王从浩
刘兵
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Binzhou University
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Binzhou University
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Priority to CN201410118499.6A priority Critical patent/CN103863434B/en
Publication of CN103863434A publication Critical patent/CN103863434A/en
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Publication of CN103863434B publication Critical patent/CN103863434B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses an obstacle crossing traveling device with the variable form. The obstacle crossing traveling device with the variable form comprises a supporting frame, wherein a plurality of traveling mechanisms are arranged on the supporting frame, each traveling mechanism is composed of L-shaped supports, first hydraulic rods, second hydraulic rods, rotary wheels and third rotary shaft housings, and a first rotary shaft housing and a second rotary shaft housing are arranged at the two ends of each L-shaped support respectively; when the first hydraulic rods and the second hydraulic rods are in the stretching state, the third rotary shaft housings, horizontal supporting portions and the rotary wheels are all in the horizontal state; when the first hydraulic rods are in the stretching state, and the second hydraulic rods are in the contraction state, the horizontal supporting portions are in the vertical state, and shells of the third rotary shaft housings are landed. The obstacle crossing traveling device with the variable form can rapidly travel on the flat ground, rapidly cross obstacles, can also cross road surfaces unsuitable for tire traveling in the insect crawling state, the application range of the obstacle crossing traveling device with the variable form is greatly widened, and the obstacle crossing traveling device with the variable form has high value and significance in explosive screening, search and rescue in dangerous areas and battles in complex terrains.

Description

A kind of morphological transformation formula obstacle-surmounting travelling gear
Technical field
The present invention relates to a kind of morphological transformation formula obstacle-surmounting travelling gear, in particular, relate in particular to a kind of can be wheeled or the morphological transformation formula obstacle-surmounting travelling gear of pin formula walking.
Background technology
Under the developing rapidly of Eltec and automated control technology, the robot that is suitable for operation under various complex environments continues to bring out, for example explosive article investigation, hazardous location seek with the situation such as complex-terrain operation under, just need to adapt to the robot of various complex environment requirements.Adopt wheeled, crawler type or many legs support type as traveling gear but existing robot is general, for wheel type traveling mechanism, have advantages of simple in structure, the speed of travel is fast, but it is unsuitable for obstacle detouring walking.For crawler type walking mechanism, not only the speed of travel is subject to certain restrictions, and cannot cross the obstacle that the bodily form is larger; For many legs support type traveling gear, although its speed of travel is very limited, is suitable for obstacle detouring and walks on rugged road surface.
If the walking of running on wheels and many legs can be combined, by the advantage of assembling them, be both suitable for moving ahead fast on flat road, can creep in the region being uneven and obstacle is many again, can make its operation under the landform of various complexity.
Summary of the invention
The present invention is in order to overcome the shortcoming of above-mentioned technical matters, provide a kind of can be wheeled or the morphological transformation formula obstacle-surmounting travelling gear of pin formula walking.
Morphological transformation formula obstacle-surmounting travelling gear of the present invention, has comprised bracing frame fixing and supporting role, is provided with to the bilateral symmetry of bracing frame below multiple traveling geaies; Its special feature is: described traveling gear rotates axle housing by L bracket, the first hydraulic stem, the second hydraulic stem, rotor wheel and the 3rd and forms, the both ends of L bracket are provided with respectively the first rotation axle housing and second being hinged with it and rotate axle housing, L bracket is fixed on bracing frame by the first rotation axle housing, on the second rotation axle housing, is fixed with vertical support portion; The below of described vertical support portion is provided with horizontal support portion, and rotor wheel and the 3rd rotation axle housing are arranged at respectively the two ends of horizontal support portion, in the 3rd rotation axle housing, are provided with the movable motor rotating for ordering about rotor wheel; In the second rotation axle housing, be provided with and order about the second rotating machine that horizontal support portion rotates; The two ends of the first hydraulic actuating cylinder are hinged with the turning point of bracing frame and L bracket respectively, and the two ends of the second hydraulic actuating cylinder are hinged with turning point and the vertical support portion of L bracket respectively; The first hydraulic actuating cylinder, the second hydraulic stem are in the time stretching out state: the both sides of L bracket are respectively in level and vertical state, and the 3rd rotates axle housing, horizontal support portion and rotor wheel all in horizontality; The first hydraulic actuating cylinder is positioned at the state of stretching out, the second hydraulic actuating cylinder in the time of retracted mode: horizontal support portion lands in vertical state and the 3rd shell that rotates axle housing.
