CN104999327B - Automatic loading/unloading manipulator of numerical control lathe - Google Patents
Automatic loading/unloading manipulator of numerical control lathe Download PDFInfo
- Publication number
- CN104999327B CN104999327B CN201510373692.9A CN201510373692A CN104999327B CN 104999327 B CN104999327 B CN 104999327B CN 201510373692 A CN201510373692 A CN 201510373692A CN 104999327 B CN104999327 B CN 104999327B
- Authority
- CN
- China
- Prior art keywords
- gripper
- mechanical arm
- raw material
- material box
- automatic loading
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/041—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers step by step
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Turning (AREA)
Abstract
The invention relates to an automatic loading/unloading manipulator of a numerical control lathe. The manipulator comprises a base, a bracket, a raw material box, a push rod mechanism, a first mechanical jaw, a slide rail mechanism, a mechanical arm and a second mechanical jaw, wherein the bracket is mounted on the base, and is provided with a support plate; the raw material box and the push rod mechanism are mounted on the support plate; the push rod mechanism can be inserted into the raw material box; the first mechanical jaw is positioned at one side of the raw material box, and the top of the first mechanical jaw is pivoted with the mechanical arm; the slide rail mechanism is connected with the mechanical arm, and is linked with the mechanical arm; and the second mechanical jaw is mounted at one end of the mechanical arm. The automatic loading/unloading manipulator of the numerical control lathe is higher in safety coefficient, reduces the strength of manual operation, can efficiently and stably finish appointed actions, realizes automatic control, and satisfies the requirements of automatic production.
Description
【Technical field】
The present invention relates to a kind of mechanical hand, and in particular to a kind of automatic loading and unloading manipulator of numerically controlled lathe, belong to industry
Technical field of automation equipment.
【Background technology】
The loading and unloading mode that the numerically controlled lathe of prior art is adopted is by manually taking to workpiece and clamping is completed mostly
, to workpiece take and clamping during, can not only expend many times, expend energy, it is and less efficient, meet
The not demand of automatic production line；And it is in this process, with certain danger by artificial operation.Cause
This, not only efficiency is low for traditional mode, needs to spend larger cost, and with certain danger.
The increasingly raising of the high speed development and science and technology of industrial automation, traditional manual work have not caught up with work
The rhythm of industry automatic high-speed development.Therefore, sophisticated equipment is innovated, realizes automated production, replace the work of people, meet work
The demand of industry automatization, is the nowadays particularly important part of machinery innovation.
Therefore, it is necessory to provide a kind of automatic loading and unloading manipulator of the numerically controlled lathe of innovation, to overcome prior art
In the defect.
【The content of the invention】
To solve the above problems, it is an object of the invention to provide a kind of automatic loading and unloading manipulator of numerically controlled lathe, its
Safety coefficient is higher, reduces manually-operated intensity, and can be efficient, stable complete required movement, realize automatically controlling, it is full
The requirement of sufficient automated production.
