CN202193198U - Water spraying propulsion remote-control underwater robot with cables - Google Patents
Water spraying propulsion remote-control underwater robot with cables Download PDFInfo
- Publication number
- CN202193198U CN202193198U CN2011201821765U CN201120182176U CN202193198U CN 202193198 U CN202193198 U CN 202193198U CN 2011201821765 U CN2011201821765 U CN 2011201821765U CN 201120182176 U CN201120182176 U CN 201120182176U CN 202193198 U CN202193198 U CN 202193198U
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- water
- main cavity
- guard shield
- water injector
- cavity
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Abstract
The utility model discloses a water spraying propulsion remote-control underwater robot with cables, which comprises a main cavity body, a submersible pump, a water spraying propulsion water pipe network, a guard shield and a computer, wherein the submersible pump is mounted in the main cavity body; the computer is arranged on a water surface workboat; the main cavity body adopts a cuboid cavity structure; the submersible pump is mounted in a central position at the bottom of the main cavity body; the water spraying propulsion water pipe network comprises ten electromagnetic valves, a water spraying pipeline, a water pipe network water inlet and ten water spray ports; the water pipe network water inlet is arranged in the water outlet at the top of the submersible pump; the electromagnetic valves are respectively arranged on the water spray ports on the water spray pipeline correspondingly; all the electromagnetic valves are connected with the submersible pump through navel string cables respectively; and the navel string cables are connected to the computer on the water surface workboat through navel string cable outlets. The utility model has the advantages that the underwater working performance is stable; the autonomous stabilizing capability is relatively high; the operation range and the freedom degree are large; and the control mechanism is simple.
Description
Technical field
The utility model relates to a kind of carrier of underwater exploration device, particularly relates to water-jet propulsion cable remote underwater robot.
Background technology
The band cable remote underwater robot is a kind of increasingly extensive underwater exploration device that is applied to underwater environment dynamic monitorings such as ocean, river and lake, and its landforms and marine physics characteristic observation under water, underwater environment are investigated, underwater structure has special purposes in checking.The band cable remote underwater robot is made up of umbilical cables, under-water robot and robot trajectory and attitude coutrol mechanism usually.Along with the raising of countries in the world to the quick field monitoring Capability Requirement of underwater environment, the requirement that the band cable remote underwater robot is handled track down and attitude control ability at control mechanism is also in raising constantly.The attitude stabilization when job specification of the underwater environment monitoring sensor that under-water robot carried requires under-water robot work, and have track and the attitude adjusting and the control ability of fast and flexible.Can how under the prerequisite that guarantees the under-water robot attitude stabilization, make it require fast and flexible ground carry out the actv. manipulation to it according to desired measurement track and attitude, be the key that develop a kind of economical and practical, band cable remote underwater robot with marketable value.
Existing small underwater robot generally is to adopt a plurality of control screw propellers to realize the controls to its different degree of freedom, and the control of each degree of freedom is implemented its control by one or each group screw propeller usually.The major defect of this type mode be need a plurality of control screw propellers and complicated control action could realize to the track and the attitude stabilization of the different degree of freedom of robot control, to the control action of these screw propellers also need complicacy control mechanism realize; Robot interior electric system in the while under-water robot motor-driven propeller system and the axis joint between the propelling screws; In case leak, will cause the drive motor can't normal operation.These factors have increased the risk and the difficulty of robot control system design-calculated complexity and user's operation undoubtedly, thereby make these robots because control mechanism is complicated, the operation fault rate increases and be difficult to have the scope that good attitude stabilization ability has limited its application.How when simplifying the submerged manoeuvering action, guarantee efficiently operation under its situation that is satisfying leak preventing effect, this for realize to robot carry out safety, stable, handle control efficiently and have positive meaning.
The utility model content
The purpose of the utility model is exactly for shortcoming that overcomes prior art and problem, provides that a kind of control mechanism is simple, commonality good, and the good water-jet propulsion cable remote underwater robot of attitude stability.
