CN105966576B - Extension means are turned round in a kind of seabed - Google Patents
Extension means are turned round in a kind of seabed Download PDFInfo
- Publication number
- CN105966576B CN105966576B CN201610363051.XA CN201610363051A CN105966576B CN 105966576 B CN105966576 B CN 105966576B CN 201610363051 A CN201610363051 A CN 201610363051A CN 105966576 B CN105966576 B CN 105966576B
- Authority
- CN
- China
- Prior art keywords
- motor
- seabed
- electronic compartment
- output
- motors
- 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
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 244000309464 bull Species 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 238000007789 sealing Methods 0.000 description 16
- 230000007246 mechanism Effects 0.000 description 9
- 230000033228 biological regulation Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 241000239290 Araneae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
-
- B63B2738/00—
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Earth Drilling (AREA)
Abstract
The present invention provides a kind of seabed revolution extension means, including telescopic section, up and down the part such as orientation adjustment portion point, left and right angle adjustment point, tripod apparatus constitute.It is characterized in that several parts are separate, displacement can be completed alone and other parts are not influenceed excessively.Each several part motion is all driven by motor, is completed by motor turns to the process for realizing linear motion mainly by leading screw.Easy to use, moderate cost of the invention, it is easy to accomplish；Using motor control, it is possible to achieve be more accurately controlled, good using effect is reached.
Description
Technical field
The present invention relates to a kind of basic equipment, more particularly to a kind of seabed revolution extension means, belong to machine-building skill
Art field.
Background technology
In the economic 21 century developed rapidly with science and technology, national life level more and more higher, with the development of the mankind, the mankind
Demand for resource is also more and more urgent.Since the mankind enter the industrial age, the exploitation for natural resources is also more next
It is more.For now, the natural resources that land is possessed, will be close to exhaustion.It is well known, however, that ocean is as occupying
The huge space of the global gross area 70%, its resource contained is extremely huge.Its exploration prospect is also extremely wide.
Before exploitation, first have to what is done, seek to whether there are the resources such as oil to detect in the piece marine site.
Say from another point of view, the exploitation with the mankind to marine resources, the production of ocean rubbish, which generates people, to be faced
The problem of, the pollution of ocean rubbish not only causes great damage, and mankind's exploiting ocean resource is made to marine organisms
Into very big puzzlement.Ocean rubbish has to remove, and not only to forbid people to continue to discharge, and also conventional garbage is carried out clear
Reason.In the cleaning to rubbish, because seabed can not carry out manual work sometimes, to be realized by machinery.In addition, ocean is transported
In the development of defeated industry, the unexpected appearance that result in shipwreck, in the salvaging of shipwreck, it is also desirable to the participation of plant equipment.
3rd, as the improvement of people's living standards, requirement of the people to clothing, food, lodging and transportion -- basic necessities of life all more and more highers, marine fishing also increasingly into
For an emerging work post.Although marine fishing is based on manpower, advance detection is essential.
In the machinery of ocean, sealing is the most important thing, once machinery is revealed, not only machinery can be caused not make normally
With serious also results in casualties, causes serious consequence.Sealing means have many kinds, such as common sealing means have
Mechanical seal, sealing ring and sealing ring, labyrinth sealing etc..Due to the present apparatus need seabed work, so need seal compared with
It is good.In the present apparatus, sealed using magnetic coupling.This sealing means, which avoids common electric machine, can not bear the restrictive conditions such as high pressure.
The content of the invention
There is provided a kind of extra large the invention aims to which the actions such as revolution, translation, stretching, extension, contraction can be realized in seabed
Extension means are turned round at bottom, and using motor drive mode, it drives motor, gear drive, lead-screw drive mechanism etc. are integrated
It is flexible with operation, it is easy to the characteristics of controlling for closed integration apparatus.