Morphological transformation formula obstacle-surmounting travelling gear of the present invention, the described first inside of rotating axle housing is provided with the first rotating machine, and the output shaft of the first rotating machine rotates and is fixed on bracing frame through lower fixed leg; Described the first hydraulic actuating cylinder rotates and is fixed on bracing frame through upper fixed leg, and the axis of lower fixed leg and upper fixed leg is on same straight line.
Morphological transformation formula obstacle-surmounting travelling gear of the present invention, the output shaft of described the second rotating machine fixes through transmission shaft and horizontal support portion, in the 3rd rotation axle housing, is provided with fixed muffle, and movable motor is arranged at the 3rd through fixed muffle and rotates in axle housing.
Morphological transformation formula obstacle-surmounting travelling gear of the present invention, the top of support frame as described above is provided with shell, is provided with the camera for image and video information collection on shell.
The invention has the beneficial effects as follows: morphological transformation formula obstacle-surmounting travelling gear of the present invention, by multiple traveling geaies that are made up of L bracket, the first hydraulic stem, the second hydraulic stem, the first rotating machine, the second rotating machine and the 3rd rotation axle housing are set below bracing frame, can make rotor wheel towards front or side by ordering about of the second rotating machine, rotate the 3rd that the ordering about of movable motor in axle housing is lower can make that whole running gear is longitudinal, cross motion, to clear the jumps; Can make the 3rd of traveling gear rotate axle housing shell by the retraction of the first hydraulic stem and land, under the ordering about of the first hydraulic stem or the first rotating machine, can make the form horizontal and vertical motion of whole device with " insect ", be suitable for walking under complicated ground condition.Obstacle-surmounting travelling gear of the present invention, by the vertical and horizontal walking of rotor wheel, and the horizontal and vertical walking of " insect " formula, both realized and on smooth ground, walked fast and clear the jumps fast, can under " insect " walking states, cross the road surface that is unsuitable for tire running again, greatly expand the range of use of obstacle-surmounting travelling gear of the present invention, explosive article investigation, hazardous location are sought the operation with complex-terrain and had high value and significance.
Accompanying drawing explanation
Fig. 1 is the block diagram of running gear of the present invention in the time of longitudinal walking states;
Fig. 2 is the perspective view of traveling gear in the present invention;
Fig. 3 is the exploded view of traveling gear in the present invention;
Fig. 4 is the block diagram of running gear of the present invention in the time of horizontal walking states;
Fig. 5 is the structural representation of running gear of the present invention in the time of " insect " walking states.
In figure: 1 bracing frame, 2 L brackets, 3 first rotate axle housing, and 4 second rotate axle housing, 5 first hydraulic stems, 6 second hydraulic stems, 7 vertical support portions, 8 the 3rd rotate axle housing, 9 horizontal support portions, 10 rotor wheels, 11 times fixed legs, fixed leg on 12,13 second rotating machines, 14 transmission shafts, 15 bearings, 16 movable motors, 17 shells, 18 cameras, 19 fixed muffles.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
Provide as shown in Figure 1 the block diagram of morphological transformation formula obstacle-surmounting travelling gear of the present invention, multiple traveling geaies that it comprises bracing frame 1 and is arranged at bracing frame 1 below, 1 fixing and supporting role of bracing frame, shown traveling gear is fixed on the below of bracing frame 1 symmetrically.As shown in Figures 2 and 3, provide respectively block diagram and the exploded view of traveling gear in the present invention, shown traveling gear is rotated axle housing 8, horizontal support portion 9 and rotor wheel 10 and is formed by L bracket 2, the first rotation axle housing 3, the second rotation axle housing 4, the first hydraulic actuating cylinder 5, the second hydraulic stem 6, vertical support portion 7, the 3rd, the first shown rotation axle housing 3 is fixed on the end of L bracket 2 upsides, and the second rotation axle housing 4 is fixed on the end of L bracket 2 downsides.In the first rotation axle housing 3, be provided with the first rotating machine, the output shaft of the first rotating machine and lower fixed leg 11 are fixed together, and lower fixed leg 11 is fixed on bracing frame 1 rotationally by bearing; The end of the first shown hydraulic stem 5 piston rods is articulated with the turning point of L bracket 2, and the end of the first hydraulic stem 5 cylinder bodies fixes with bracing frame 1 by upper fixed leg 12.Upper fixed leg 12 is fixed on bracing frame 1 rotationally, and the axis of upper fixed leg 12 and lower fixed leg 11 is on same straight line, so that the first rotating machine can order about L bracket 2 and the first hydraulic stem 5 rotates around lower fixed leg 11 simultaneously.
