CN201354147Y - Mechanical bird - Google Patents
Mechanical bird Download PDFInfo
- Publication number
- CN201354147Y CN201354147Y CNU2009200666695U CN200920066669U CN201354147Y CN 201354147 Y CN201354147 Y CN 201354147Y CN U2009200666695 U CNU2009200666695 U CN U2009200666695U CN 200920066669 U CN200920066669 U CN 200920066669U CN 201354147 Y CN201354147 Y CN 201354147Y
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- Prior art keywords
- rotating shaft
- gear
- flapping wing
- motor
- rocking bar
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- Expired - Fee Related
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Abstract
The utility model relates to a mechanical bird, wherein the mechanical bird mainly comprises a framework (2), a rotating support (14), a left flapping wing (3), a right flapping wing (1), a tail wing (6), a vertical mounting surface (4), a rudder (5), a motor (15), a motor (11), a motor (12), a battery (29), a micro gyroscope (13), a signal receiving module (30), a GPS module (31), a control system module (32) and a flapping device, wherein the motor (15) is connected with the left flapping wing (3) and the right flapping wing (1), the motor (11) is connected with the left flapping wing (3) and the right flapping wing (1), the motor (12) is connected with the rudder (15), and the control system module (32) is respectively connected with the motor (15), the motor (11) and the motor (12). Compared with the prior art, the mechanical bird can realize the flapping of the flapping wing and the twisting bidimensional motion, and realizes the tridimensional flying of flying machines through combing the rudder of the tail portion.
Description
Technical field
The utility model relates to a kind of bionic flapping-wing flying robot (being commonly called as the machine flying bird), relates in particular to a kind of mechanical bird.
Background technology
The flying method of flapping wing extensively is present among the biological flight of realm of nature flight, and the advantage of fixed-wing flight and rotor flight has been included in flapping flight, can take off, quicken and hover by fast speed, has high mobility and alerting ability.The biological flying method of flight roughly can be divided three classes: low-frequency flight of fluttering, so much type birds (hawk, vulture, wild goose, sea-gull, swan etc.), the span is long bigger, the frequency of fluttering is lower, do not wait from zero to tens of hertz, adopt low-frequency form of fluttering of fluttering and gliding and combining; The flight of fluttering of intermediate frequency is mainly the medium birds of the bodily form (as swallow, sparrow, pigeon etc.), and wing is not too big, and the frequency of fluttering is higher relatively, seldom adopts the glide mode; The flight of fluttering of high frequency, this flying method is the flapping wing form that adopts the characteristics of motion complexity of very high frequency, wing, as hummingbird and littler birds and the most of insect of the bodily form, the frequency of fluttering is about 60～80 hertz, can aloft realize advancing, retreat, hover and maneuvering flight that some other is highly difficult.
The micro-miniature aircraft mainly is the class aircraft of size between unmanned aerial vehicle (in the general 10m) and minute vehicle (in the general 10cm), refers generally to oad in 1m.Aspect the micro-miniature aircraft, compare with the fixed-wing layout, bionic flapping-wing is aspect pneumatic, advantage is very obvious, but, the layout of bionic flapping-wing has brought great challenge at first for the structure design of micro-miniature aircraft, and especially the microminiaturization design aspect at structure, material and the kinematic mechanism of flapping wing is faced with more technical barrier.
Flapping apparatus is the core component part in the bionical micro-miniature aircraft, and the quality of flapping apparatus will produce influence greatly to the subminiature bionic aircraft.In addition, on the mode of fluttering of micro-miniature flapping wing aircraft, relatively be fit to adopt low frequency, intermediate frequency to flutter, also be fit to adopt motor-driven.
The motion of occurring in nature flying bird wing when flight is three-dimensional, exists beating, swings and reverses.At present, aspect the micro-miniature flapping wing aircraft, what flapping apparatus adopted is the beating campaign of one dimension, and some adopts one dimension to pat motion in conjunction with aircraft aft rudders and elevating rudder control, and also there is a big difference from the three-dimensional sporting flying of flapping wing truly.