The object of the present invention is achieved like this：Including telescopic tripod, up and down left and right angle adjustment point, orientation
Regulation part and telescopic section, tripod set are provided with three motors, each motor in nacelle lower end, nacelle
Output end be connected with the input shaft of first gear group, the output shaft of first gear group is stretched by universal coupling and tripod
Leading screw is connected, and feed screw nut is provided with tripod flexible leading screw, and feed screw nut is connected with telescopic tube；The left and right angle is adjusted
Section part includes being provided with No. two motors, two on the left rotation and right rotation head base being arranged in nacelle, left rotation and right rotation head base
The output shaft of number motor is connected with the input shaft of second gear group；The orientation adjustment portion point up and down includes defeated with second gear group
Go out the connected motor base up and down in end, three No. three motors, the output end of each No. three motors are installed on motor base up and down
Connected with the input shaft of corresponding 3rd gear train, the output shaft of each 3rd gear train is connected with a upper lower leading screw, every
Nut is installed, the telescopic section includes the electronic compartment connected with three nuts of orientation adjustment portion up and down point in upper lower leading screw
And the telescopic arm with three ends, dual-output motor, two output ends difference of dual-output motor are installed in electronic compartment
It is connected with to be provided with bull wheel, each bull wheel on the 4th gear train, the output shaft of each 4th gear train and is wound with drawing
Rope, the telescopic arm has two groups and is symmetricly set on the both sides of electronic compartment, and an end of every group of telescopic arm is hinged on electronic compartment
Upper end, the other end is hinged on travelling carriage, the 3rd end is free end, the travelling carriage is arranged on outside electronic compartment and set
In the chute put, the end of the drawstring bypasses to be arranged on after the drawstring support of electronic compartment upper end and is connected with travelling carriage.
Present invention additionally comprises some such architectural features：
1. described in electronic compartment upper end cover on be provided with hanger.
Compared with prior art, the beneficial effects of the invention are as follows：The seabed revolution extension means of the present invention are that one kind can be with
Revolution, the mechanism for translating and stretching up and down are realized in seabed, the device can be as a kind of basic equipment, on its basis
On can realize marine exploration, fish for, clear up, ocean garbage reclamation, the work such as raising of a wreck, its function is more powerful.This hair
Bright revolution extending apparatus is underwater operation, and may face deepwater work, so there is high pressure in working environment, power source
Driven preferably with motor, according to hydraulic motor, then also installation hydraulic oil source is carried out to it, at this moment not only increased very big
Weight, simultaneously because needing to carry out pipeline connection, its structure also becomes complicated huge, is not easy to carry out in seabed various to put into practice work
The execution that work is acted.Highly integrated circuit board and processor can not only be used by being driven using motor, simultaneously because the electricity that slows down
Machine is highly developed, so weight is also very light, therefore is also beneficial to mitigate the weight of single unit system, it is being put into seabed and is being hung
Upper land platform etc. is relatively easily easier when local.Easy to use, moderate cost of the invention, it is easy to accomplish；Using motor control,
It can realize and more be accurately controlled, reach good using effect.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the position adjusting mechanism top perspective view up and down of the present invention；
Fig. 3 is the tripod governor motion enlarged drawing of the present invention；
Fig. 4 is the left rotation and right rotation of the present invention with adjusting part body enlarged drawing up and down；
Fig. 5 is the extension means front view of the present invention；
Fig. 6 is the extension means top view of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 6, seabed revolution extending apparatus of the invention is main by overcoat 1, and telescopic tube 2, tripod stretches
Bar leading screw 3, feed screw nut 4, universal coupling 5, nacelle 6, first gear group 7, a magnetic coupling type sealed electric-motor group 8, left and right
Rotary head base 9, No. two magnetic coupling type sealed electric-motors 10, second gear group 11, axle 12 adjusts pressing plate 13, up and down motor bottom
Seat 14, No. three magnetic coupling type sealed electric-motors 15, the 3rd gear train 16, upper lower leading screw 17, nut 18, electronic compartment 19, magnetic coupling type
Sealed electric-motor 20 (dual-output motor), the 4th gear train 21, drawstring frame 22, drawstring 23, drawstring support 24, travelling carriage 25 stretches
Arm 26, upper lid 27 is constituted.