For achieving the above object, the technical scheme taken of the present invention is：A kind of automatic loading and unloading manipulator of numerically controlled lathe,
Which includes base, support, raw material box, transfer bar mechanism, the first gripper, sliding track mechanism, mechanical arm and the second gripper；Its
In, the support is installed on base, which is provided with a supporting plate；The raw material box, transfer bar mechanism are respectively arranged on supporting plate, institute
State transfer bar mechanism to insert in raw material box；First gripper is located at the side of raw material box, with mechanical arm pivot joint at the top of which；Institute
Sliding track mechanism and mechanical arm connection are stated, its described mechanical arm of linkage；Second gripper is installed on one end of mechanical arm.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further arranged to：First gripper includes machinery
Pawl motor, base plate, revolving fragment, support member, pawl arm and V-arrangement locating piece；Wherein, the gripper motor is installed on base plate,
Which connects and drives revolving fragment；Described support member one end and revolving fragment are hinged, and the other end and pawl arm are hinged；The middle part of the pawl arm
It is articulated on base plate；The V-arrangement locating piece is installed on one end of pawl arm.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further arranged to：The support member, pawl arm and V-arrangement are fixed
Position block is equipped with two；Described two V-arrangement locating pieces are in be oppositely arranged.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further arranged to：First gripper and the second machine
The structure of machinery claw is identical.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further arranged to：The sliding track mechanism include top board,
Slide rail, slide rail motor and screw mandrel；The slide rail and top board are engaged；The slide rail motor is installed on top board, and which passes through silk
Bar and slide rail connection, and slide rail can be driven to move along top board.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further arranged to：The mechanical arm includes large arm, little
Arm, rotating shaft and mechanical arm motor；Wherein, the forearm is articulated in the two ends of large arm respectively by a pivot, installs on pivot
There is a forearm motor；First gripper and the second gripper are respectively arranged on forearm；The rotating shaft is connected in large arm,
Which is articulated on slide rail；The mechanical arm motor connection drive shaft.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further arranged to：The transfer bar mechanism include bearing,
Push-rod electric machine, crank, contiguous block, linear bearing and push rod；Wherein, the push-rod electric machine is installed on bearing, and its connection is simultaneously
Drive crank；Described contiguous block one end and crank are hinged, and the other end is provided with the push rod；The linear bearing is installed on and props up
On seat, its described push rod of supporting.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is further arranged to：The both sides of the raw material box offer
Through hole, push rod can insert through hole；A wherein through hole and V-arrangement centering chamfer docking；The bottom of the raw material box is provided with roller.
The automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is also configured to：The support is installed on bottom by a screw rod
On seat, and height can be adjusted；Some reinforcements are welded with the base.
Compared with prior art, the present invention has the advantages that：
1. the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention replaces artificial action, and safety coefficient is higher, reduces
Manually-operated intensity, and efficient, stable can complete required movement, realizes automatically controlling, and meet automated production will
Ask.
2. the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention by two gripper positions mutually bring realize it is right
Workpiece is placed and taken out, and degree of freedom requirement is lower than the requirement of single gripper, than single gripper more efficiently.
3. the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention can be applied for the Digit Control Machine Tool of different models
Freely, degree can be launched to meet work pieces process by adjusting bracket height, gripper according to different demands.
4. the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention saves manpower, it is only necessary to for setting for machine position,
Simply put machining blanks well, the course of work only needs to simple start and stop, people control multiple stage lathe can be realized.
【Description of the drawings】
Fig. 1 is the front view of the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention.
Fig. 2 is the side view of the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention.
Fig. 3 is the enlarged drawing in Fig. 1 at I.
Fig. 4 is the enlarged drawing in Fig. 2 at II.
Fig. 5 is the front view of the first gripper.
Fig. 6 is the top view of the first gripper.
Fig. 7 is the front view of sliding track mechanism.
Fig. 8 is the top view of sliding track mechanism.
Fig. 9 is the side view of raw material box.
【Specific embodiment】
Refer to shown in Figure of description 1 to accompanying drawing 9, the present invention is a kind of automatic loading and unloading manipulator of numerically controlled lathe,
Which is by base 1, support 2, raw material box 3, transfer bar mechanism 4, the first gripper 5, sliding track mechanism 6, mechanical arm 7 and the second gripper
A few part compositions such as 8.
Wherein, the support 2 is installed on base 1, which is provided with a supporting plate 21.Specifically, the support 2 passes through one
Screw rod 22 is installed on base 1, and by 22 energy adjusting bracket of Unscrew, 2 height, tightening screw rod 22 can be by support 2 and base 1
It is affixed.Some reinforcements 11 being obliquely installed are welded with the base 1 such that it is able to increase the structural strength of base 1.
The raw material box 3, transfer bar mechanism 4 are respectively arranged on supporting plate 21, and the transfer bar mechanism 4 can be inserted in raw material box 3,
So as to the parts to be processed by raw material box 3 is released.
The transfer bar mechanism 4 is by bearing 41, push-rod electric machine 42, crank 43, contiguous block 44, linear bearing 45 and push rod 46
Constitute etc. several parts.The push-rod electric machine 42 is installed on bearing 41, and which connects and drives crank 43；44 one end of the contiguous block
It is hinged with crank 43, the other end is provided with the push rod 46；The linear bearing 45 is installed on bearing 41, and its supporting is described
Push rod 46.