The utility model content
The purpose of this utility model is exactly to provide a kind of flapping wing of can realizing to pat and reverse two dimensional motion for the defective that overcomes above-mentioned prior art existence, and realizes a kind of mechanical bird of the three-dimensional flight of aircraft in conjunction with aft rudders.
The purpose of this utility model can be achieved through the following technical solutions: a kind of mechanical bird, it is characterized in that, mainly comprise frame 2, swinging mounting 14, left side flapping wing 3, right flapping wing 1, empennage 6, fixed fin 4, yaw rudder 5, motor 15, motor 11, motor 12, battery 29, minisize gyroscopes 13, signal receiving module 30, GPS module 31, control system module 32 and flapping apparatus, flutter up and down by motor 15 left flapping wings 3 of driving and right flapping wing 1, motor 11 drives left flapping wing 3 and 1 twisting motion of right flapping wing, motor 12 driving direction rudders 5 aircraft turn to, control system module 32 is coordinated three's motion sequential, and aircraft is flown flexibly.
Described motor 15 is fluttered up and down by gear 16, gear 24, gear 23, gear 18 engaged transmission, process connecting rod 21, rotating shaft 48, the left main rocker 44 of chute 28 drivings, right main rocker 26; Described motor 11 drives left flapping wing 3, right flapping wing 1 17 twisting motions around the shaft through gear 10, gear 43, rotating shaft 50, gear 33, left crescent moon tooth bar 39, right crescent moon tooth bar 37, cylindrical bar 38, cylindrical bar 9, left back-up block 40, right back-up block 36, swinging mounting 14; Described motor 12 swings through rocking bar 49, connecting rod 52, rocking bar 51, rotating shaft 7 driving direction rudders 5.
Described motor 15, gear 16, gear 24, gear 23 is positioned at cross main support 27 both sides with gear 18, motor 15 is fixed on the swinging mounting 14, gear 24 is captiveed joint through rotating shaft 22 with gear 23, rotating shaft 22 and cross main support 27 are connected by revolute pair, gear 18 is connected by revolute pair through bearing pins 19 and cross main support 27, connecting rod 21 and gear 18 is connected by revolute pair through rotating shaft 20, connecting rod 21 is captiveed joint with rotating shaft 48, rotating shaft 48 links to each other through moving sets by chute 28 and cross main support 27, rotating shaft 48 by with chute 46 above the left main rocker 44, chutes 47 above the right main rocker 26 through moving sets respectively with left main rocker 44, right main rocker 26 links to each other, left side main rocker 44, right main rocker 26 is by rotating shaft 45, rotating shaft 25 is connected with cross main support 27 through revolute pair, cross main support 27 is captiveed joint with swinging mounting 14, a left side secondary rocking bar 41 is connected by revolute pair through rotating shafts 42 and left back-up block 40, left side main rocker 44, the secondary rocking bar 41 in a left side is captiveed joint with left flapping wing 3, right secondary rocking bar 35 is connected right main rocker 26 through rotating shafts 34 and right back-up block 36 by revolute pair, right secondary rocking bar 35 is captiveed joint with right flapping wing 1.
Described motor 11 is fixed on the frame 2, gear 43 is captiveed joint with rotating shaft 50, gear 33 is captiveed joint with rotating shaft 50, rotating shaft 50 and frame 2 are connected by revolute pair, left side crescent moon tooth bar 39 passes through cylindrical bar 38 with right crescent moon tooth bar 37, cylindrical bar 9 captive joints, left side back-up block 40, right back-up block 36 respectively with left crescent moon tooth bar 39, right crescent moon tooth bar 37 captive joints, left side back-up block 40, right back-up block 36 is by rotating shaft 42, rotating shaft 34 respectively with the secondary rocking bar 41 in a left side, right secondary rocking bar 35 connects left flapping wing 3 by revolute pair, right flapping wing 1 respectively with the secondary rocking bar 41 in a left side, right secondary rocking bar 35 captive joints.