Alternatively the invention mainly comprises telescopic section, orientation adjustment portion point, left and right angle adjustment point, three pin up and down
The part such as rack device is constituted.It is characterized in that several parts are separate, displacement can be completed alone and to other portions
Dividing does not influence excessively.Each several part motion is all driven by motor, and the process for realizing linear motion is turned to mainly by silk by motor
Thick stick is completed.
(1) tripod：Spider section includes nacelle, overcoat, expansion link, motor, shaft coupling, a leading screw etc. zero
Part, additionally including gear train and threaded connection etc..Spider section primarily serves stabilization of the whole mechanism in seabed, three
Individual support can be realized and controlled that the rotation of motor drives leading screw rotation, can turn rotary motion by three individual motors respectively
Turn to linear motion, you can three legs are adjusted.
(2) head left rotation and right rotation part：Left rotation and right rotation part includes nacelle, left and right magnetic coupling motor (No. two motors), a left side
Lid etc. on right motor.Dynamic electrical power is turned, makes motor drive transmission mechanism to realize the output of motion, connects finally by shaft coupling
The rotary shaft come is picked up, the unitary rotation of upper unit is realized, this way it is possible to realize the left and right angular adjustment of horizontal plane
.
(3) orientation adjustment portion is divided up and down：The power on/off of No. three motors of control of part, makes on head on regulation control head
Motor driven gear axle is rotated, by the gear drive in transmission mechanism, end output gear drives three leading screws to rotate, and
Feed screw nut is integrally fixed on extending apparatus, in this manner it is possible to by the motion of adjusting screw nut body, thus can be by
The rotary motion of leading screw is transformed to the linear motion of the above-below direction of the nacelle of development mechanism.Realize the fortune up and down of extending apparatus
It is dynamic.This can just realize regulation of the horizontal array in orientation up and down.
(4) extending apparatus：Development mechanism controlled motor is powered, and the operating of Dual-output shaft motor is realized, by between gear
Transmission, the finally rotation with movable belt pulley, rope band drive travelling carriage slide up and down, drive bracket one rotation, due to bracket two
It can only be rotated relative to electronic compartment, so can just realize that support battle array frame is rotated in the junction of bearing pin.Finally, on bracket
Along with connecting rod, whole stretching frame is constituted.The final change that stretching frame is realized in the up and down motion of travelling carriage, expansion or receipts
Rise.Wherein for the deficiency for making up extending apparatus motor output torque, this action also add gear reduction.
Above-mentioned each several part is bolted together, and each several part all has sealing mechanism, it is possible to achieve in seabed work
The purpose of work.
Because the present invention works in seabed, to trail and complete to collect information or other work, it is necessary to bear very
Big subsea pressure, so the resistance to compression and sealing of whole device need to be ensured.The sealing means here for motor are most simultaneously
It is important and need most to consider, it is ensured that to be sealedly reliably most important, it is to realize other premises.
Sealedly method mainly has common motor dynamic sealing (the most frequently used is exactly packing box seal here), group at present
Close dynamic sealing, magnetic coupling sealing etc..Herein, motor seal is sealed preferably with magnetic coupling, because magnetic coupling sealing will be dynamic close
Envelope is converted into static seal, and sealing reliability is significantly lifted, can be worked in high pressure deepwater environment.
80 degree of the upward maximum extension of extending range of extending apparatus, this angle meets work shape when extending apparatus trails
State, can also make extending apparatus be unlikely to deform beyond stroke.The power demand of motor is stretched, also meet extending apparatus can
Up to scope.
Revolution extending apparatus is underwater operation, and may face deepwater work, so there is high pressure in working environment, is moved
Power source drives preferably with motor, according to hydraulic motor, then also to carry out installation hydraulic oil source to it, at this moment not only increase
Very big weight, simultaneously because needing to carry out pipeline connection, its structure also becomes complicated huge, is not easy to carry out various realities in seabed
Trample the execution of operation acts.Highly integrated circuit board and processor can not only be used by being driven using motor, simultaneously because subtracting
Speed motor is highly developed, so weight is also very light, therefore is also beneficial to mitigate the weight of single unit system, it is being put into seabed
With hang on land platform etc. it is local when relatively easily easily.