The both sides of the raw material box 3 offer through hole 31, and push rod 46 can insert through hole 31, so as to by treating in raw material box 3
Processing part is released.A wherein through hole 31 and a V-arrangement centering chamfer 32 are docked；The bottom of the raw material box 3 is provided with roller 33, described
Roller 33 supports parts to be processed, so that parts to be processed activity is flexible.
The raw material box 3, transfer bar mechanism 4 the course of work it is as follows：Push-rod electric machine 42 drive crank 43, the crank 43 according to
The secondary block 44 that is connected, push rod 46, make push rod 46 in the presence of linear bearing 45 along the reciprocal operation in left and right；Push rod 46 passes through logical
Hole 31 and insert in raw material box 3, V-arrangement centering chamfer 32 is interior to be carried out by being located at after the release of push rod 46 for the parts to be processed of raw material box 3
Centering；After push rod 46 exits raw material box 3, the parts to be processed in raw material box 3 is due to dropping down onto under self gravitation on roller 33.
First gripper 5 is located at the side of raw material box 3, with 7 pivot joint of mechanical arm at the top of which.First gripper, 5 energy
The parts to be processed on V-arrangement centering chamfer 32 is enough captured, and parts to be processed is delivered to into corresponding processing stations.
First gripper 5 is by gripper motor 51, base plate 52, revolving fragment 53, support member 54, pawl arm 55 and V-arrangement
A few part compositions such as locating piece 56.Wherein, the gripper motor 51 is installed on base plate 52, and which connects and drives revolving fragment
53.The base plate 52 is provided with an arm of force fixture 521.54 one end of the support member and revolving fragment 53 are hinged, the other end and pawl
Arm 55 is hinged.The middle part of the pawl arm 55 is articulated on base plate 52.The V-arrangement locating piece 56 is installed on one end of pawl arm 55.Enter
One step, the support member 54, pawl arm 55 and V-arrangement locating piece 56 are equipped with two；Described two V-arrangement locating pieces 56 are set in relative
Put, which can clamp parts to be processed.
The course of work of first gripper 5 is as follows：Gripper motor 51 drives revolving fragment 53, the linkage of revolving fragment 53
Support member 54,54 driving claw arm 55 of support member are rotated, and are made 56 relative motion of V-arrangement locating piece, are clamped parts to be processed.
The sliding track mechanism 6 and mechanical arm 7 connect, its described mechanical arm 7 that links.The sliding track mechanism 6 is by top board 61, cunning
A few part compositions such as rail 62, slide rail motor 63 and screw mandrel 64.Wherein, the slide rail 62 and top board 61 are engaged；The slide rail
Motor 63 is installed on top board 61, and which passes through screw mandrel 64 and slide rail 62 connects, and slide rail 62 can be driven to move along top board 61.
The mechanical arm 7 is made up of several parts such as large arm 71, forearm 72, rotating shaft 73 and mechanical arm motors 74.Wherein, institute
The two ends that forearm 72 is articulated in large arm 72 respectively by a pivot 75 are stated, a forearm motor 76 is installed on pivot 75.Described
One gripper 5 and the second gripper 8 are respectively arranged on forearm 72 by arm of force fixture 521；The rotating shaft 73 is connected to greatly
On arm 71, which is articulated on slide rail 62；The connection of mechanical arm motor 74 drive shaft 73.
The course of work of the sliding track mechanism 6 and mechanical arm 7 is as follows：Slide rail motor 63 promotes slide rail 62 to transport by screw mandrel 64
Dynamic, slide rail 62 drives the rotating shaft 73 and mechanical arm motor 74 being mounted thereon；Mechanical arm motor 74 drives large arm by rotating shaft 73
71 rotate；And forearm motor 76 drives forearm 72 to rotate by pivot 75.
Second gripper 8 is installed on one end of mechanical arm 6, and which is identical with the structure of the first gripper 5, and here is no longer
Repeat.