Described motor 12 is fixed on the frame 2, rocking bar 49 and connecting rod 52 link to each other by revolute pair, connecting rod 52 and rocking bar 51 link to each other by revolute pair, and rocking bar 51 is connected with yaw rudder 5 vertical fixing, and rocking bar 51 links to each other through revolute pairs with fixed fin 4 by rotating shaft 7 with yaw rudder 5.
Described control system module 32 receives the signal of minisize gyroscopes 13 and GPS module 31, realizes autonomous flight through navigation algorithm, perhaps switches to remote control distributor by signal receiving module 30.
Compared with prior art, the distinguishing feature of the utility model is to realize the beating of aircraft flapping wing, reverse the compound sporting flying of two degrees of freedom, again in conjunction with aft rudders, realizes the three-dimensional flight of flapping wing aircraft.Present a kind of mechanical bird can only be realized flapping wing one dimension beating motion, from the three-dimensional sporting flying situation that also there is a big difference of flapping wing truly, provide a kind of flapping wing of can realizing to pat and reverse two dimensional motion, and realize the three-dimensional flight of aircraft in conjunction with aft rudders, make bionic flapping-wing flying vehicle stride forward major step to truly flapping flight.
Description of drawings
Fig. 1 is a kind of mechanical bird of the utility model lower left structural representation;
Fig. 2 is a kind of mechanical bird of the utility model front upper place local structure scheme drawing;
Fig. 3 is a kind of mechanical bird of the utility model top structural representation.
Among Fig. 1, right flapping wing 1, frame 2, left flapping wing 3, fixed fin 4, yaw rudder 5, empennage 6, rotating shaft 7, clump weight 8, cylindrical bar 9, gear 10, motor 11, motor 12, minisize gyroscopes 13, swinging mounting 14, motor 15, gear 16, rotating shaft 17;
Among Fig. 2, gear 18, rotating shaft 19, rotating shaft 20, connecting rod 21, rotating shaft 22, gear 23, gear 24, rotating shaft 25, right main rocker 26, cross main support 27, chute 28, battery 29, signal receiving module 30, GPS module 31, control system module 32, gear 33, rotating shaft 34, right secondary rocking bar 35, right back-up block 36, right crescent moon tooth bar 37, cylindrical bar 38, left crescent moon tooth bar 39, left back-up block 40, left secondary rocking bar 41, rotating shaft 42, gear 43, left main rocker 44, rotating shaft 45, chute 46, chute 47, rotating shaft 48;
Among Fig. 3, rocking bar 49, rotating shaft 50, rocking bar 51, connecting rod 52.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is elaborated.
The utility model mainly is made up of frame, swinging mounting, flapping apparatus, flapping wing, empennage, yaw rudder, minisize gyroscopes, GPS module, signal receiving module and control module.Flapping apparatus is mainly realized the beating campaign and the twisting motion of flapping wing, and yaw rudder realizes that aircraft turns to.Aircraft can be realized autonomous flight through the navigation algorithm of control system by the signal of minisize gyroscopes and GPS module, also can switch to remote control distributor by signal receiving module.
The utility model profile can be accomplished similar to true bird, beating, twisting motion by flapping wing combine, but the lift of at high speed change of flight device, thereby realize the aircraft up-and-down movement fast, turning in conjunction with the yaw rudder controlling aircraft of afterbody again, control three's motion sequential well, just can realize the flexible sporting flying of aircraft as flying bird.
A preferred embodiment of the present utility model such as Fig. 1, Fig. 2, shown in Figure 3, a kind of mechanical bird comprises flapping wing beating system, flapping wing torsion system and aircraft steering swivel system.Flapping wing is patted system and mainly is made up of motor 15, gear 16, gear 24, gear 23, gear 18, connecting rod 21, rotating shaft 48, chute 28, left main rocker 44, right main rocker 26.The flapping wing torsion system mainly is made up of motor 11, gear 10, gear 43, rotating shaft 50, gear 33, left crescent moon tooth bar 39, right crescent moon tooth bar 37, cylindrical bar 38, cylindrical bar 9, left back-up block 40, right back-up block 36, swinging mounting 14, left flapping wing 3, right flapping wing 1, axle 17.The aircraft steering swivel system mainly is made up of motor 12, rocking bar 49, connecting rod 52, rocking bar 51, rotating shaft 7, yaw rudder 5.Drive flapping wing by motor 15 and flutter up and down, motor 11 drives the flapping wing twisting motion, and motor 12 driving direction rudders realize that aircraft turns to, and control system 32 is coordinated three's motion sequential, thereby realizes the flexible flight of aircraft as flying bird.