The second shown below of rotating axle housing 4 is vertical support portion 7, and horizontal support portion 9 is positioned at the below of vertical support portion 7, and horizontal support portion 9 is a part for the 3rd rotation axle housing 8, and the 3rd rotation axle housing 8 and rotor wheel 10 lay respectively at the two ends of horizontal support portion 9.In the 3rd rotation axle housing 8, be provided with movable motor 16 and fixed muffle 19, movable motor 16 is fixed on the inside of the 3rd rotation axle housing 8 by fixed muffle 19; Movable motor 16 rotates for ordering about rotor wheel 10.The second shown rotary electric machine 13 is arranged in the second dwang axle housing 4, and the output shaft of the second rotary electric machine 13 fixes with horizontal support portion 9 through turning cylinder 14.In the process that the second rotary electric machine 13 rotates, can order about the 3rd rotation axle housing 8, horizontal support portion 9 and rotor wheel 10 and rotate in the plane perpendicular to vertical support portion 7, so that whole running gear can be converted into horizontal walking states by longitudinal walking states.
As shown in the figure, the end of the second hydraulic stem 6 piston rods is articulated with on vertical support portion 7, and the end of the second hydraulic stem 6 cylinder bodies is articulated with the turning point of L bracket 2.When the first hydraulic stem 5 is in the time stretching out state, two limits of L bracket 2 are respectively in level and vertical state, along with the continuous retraction of the first hydraulic actuating cylinder 5 can be ordered about L bracket 2 and rotates gradually around the axis of the first rotation axle housing 3, rotate axle housing 8, horizontal support portion 9 and rotor wheel 10 built on stilts certain altitudes to order about the 3rd.When the piston rod of the second hydraulic stem 6 is in the time stretching out state, the 3rd rotates axle housing 8, horizontal support portion 9 and rotor wheel 10 in horizontality, and now rotor wheel 10 contacts with ground, and running gear dependence turning cylinder 14 is walked; When the piston rod of the second hydraulic stem 6 is during in retracted mode, the 3rd rotates axle housing 8, horizontal support portion 9 and rotor wheel 10 in vertical state, now shell and the joint, ground of the 3rd rotation axle housing 8, whole running gear is walked with the form of " insect " state.The top of shown bracing frame 1 is provided with shell 17, is provided with camera 18 on shell 17, to carry out the collection of photo site and video information.
The principle of work of obstacle-surmounting travelling gear of the present invention is:
When the road in front is smooth, can walk by rotor wheel 10 time, the first hydraulic stem 5, the second hydraulic actuating cylinder 6 are all in stretching out state, so that rotor wheel 10 contacts with ground; The first rotating machine is not worked, and makes L bracket 2 and bracing frame 1 in relatively-stationary state; The second rotating machine 13 does not rotate, so that the rotation direction of rotor wheel 10 is towards front; Now, by the work of movable motor 16, can order about whole running gear and longitudinally walk, be normal forward traveling.
In the time running into the obstacle that can cross, near in the traveling gear of obstacle, by the retraction of the first hydraulic stem 5, order about the 3rd and rotate axle housing 8, horizontal support portion 9 and rotor wheel 10 built on stilts certain altitudes, and the traveling gear at rear normally moves ahead, so that clear the jumps near the traveling gear of obstacle.After traveling gear clears the jumps, by stretching out of the first hydraulic stem 5 piston rods, order about rotor wheel 10 and again land, in the same way, all traveling geaies clear the jumps successively.It is not highly very large object that this obstacle detouring mode can be crossed.