The operation principle of the automatic loading and unloading manipulator of the numerically controlled lathe of the present invention is as follows：First part to be processed is put into
In raw material box 3, after processing order is received, mechanical arm 7 launches, and grips workpiece by the first gripper 5；Forearm motor 76 drives
Forearm 72, the first gripper 5 of linkage of forearm 72, after making the first gripper 5 move to certain position, rotating mechanical arm 7 makes work
Part is just right with machine chuck center, then travelling workpiece enters chuck, lathe Automatic-clamping.
After the completion of work pieces process, the crawl finished parts of the second gripper 8, meanwhile, the first gripper 5 captures to be processed again
Part, after crawl, mobile second gripper 8 arrives home, rotating mechanical arm 7, then adjusts 8 position of the second gripper, finished parts
Into finished product box, workpiece machines again rear repeat the above steps, realizes conveying simultaneously to workpiece and takes, reach from
The purpose of dynamic loading and unloading.
Specific embodiment above is only the preferred embodiment of this creation, not to limit this creation, all in this wound
Any modification, equivalent substitution and improvements for being done etc. within the spirit of work and principle, should be included in this creation protection domain it
It is interior.
Claims (6)
1. a kind of automatic loading and unloading manipulator of numerically controlled lathe, it is characterised in that：Including base, support, raw material box, push rod machine
Structure, the first gripper, sliding track mechanism, mechanical arm and the second gripper；Wherein, the support is installed on base, is set thereon
There is a supporting plate；The raw material box, transfer bar mechanism are respectively arranged on supporting plate, and the transfer bar mechanism can be inserted in raw material box；It is described
First gripper is located at the side of raw material box, with mechanical arm pivot joint at the top of which；The sliding track mechanism and mechanical arm connection, its linkage
The mechanical arm；Second gripper is installed on one end of mechanical arm；First gripper includes gripper motor, bottom
Plate, revolving fragment, support member, pawl arm and V-arrangement locating piece；Wherein, the gripper motor is installed on base plate, and which connects and drives
Dynamic revolving fragment；Described support member one end and revolving fragment are hinged, and the other end and pawl arm are hinged；Base plate is articulated in the middle part of the pawl arm
On；The V-arrangement locating piece is installed on one end of pawl arm；The sliding track mechanism includes top board, slide rail, slide rail motor and screw mandrel；
The slide rail and top board are engaged；The slide rail motor is installed on top board, and which passes through screw mandrel and slide rail connection, and can drive cunning
Rail is moved along top board；The mechanical arm includes large arm, forearm, rotating shaft and mechanical arm motor；Wherein, the forearm passes through respectively
One pivot is articulated in the two ends of large arm, and a forearm motor is provided with pivot；First gripper and the second gripper difference
It is installed on forearm；The rotating shaft is connected in large arm, and which is articulated on slide rail；The mechanical arm motor connection driving turn
Axle.
2. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 1, it is characterised in that：The support member, pawl arm
Two are equipped with V-arrangement locating piece；Described two V-arrangement locating pieces are in be oppositely arranged.
3. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 2, it is characterised in that：First gripper and
The structure of the second gripper is identical.
4. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 1, it is characterised in that：The transfer bar mechanism includes
Bearing, push-rod electric machine, crank, contiguous block, linear bearing and push rod；Wherein, the push-rod electric machine is installed on bearing, its company
Connect and drive crank；Described contiguous block one end and crank are hinged, and the other end is provided with the push rod；The linear bearing is installed
On bearing, its described push rod of supporting.
5. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 4, it is characterised in that：The both sides of the raw material box
Through hole is offered, push rod can insert through hole；A wherein through hole and V-arrangement centering chamfer docking；The bottom of the raw material box is provided with rolling
Wheel.