To sum up consider, this turns round the gear drive that extension means use motor to drive under water, and each driving wheel is all
There is DC speed-reducing driving, to provide the power required when realizing of various set actions, while driven using motor
The part that extending apparatus is available for completing work to trail with other, works needed for completing.This extension style will be rotated and converted
To slide, and realize the mutual rotation between connecting rod and deploy, extending apparatus can be made to be deployed into far place, so as to complete big
The work of scope.
The course of work of the present invention can substantially be divided into the following steps：
(1) place：First, by staff from utilizing the suspension ring and other fasteners on upper lid 27 on the bank or on ship
Whole device is hung in into seabed, more suitable position is substantially selected.
(2) adjust：, can be by adjusting the motor of group of motors 8, by universal coupling 5, regulation three by marine personnel control
Feed screw nut 4 on individual leg, the length of three legs of tripod is completed by tripod flexible leading screw 3, telescopic tube 2,
Complete to adapt to the landform in seabed, whole device is stablized in seabed.
(3) left rotation and right rotation is adjusted：After the adjustment to tripod is completed, right position regulation can be carried out to device.
Motor 10 is opened in ground control, can be by gear train 11, and band moving axis 12 rotates, the control of finishing device right position.Regulation
Pressing plate 13 plays adjustment effect, makes pressure excessive.
(4) upper-lower position is adjusted：Complete after right position regulation, if it find that setting position is too high or too low, Ke Yili
Upper-lower position control is realized with upper-lower position regulation.Magnetic coupling type sealed electric-motor group 15 is opened in artificial control, passes through gear train
16 transmission, can drive lower leading screw 17 to rotate, by feed screw nut 18, can drive straight line fortune above and below the formation of electronic compartment 19
It is dynamic.
(5) extending apparatus works：After position is all adjusted, it can organize work.Open magnetic coupling type sealing electricity
Machine 20, by gear train 21, can realize that the drawstring 23 on drawstring frame 22 is rotated, drawstring is enclosed on travelling carriage 25 by frictional force
On, because the upper end of telescopic arm 26 is fixed on electronic compartment 19, it is possible to stretched with the realization that slides up and down of travelling carriage 25.
Claims (2)
1. extension means are turned round in a kind of seabed, it is characterised in that：Including telescopic tripod, left and right angle adjustment point, on
Lower orientation adjustment portion point and telescopic section, tripod set are provided with three motors, Mei Geyi in nacelle lower end, nacelle
The output end of number motor is connected with the input shaft of first gear group, and the output shaft of first gear group passes through universal coupling and three pin
Frame flexible leading screw is connected, and feed screw nut is provided with tripod flexible leading screw, and feed screw nut is connected with telescopic tube；The left and right
Angle adjustment point includes being provided with No. two electricity on the left rotation and right rotation head base being arranged in nacelle, left rotation and right rotation head base
Machine, the output shaft of No. two motors is connected with the input shaft of second gear group；The orientation adjustment portion point up and down includes and the second tooth
The connected motor base up and down of wheel group output end, is provided with three No. three motors up and down on motor base, each No. three motors
Output end is connected with the input shaft of corresponding 3rd gear train, and the output shaft of each 3rd gear train is connected with about one silk
Nut is installed, the telescopic section includes being connected with three nuts of orientation adjustment portion up and down point in thick stick, every upper lower leading screw
Electronic compartment and telescopic arm with three ends, dual-output motor is installed in electronic compartment, two of dual-output motor are defeated
Go out end be connected on the 4th gear train, the output shaft of each 4th gear train be provided with bull wheel, each bull wheel
Drawstring is wound with, the telescopic arm there are two groups and is symmetricly set on the both sides of electronic compartment, and an end of every group of telescopic arm is hinged
It is hinged in the upper end of electronic compartment, the other end on travelling carriage, the 3rd end is free end, the travelling carriage is arranged on electronics
In the chute that portion is set out of my cabin, the end of the drawstring bypasses to be arranged on after the drawstring support of electronic compartment upper end to be consolidated with travelling carriage
Even.