The utility model is by three motors 15, motor 11, motor 12 individual drive, by the control system cooperation, can realize the three-dimensional flight of aircraft, particularly pats system and torsion system cooperation, preferably the sporting flying of emulation flying bird.
The three-dimensional sporting flying of aircraft is as follows:
Flapping wing is patted motion, motor 15 is fluttered up and down synchronously by gear 16, gear 24, gear 23, gear 18 engaged transmission, process connecting rod 21, rotating shaft 48, the left main rocker 44 of chute 28 drivings, right main rocker 26, thereby drive left flapping wing 3 around the shaft 45, rotating shaft 42 flutters up and down, right flapping wing 1 is around the shaft 25, rotating shaft 34 flutters up and down.
Described motor 15, gear 16, gear 24, gear 23 is positioned at cross main support 27 both sides with gear 18, motor 15 is fixed on the swinging mounting 14, gear 24 is captiveed joint through rotating shaft 22 with gear 23, rotating shaft 22 and cross main support 27 are connected by revolute pair, gear 18 is connected by revolute pair through bearing pins 19 and cross main support 27, connecting rod 21 and gear 18 is connected by revolute pair through rotating shaft 20, connecting rod 21 is captiveed joint with rotating shaft 48, rotating shaft 48 links to each other through moving sets by chute 28 and cross main support 27, rotating shaft 48 by with chute 46 above the left main rocker 44, chutes 47 above the right main rocker 26 through moving sets respectively with left main rocker 44, right main rocker 26 links to each other, left side main rocker 44, right main rocker 26 is by rotating shaft 45, rotating shaft 25 is connected with cross main support 27 through revolute pair, cross main support 27 is captiveed joint with swinging mounting 14, a left side secondary rocking bar 41 is connected by revolute pair through rotating shafts 42 and left back-up block 40, left side main rocker 44, the secondary rocking bar 41 in a left side is captiveed joint with left flapping wing 3, right secondary rocking bar 35 is connected right main rocker 26 through rotating shafts 34 and right back-up block 36 by revolute pair, right secondary rocking bar 35 is captiveed joint with right flapping wing 1.
The flapping wing twisting motion, motor 11 drives left flapping wing 3, right flapping wing 1 17 synchronous twisting motions around the shaft through gear 10, gear 43, rotating shaft 50, gear 33, left crescent moon tooth bar 39, right crescent moon tooth bar 37, cylindrical bar 38, cylindrical bar 9, left back-up block 40, right back-up block 36, swinging mounting 14.
Described motor 11 is fixed on the frame 2, gear 43 is captiveed joint with rotating shaft 50, gear 33 is captiveed joint with rotating shaft 50, rotating shaft 50 and frame 2 are connected by revolute pair, left side crescent moon tooth bar 39 passes through cylindrical bar 38 with right crescent moon tooth bar 37, cylindrical bar 9 captive joints, left side back-up block 40, right back-up block 36 respectively with left crescent moon tooth bar 39, right crescent moon tooth bar 37 captive joints, left side back-up block 40, right back-up block 36 is by rotating shaft 42, rotating shaft 34 respectively with the secondary rocking bar 41 in a left side, right secondary rocking bar 35 connects left flapping wing 3 by revolute pair, right flapping wing 1 respectively with the secondary rocking bar 41 in a left side, right secondary rocking bar 35 captive joints.
The aircraft divertical motion, motor 12 swings through rocking bar 49, connecting rod 52, rocking bar 51, rotating shaft 7 driving direction rudders 5, realizes turning to of aircraft by aerodynamic force.