The purpose of the utility model realizes through following technical scheme:
Water-jet propulsion cable remote underwater robot comprises main cavity, diving pump, waterjet propulsion water pipe networking, guard shield and computing machine; Diving pump is installed in the main cavity, and computer installation is being provided with on the water-surface working boat; Main cavity is the cavity structure of a cuboid, and diving pump is installed on the center of main cavity bottom; The main cavity left and right sides is provided with guard shield; Guard shield is a cavity structure, and the internal cavities of guard shield is communicated with the cavity of main cavity, and the length of guard shield fore-and-aft direction is identical with main cavity length; On the outer wall of main cavity bottom, be provided with external water and import and export conduit, be provided with the underwater exploration sensor in the main cavity cavity; The umbilical cables outlet is arranged on the top of main cavity outer wall;
Waterjet propulsion water pipe networking is installed in the cavity inside of main cavity and guard shield; Waterjet propulsion water pipe networking comprises electromagnetic valve, water pipeline, water pipe networking water inlet and water injector; Water pipe networking water inlet is arranged on the water outlet place at diving pump top, and water injector is ten, and wherein to be positioned at the main cavity top left to the midline right-hand for first water injector and second water injector, and two water injectors are about the vertical elevation profile left-right symmetric of robot; It is to the midline right-hand that the 3rd water injector and the 4th water injector are positioned at the main cavity bottom, left, is symmetrical set up and down about main cavity with first water injector and second water injector; The 5th water injector and the 6th water injector lay respectively at center, two guard shield dead afts; The 8th water injector and the 9th water injector lay respectively at center, two guard shield dead aheads; The 7th water injector is positioned at the center, left side of the guard shield in main cavity left side; The tenth water injector is positioned at the center, right side of the guard shield on main cavity right side; Water pipeline comprises inlet channel, first horizontal pipe, vertical duct, second horizontal pipe, the 3rd horizontal pipe; Inlet channel is communicated with water pipe networking water inlet; The inlet channel horizontal surface left and right sides is communicated with two first horizontal pipes respectively; First horizontal pipe vertically is communicated with vertical duct, and the first horizontal pipe horizontal surface left and right directions is communicated with second horizontal pipe, and two second horizontal pipe horizontal surface fore-and-aft directions are communicated with the 3rd horizontal pipe respectively; Electromagnetic valve is ten, and each electromagnetic valve is separately positioned on the water injector place on the pipeline that connects corresponding water injector; Each electromagnetic valve is connected with umbilical cable respectively with diving pump, and umbilical cable is connected to the computing machine that is located on the water-surface working boat through the umbilical cables outlet.
For realizing that further the utility model purpose, said main cavity are preferably the cuboid cavity that fillet is handled has been carried out on each limit.
Said main cavity top preferably is provided with suspension ring, and suspension ring are fixed on the main cavity framework, is used for the lifting operation of robot Inlet and outlet water.
The cavity top of said main cavity preferably is provided with the foam buoyancy material, produces with the pairing of diving pump weight and keeps the stable balancing torque of under-water robot.
The water inlet of said diving pump is preferably disposed on main cavity front apron bottom.
Said guard shield is preferably elliptical cylinder-shape or symmetry machine aerofoil profile.
The height of the main cavity that said guard shield left and right directions preferably stretches out is 50～300mm.
Said main cavity bottom preferably is provided with main body rack.
The utility model compared with prior art has following advantage and beneficial effect:
(1) control is simple relatively.Only only need to realize the multiple degree of freedom operation through the combination of switch electromagnetic valve control water spray.Than traditional band cable remote underwater robot, the design difficulty of the control system of the utility model reduces greatly, and the degree of freedom of control is also more simultaneously.
(2) hydraulic efficiency jet propulsion system underwater operation stable performance.The utility model has used the power resources of diving pump as the robot hydraulic efficiency jet propulsion system, has reduced the risk that the axis joint between the electric system and screw propeller leaks in traditional propeller propulsion system, the fault rate that has reduced under-water operation.
(3) attitude stability is good.Thereby foam buoyancy material that robot main cavity top is arranged and diving pump weight pairing generation are kept the stable balancing torque of under-water robot and have been guaranteed that robot has more intense autonomous stabilizing power in operation process; This characteristic has reduced the user to be kept its attitude stabilization and requires the control action that sends, has reduced the design difficulty of control system.
(4) multiple degree of freedom, control is got up more flexible.This utility model is said to push away the thrust that water injecting system can produce all directions, can vertical lift, can retreat, but shifted laterally.
Description of drawings
Fig. 1 is the utility model water-jet propulsion cable remote underwater robot front view;
Fig. 2 is the utility model water-jet propulsion cable remote underwater robot birds-eye view;
Fig. 3 is the utility model water-jet propulsion cable remote underwater robot left view;
Fig. 4 is the utility model waterjet propulsion water pipe networking front view;
Fig. 5 is the utility model waterjet propulsion water pipe networking birds-eye view;
Fig. 6 is the utility model waterjet propulsion water pipe networking left view;
Working position scheme drawing when Fig. 7 is the utility model water pipeline device generation vertical direction thrust;
Working position scheme drawing when Fig. 8 is the utility model water pipeline device generation horizontal direction thrust.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described, but the utility model requires the scope of protection to be not limited to the scope of embodiment statement.