In the time running into by the impassable obstacle of lifting L bracket 2, can only be by the mode detouring away.Now, the first hydraulic actuating cylinder 5, the second hydraulic stem 6 are all in stretching out state, and first rotatably motor do not work, the second rotating machine 13 orders about horizontal support portion 9, the 3rd rotation axle housing 8 and rotor wheel 10 and carries out 90 ° of rotations, now rotor wheel 10 is transformed for horizontal form state, as shown in Figure 4 by longitudinal driving state.Cross running is carried out in driving by movable motor 16.After having crossed the region at obstacle place, then by the ordering about of the second rotating machine 13, rotor wheel 10 is become to longitudinal driving state from cross running state, can continue to move ahead.This kind mode of travelling, can walk around the obstacle that the bodily form is larger.
Muddy when running into, weedy, gravel road conditions completely, utilize in the situation that rotor wheel 10 can not normally travel, now just needs to adopt the multiway walking manner of " insect " formula, so that reliably walking on complex road surface.In the time adopting " insect " walking manner, be also divided into longitudinally " insect " walking and laterally " insect " walking.In the process of conversion, first the piston rod of the first hydraulic stem 5 bounces back, and rotates axle housing 8 and rotor wheel 10 built on stilts certain altitudes to order about the 3rd; Then the second hydraulic stem 6 is retracted, and orders about the 3rd rotation axle housing 8 and rotor wheel 10 and becomes vertical state from horizontality, and the 3rd shell that rotates axle housing 8 is landed; Thisly landed and be transformed to the 3rd and rotate in the process that axle housing 8 shells land by rotor wheel 10, each traveling gear should successively carry out, to keep whole running gear all the time in state of equilibrium.
Be transformed to after " insect " state at whole running gear, longitudinally walk if realize " insect ", the second hydraulic stem 6 keeps retracted mode constant, the piston rod of the first hydraulic stem 5 is retracted slightly, so that the shell built on stilts of the 3rd rotation axle housing, then the first rotating machine orders about L bracket 2 and turns an angle towards front, then the first hydraulic stem 5 stretches out, the 3rd shell that rotates axle housing 8 is landed, the first rotating machine orders about L bracket 2 and rotates towards the rear subsequently, can order about whole running gear and longitudinally move ahead." insect " longitudinally walking in the situation that, the retraction of the interruption by the second hydraulic stem 6 and stretching out, can realize the horizontal walking of whole device.Under " insect " walking states, can cross the landform of many complexity, be suitable for various road conditions.

Claims (4)

1. a morphological transformation formula obstacle-surmounting travelling gear, has comprised bracing frame (1) fixing and supporting role, is provided with to the bilateral symmetry of bracing frame below multiple traveling geaies; It is characterized in that: described traveling gear rotates axle housing (8) by L bracket (1), the first hydraulic stem (5), the second hydraulic stem (6), rotor wheel (10) and the 3rd and forms, the both ends of L bracket are provided with respectively the first rotation axle housing (3) and second being hinged with it and rotate axle housing (4), L bracket is fixed on bracing frame by the first rotation axle housing, on the second rotation axle housing, is fixed with vertical support portion (7); The below of described vertical support portion is provided with horizontal support portion (9), and rotor wheel and the 3rd rotation axle housing are arranged at respectively the two ends of horizontal support portion, in the 3rd rotation axle housing, are provided with the movable motor (16) rotating for ordering about rotor wheel; In the second rotation axle housing, be provided with and order about the second rotating machine (13) that horizontal support portion rotates; The two ends of the first hydraulic actuating cylinder are hinged with the turning point of bracing frame and L bracket respectively, and the two ends of the second hydraulic actuating cylinder are hinged with turning point and the vertical support portion of L bracket respectively; The first hydraulic actuating cylinder, the second hydraulic stem are in the time stretching out state: the both sides of L bracket are respectively in level and vertical state, and the 3rd rotates axle housing, horizontal support portion and rotor wheel all in horizontality; The first hydraulic actuating cylinder is positioned at the state of stretching out, the second hydraulic actuating cylinder in the time of retracted mode: horizontal support portion lands in vertical state and the 3rd shell that rotates axle housing.