Described motor 12 is fixed on the frame 2, rocking bar 49 and connecting rod 52 link to each other by revolute pair, connecting rod 52 and rocking bar 51 link to each other by revolute pair, and rocking bar 51 is connected with yaw rudder 5 vertical fixing, and rocking bar 51 links to each other through revolute pairs with fixed fin 4 by rotating shaft 7 with yaw rudder 5.
Described control system module 32 receives the signal of minisize gyroscopes 13 and GPS module 31, realizes autonomous flight through navigation algorithm, perhaps switches to remote control distributor by signal receiving module 30.
The beating campaign and the twisting motion of flapping wing combine, but the lift of at high speed change of flight device, thus but make aircraft at high speed change of flight height.The yaw rudder of aircraft can be realized turning to more flexibly in conjunction with the beating and the twisting motion of flapping wing.
Particularly, flapping wing following pounce on and on pounce in the process, can control flapping wing and reverse corner flight with difference:
A kind of method is, flapping wing is pounced on up and down in the process, and twist angle is constant, and twist angle can be identical in the process of fluttering up and down, also can be different.
Another kind method is, pounce on the flapping wing and under pounce in the process the real-time corresponding change of twist angle, the compound sporting flying that the wing in the time of can the flight of emulation flying bird is patted and reversed.
Claims (6)
1. mechanical bird, it is characterized in that, mainly comprise frame (2), swinging mounting (14), left side flapping wing (3), right flapping wing (1), empennage (6), fixed fin (4), yaw rudder (5), motor (15), motor (11), motor (12), battery (29), minisize gyroscopes (13), signal receiving module (30), GPS module (31), control system module (32) and flapping apparatus, drive left flapping wing (3) and right flapping wing (1) is fluttered up and down by motor (15), motor (11) drives left flapping wing (3) and right flapping wing (1) twisting motion, motor (12) driving direction rudder (5) aircraft turns to, and described control system module (32) is coordinated three's motion sequential.
2. a kind of mechanical bird according to claim 1, it is characterized in that, described motor (15) by gear (16), gear (24), gear (23), gear (18) engaged transmission, through connecting rod (21), rotating shaft (48), chute (28) drive left main rocker (44), right main rocker (26) is fluttered up and down; Described motor (11) drives (17) twisting motion around the shaft of left flapping wing (3), right flapping wing (1) through gear (10), gear (43), rotating shaft (50), gear (33), left crescent moon tooth bar (39), right crescent moon tooth bar (37), cylindrical bar (38), cylindrical bar (9), left back-up block (40), right back-up block (36), swinging mounting (14); Described motor (12) swings through rocking bar (49), connecting rod (52), rocking bar (51), rotating shaft (7) driving direction rudder (5).
3. a kind of mechanical bird according to claim 2, it is characterized in that, described motor (15), gear (16), gear (24), gear (23) is positioned at cross main support (27) both sides with gear (18), motor (15) is fixed on the swinging mounting (14), gear (24) is captiveed joint through rotating shaft (22) with gear (23), rotating shaft (22) is connected by revolute pair with cross main support (27), gear (18) is connected by revolute pair with cross main support (27) through bearing pin (19), connecting rod (21) is connected by revolute pair through rotating shaft (20) with gear (18), connecting rod (21) is captiveed joint with rotating shaft (48), rotating shaft (48) links to each other through moving sets with cross main support (27) by chute (28), rotating shaft (48) by with left main rocker (44) above chute (46), chute (47) above the right main rocker (26) through moving sets respectively with left main rocker (44), right main rocker (26) links to each other, left side main rocker (44), right main rocker (26) is by rotating shaft (45), rotating shaft (25) is connected with cross main support (27) through revolute pair, cross main support (27) is captiveed joint with swinging mounting (14), the secondary rocking bar in a left side (41) is connected by revolute pair with left back-up block (40) through rotating shaft (42), left side main rocker (44), the secondary rocking bar in a left side (41) is captiveed joint with left flapping wing (3), right secondary rocking bar (35) is connected right main rocker (26) through rotating shaft (34) by revolute pair with right back-up block (36), right secondary rocking bar (35) is captiveed joint with right flapping wing (1).