6. the automatic loading and unloading manipulator of numerically controlled lathe as claimed in claim 1, it is characterised in that：The support passes through a spiral shell
Bar is installed on base, and can adjust height；Some reinforcements are welded with the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510373692.9A CN104999327B (en) | 2015-07-01 | 2015-07-01 | Automatic loading/unloading manipulator of numerical control lathe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510373692.9A CN104999327B (en) | 2015-07-01 | 2015-07-01 | Automatic loading/unloading manipulator of numerical control lathe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104999327A CN104999327A (en) | 2015-10-28 |
| CN104999327B true CN104999327B (en) | 2017-04-19 |
Family
ID=54372323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510373692.9A Expired - Fee Related CN104999327B (en) | 2015-07-01 | 2015-07-01 | Automatic loading/unloading manipulator of numerical control lathe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104999327B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107335861A (en) * | 2017-06-27 | 2017-11-10 | 河南金彭车业有限公司 | A kind of material-receiving device suitable for automatic band sawing machine |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3024103A1 (en) * | 1980-06-27 | 1982-01-21 | Alfons 7050 Waiblingen Meyer | METHOD AND DEVICE FOR THE ORDERLY TRANSFER OF OBJECTS OR OBJECT GROUPS TO A FOLLOW-UP PROCESSING MACHINE |
| US4715114A (en) * | 1986-12-08 | 1987-12-29 | Tachi-S Co., Ltd. | Tension spring takeout device in an automatic tension spring mounting apparatus |
| CN102583043B (en) * | 2012-02-09 | 2014-03-26 | 中国科学院深圳先进技术研究院 | Mechanical arm capable of taking and placing materials |
| CN102699221B (en) * | 2012-06-19 | 2014-04-30 | 河北工业大学 | Loading and unloading manipulator |
| CN104097104A (en) * | 2014-08-08 | 2014-10-15 | 郑庆祥 | Mechanical hand automatic material-receiving and material-feeding device for long shaft parts |
| CN104607992B (en) * | 2015-01-23 | 2017-03-22 | 深圳市京田精密科技有限公司 | Automatic mechanical arm |
| CN204771803U (en) * | 2015-07-01 | 2015-11-18 | 绍兴文理学院 | Feeding mechanical arm in numerical control lathe's automation |
-
2015
- 2015-07-01 CN CN201510373692.9A patent/CN104999327B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104999327A (en) | 2015-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108857410B (en) | Automobile tail wing gluing and welding assembly production line | |
| CN106141786B (en) | Automatic feeding and discharging device of numerical control machine tool | |
| CN107756049B (en) | Multi-station processing system and method for shock absorber | |
| CN102152159B (en) | Automatic feed device for rod-shaped workpieces | |
| CN109500690A (en) | A kind of continous way eyeglass automatically grinding method | |
| CN206550357U (en) | Full-automatic processing novel lathe | |
| CN103962901A (en) | Fully-automatic grinder | |
| CN104908033A (en) | High-speed light gantry truss mechanical arm | |
| CN104526478B (en) | Cylindrical grinding swing arm manipulator | |
| CN109318078A (en) | A kind of full automatic lens edge grinding machine | |
| CN205060766U (en) | Automatic feeding device | |
| CN105397111A (en) | Lathe feeding and discharging auxiliary equipment | |
| CN103909439A (en) | Robot and system for feeding and discharging high-pressure pipe joint parts and operation method implemented by robot and system | |
| CN106271822B (en) | Feeding and discharging manipulator of numerical control machine tool | |
| CN204771803U (en) | Feeding mechanical arm in numerical control lathe's automation | |
| CN206010575U (en) | Automatization's loading and unloading equipment of Digit Control Machine Tool | |
| CN108941617A (en) | A kind of manipulator and its production method | |
| CN104999327B (en) | Automatic loading/unloading manipulator of numerical control lathe | |
| CN108058025B (en) | Multi-station machining structure of combined machine tool | |
| CN212543603U (en) | Full-automatic production line for finish machining of rotor | |
| CN208758627U (en) | A kind of manipulator and automatic production line | |
| CN109396861A (en) | A kind of caliper shell numerical control processing production line | |
| CN214393407U (en) | Linkage device for quickly clamping products | |
| CN106670822B (en) | Automatic production line for reducing threaded pipes | |
| CN112917218B (en) | Linkage device for quickly clamping product and operation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| 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: 20170419 Termination date: 20180701 |