2. morphological transformation formula obstacle-surmounting travelling gear according to claim 1, it is characterized in that: the described first inside of rotating axle housing (3) is provided with the first rotating machine, and the output shaft of the first rotating machine rotates and is fixed on bracing frame (1) through lower fixed leg (11); Described the first hydraulic actuating cylinder (5) rotates and is fixed on bracing frame through upper fixed leg (12), and the axis of lower fixed leg and upper fixed leg is on same straight line.
3. morphological transformation formula obstacle-surmounting travelling gear according to claim 1 and 2, it is characterized in that: the output shaft of described the second rotating machine (13) fixes with horizontal support portion (9) through transmission shaft (14), in the 3rd rotation axle housing (8), be provided with fixed muffle (19), movable motor (16) is arranged at the 3rd through fixed muffle and rotates in axle housing.
4. morphological transformation formula obstacle-surmounting travelling gear according to claim 1 and 2, is characterized in that: the top of support frame as described above (1) is provided with shell (17), is provided with the camera (18) for image and video information collection on shell.
CN201410118499.6A 2014-03-27 2014-03-27 A kind of morphological transformation formula obstacle-surmounting travelling gear Expired - Fee Related CN103863434B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105865269A (en) * 2016-04-19 2016-08-17 滨州学院 Invasive four-legged wheel type robot
CN105966487A (en) * 2016-05-09 2016-09-28 徐洪军 Military investigation and attack integrated robot
CN109572855A (en) * 2018-12-13 2019-04-05 杭州申昊科技股份有限公司 A kind of climbing robot
CN111182782A (en) * 2017-08-01 2020-05-19 卡尔沃坎普创新有限责任公司 Self-propelled working machine
CN113581316A (en) * 2021-07-26 2021-11-02 北京航空航天大学 Compact passive foot with wheel foot capable of being switched rapidly

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Publication number Priority date Publication date Assignee Title
CN2700295Y (en) * 2004-02-20 2005-05-18 姜家明 Obstacle surmounting conveying arrangement
CN201633803U (en) * 2010-04-23 2010-11-17 山东大学 Hydraulically-driven four-leg robot travel mechanism provided with centroid adjusting device
CN102390462A (en) * 2011-09-17 2012-03-28 广州大学 Robot traveling device with liftable frame
CN202197052U (en) * 2011-08-30 2012-04-18 山东电力集团公司超高压公司 Broadsword fastener changing tool with function of live-wire work for 1000-square-millimeter lead wire
US20120199407A1 (en) * 2008-12-09 2012-08-09 Irobot Corporation Mobile Robot Systems and Methods

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2700295Y (en) * 2004-02-20 2005-05-18 姜家明 Obstacle surmounting conveying arrangement
US20120199407A1 (en) * 2008-12-09 2012-08-09 Irobot Corporation Mobile Robot Systems and Methods
CN201633803U (en) * 2010-04-23 2010-11-17 山东大学 Hydraulically-driven four-leg robot travel mechanism provided with centroid adjusting device
CN202197052U (en) * 2011-08-30 2012-04-18 山东电力集团公司超高压公司 Broadsword fastener changing tool with function of live-wire work for 1000-square-millimeter lead wire
CN102390462A (en) * 2011-09-17 2012-03-28 广州大学 Robot traveling device with liftable frame

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105865269A (en) * 2016-04-19 2016-08-17 滨州学院 Invasive four-legged wheel type robot
WO2017181311A1 (en) * 2016-04-19 2017-10-26 滨州学院 Assault robot having four wheel-legs
CN105966487A (en) * 2016-05-09 2016-09-28 徐洪军 Military investigation and attack integrated robot
CN105966487B (en) * 2016-05-09 2018-06-19 泉州永春双石机械有限公司 A kind of military affairs Cha Da integral types robot
CN111182782A (en) * 2017-08-01 2020-05-19 卡尔沃坎普创新有限责任公司 Self-propelled working machine
CN109572855A (en) * 2018-12-13 2019-04-05 杭州申昊科技股份有限公司 A kind of climbing robot
CN109572855B (en) * 2018-12-13 2020-08-21 杭州申昊科技股份有限公司 Climbing robot
CN113581316A (en) * 2021-07-26 2021-11-02 北京航空航天大学 Compact passive foot with wheel foot capable of being switched rapidly

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