4. a kind of mechanical bird according to claim 2, it is characterized in that, described motor (11) is fixed on the frame (2), gear (43) is captiveed joint with rotating shaft (50), gear (33) is captiveed joint with rotating shaft (50), rotating shaft (50) is connected by revolute pair with frame (2), left side crescent moon tooth bar (39) passes through cylindrical bar (38) with right crescent moon tooth bar (37), cylindrical bar (9) captive joint, left side back-up block (40), right back-up block (36) respectively with left crescent moon tooth bar (39), right crescent moon tooth bar (37) captive joint, left side back-up block (40), right back-up block (36) is by rotating shaft (42), rotating shaft (34) respectively with the secondary rocking bar in a left side (41), right secondary rocking bar (35) connects by revolute pair, left flapping wing (3), right flapping wing (1) respectively with the secondary rocking bar in a left side (41), right secondary rocking bar (35) captive joint.
5. a kind of mechanical bird according to claim 2, it is characterized in that, described motor (12) is fixed on the frame (2), rocking bar (49) links to each other by revolute pair with connecting rod (52), connecting rod (52) links to each other by revolute pair with rocking bar (51), rocking bar (51) is connected with yaw rudder (5) vertical fixing, and rocking bar (51) links to each other through revolute pair with fixed fin (4) by rotating shaft (7) with yaw rudder (5).
6. a kind of mechanical bird according to claim 1 is characterized in that, described control system module (32) receives the signal autonomous flight of minisize gyroscopes (13) and GPS module (31), perhaps switches to remote control distributor by signal receiving module (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200666695U CN201354147Y (en) | 2009-01-08 | 2009-01-08 | Mechanical bird |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200666695U CN201354147Y (en) | 2009-01-08 | 2009-01-08 | Mechanical bird |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201354147Y true CN201354147Y (en) | 2009-12-02 |
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ID=41410488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009200666695U Expired - Fee Related CN201354147Y (en) | 2009-01-08 | 2009-01-08 | Mechanical bird |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201354147Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211666A (en) * | 2010-04-07 | 2011-10-12 | 上海工程技术大学 | Micro flapping wing air vehicle |
| CN102211665A (en) * | 2010-04-07 | 2011-10-12 | 上海工程技术大学 | Micro dragonfly-imitating dual-flapping wing aircraft |
| CN103991544A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small rotary unmanned ornithopter |
| CN108033006A (en) * | 2017-12-16 | 2018-05-15 | 佛山市神风航空科技有限公司 | A kind of intelligent bionic mechanical bird |
| CN108082472A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of highly emulated tool bird |
| CN109263964A (en) * | 2018-11-22 | 2019-01-25 | 汕头大学 | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair |
-
2009
- 2009-01-08 CN CNU2009200666695U patent/CN201354147Y/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211666A (en) * | 2010-04-07 | 2011-10-12 | 上海工程技术大学 | Micro flapping wing air vehicle |
| CN102211665A (en) * | 2010-04-07 | 2011-10-12 | 上海工程技术大学 | Micro dragonfly-imitating dual-flapping wing aircraft |
| CN102211665B (en) * | 2010-04-07 | 2013-05-08 | 上海工程技术大学 | Micro dragonfly-imitating dual-flapping wing aircraft |
| CN103991544A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small rotary unmanned ornithopter |
| CN103991544B (en) * | 2014-05-30 | 2016-01-20 | 佛山市神风航空科技有限公司 | A kind of small rotary flapping wing unmanned vehicle |
| CN108033006A (en) * | 2017-12-16 | 2018-05-15 | 佛山市神风航空科技有限公司 | A kind of intelligent bionic mechanical bird |
| CN108082472A (en) * | 2017-12-16 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of highly emulated tool bird |
| CN109263964A (en) * | 2018-11-22 | 2019-01-25 | 汕头大学 | A kind of bionical dragonfly wing driving mechanism of mandril groove with ball pair |
| CN109263964B (en) * | 2018-11-22 | 2024-02-23 | 汕头大学 | Ejector rod groove bionic dragonfly wing driving mechanism with ball pair |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091202 Termination date: 20110108 |