2. a kind of seabed revolution extension means according to claim 1, it is characterised in that：On the upper end cover of the electronic compartment
It is provided with hanger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610363051.XA CN105966576B (en) | 2016-05-26 | 2016-05-26 | Extension means are turned round in a kind of seabed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610363051.XA CN105966576B (en) | 2016-05-26 | 2016-05-26 | Extension means are turned round in a kind of seabed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105966576A CN105966576A (en) | 2016-09-28 |
| CN105966576B true CN105966576B (en) | 2017-08-04 |
Family
ID=56956693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610363051.XA Expired - Fee Related CN105966576B (en) | 2016-05-26 | 2016-05-26 | Extension means are turned round in a kind of seabed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105966576B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454807A (en) * | 2018-05-31 | 2018-08-28 | 中国船舶科学研究中心上海分部 | A kind of underwater extension means |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61178107A (en) * | 1985-01-31 | 1986-08-09 | Sugino Mach:Kk | Submergible water pressure impact rotary cutting tool |
| US7059803B2 (en) * | 2002-08-22 | 2006-06-13 | Wayne G. Floe | Powered boatlift with electronic controls |
| CN102050218B (en) * | 2009-11-04 | 2013-06-12 | 中国科学院沈阳自动化研究所 | Gesture adjusting device for underwater glider |
| CN202038441U (en) * | 2011-03-17 | 2011-11-16 | 哈尔滨工程大学 | Gravity center adjusting device of underwater robot |
| CN205770080U (en) * | 2016-05-26 | 2016-12-07 | 哈尔滨工程大学 | A kind of seabed revolution extension means |
-
2016
- 2016-05-26 CN CN201610363051.XA patent/CN105966576B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105966576A (en) | 2016-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106212131B (en) | A kind of automatic rope winding device of trees | |
| CN104960652A (en) | Underwater operation robot and working method thereof | |
| CN107054588A (en) | A kind of crawl stroke formula robot and its method of work under water | |
| CN203876966U (en) | Underwater explorer | |
| AU2007268362A1 (en) | Device for converting wave energy | |
| CN205755892U (en) | Multifunctional stereo growing and cultivation frame | |
| CN106416625A (en) | Intelligent climbing and fruit picking robot | |
| CN210212728U (en) | Telescopic buoyancy adjusting buoy | |
| CN105966576B (en) | Extension means are turned round in a kind of seabed | |
| CN110254487A (en) | A kind of civil engineering pipeline putting vehicle | |
| CN105603948B (en) | Over-water floats collection device | |
| CN205770080U (en) | A kind of seabed revolution extension means | |
| CN110241797A (en) | A kind of unmanned fishing device | |
| CN107299626B (en) | A kind of Green Machine people clearing up river garbage | |
| CN106834103A (en) | A kind of Bacteria Detection multi-point sampling device | |
| CN204780910U (en) | Pile driver equipment | |
| CN208595484U (en) | A kind of anti-LED garden lamp blocked suitable for afforesting cell | |
| CN215361890U (en) | But camera device multi-angle is adjusted searches for ands rescue unmanned aerial vehicle | |
| CN208183688U (en) | A kind of river drift collection cleaning plant | |
| CN102644450A (en) | Weighted girder-less type strong-efficiency energy-saving oil pumping unit | |
| CN1063828C (en) | Variable gravity-center floating box type wave energy transducer | |
| WO2022101869A1 (en) | Systems, apparatuses and methods for conversion of kinetic energy | |
| CN209008889U (en) | A kind of properller detection device | |
| CN201934077U (en) | Special pumping unit for offshore oil field | |
| CN219313001U (en) | Multifunctional underwater comprehensive detection robot |
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 |
Granted publication date: 20170804 |