For the ease of narration, in Fig. 1～8, be defined as working direction to the direction of front apron 16 from back shield 17; Robot is vertical elevation profile along the vertical symmetry plane of this direction; The right side of working direction be right-hand to, left side be left to, upside is last direction; Downside is a lower direction, on the main cavity 2 left to, right-handly be respectively right baffle-plate, right baffle plate, overhead gage and lower baffle plate to, the baffle plate of going up direction and lower direction.
Shown in Fig. 1～3, water-jet propulsion cable remote underwater robot comprises main cavity 2, diving pump 1, waterjet propulsion water pipe networking 6, guard shield 7 and computing machine; Diving pump 1 is installed in the main cavity 2, and waterjet propulsion water pipe networking 6 is installed in main cavity 2 and the guard shield 7, and main cavity 2 is communicated with guard shield 7, and computer installation is being provided with on the water-surface working boat.Main cavity 2 is preferably 2～3mm with guard shield 7 thicknesss of slab.
Shown in Fig. 4～7, waterjet propulsion water pipe networking 6 is installed in the cavity inside of main cavity 2 and guard shield 7 about the vertical elevation profile symmetry of under-water robot; Waterjet propulsion water pipe networking 6 comprises electromagnetic valve 5, water pipeline 14, water pipe networking water inlet 15 and water injector 10; Water pipe networking water inlet 15 is arranged on the water outlet place at diving pump 1 top, and current import waterjet propulsion water pipe networking 6 from here; Water injector 10 is ten, and wherein to be positioned at main cavity 2 top left to the midline right-hand for the first water injector 10-1 and the second water injector 10-2, and two water injectors are about the vertical elevation profile left-right symmetric of robot; It is to the midline right-hand that the 3rd water injector 10-3 and the 4th water injector 10-4 are positioned at main cavity 2 bottom, left, and the 3rd water injector 10-3 and the 4th water injector 10-4 and the first water injector 10-1 and the second water injector 10-2 are symmetrical set up and down about main cavity 2; The 5th water injector 10-5 and the 6th water injector 10-6 lay respectively at center, two guard shields, 7 dead aft, with back shield 17 places at grade; The 8th water injector 10-8 and the 9th water injector 10-9 lay respectively at center, two guard shields, 7 dead ahead, are symmetrical set with the 5th water injector 10-5 and the 6th water injector 10-6 front and back; The 7th water injector 10-7 is positioned at the center, left side of the guard shield in main cavity left side; The tenth water injector 10-10 is positioned at the center, right side of the guard shield on main cavity right side; The tenth water injector 10-10 and the 7th water injector 10-7 are symmetrical set.The length that water injector stretches out the under-water robot surface is 0～4mm.Water pipeline 14 comprises inlet channel 14-1, the first horizontal pipe 14-2, vertical duct 14-3, the second horizontal pipe 14-4, the 3rd horizontal pipe 14-5; Inlet channel 14-1 is communicated with water pipe networking water inlet 15; The inlet channel 14-1 horizontal surface left and right sides is communicated with two first horizontal pipe 14-2 respectively; The first horizontal pipe 14-2 vertically is communicated with vertical duct 14-3; Vertical duct 14-3 horizontal surface left and right directions is communicated with the second horizontal pipe 14-4, and two second horizontal pipe 14-4 horizontal surface fore-and-aft directions are communicated with the 3rd horizontal pipe 14-5 respectively; Horizontal pipe and vertical duct are used to be communicated with the water injector of diverse location; Electromagnetic valve 10 is ten, is respectively the first electromagnetic valve 5-1, the second electromagnetic valve 5-2, the 3rd electromagnetic valve 5-3, the 4th electromagnetic valve 5-4, the 5th electromagnetic valve 5-5, the 6th electromagnetic valve 5-6, the 7th electromagnetic valve 5-7, the 8th electromagnetic valve 5-8, the 9th electromagnetic valve 5-9 and the tenth electromagnetic valve 5-10; Each electromagnetic valve is separately positioned on the water injector place on the pipeline that connects corresponding water injector; Each electromagnetic valve is controlled the unlatching and the closure of different pipeline current respectively; Current eject the main cavity outside through water injector 10, according to the needs of different degree of freedom controls, the propulsive force of different directions are provided for under-water robot.For example; When the needs robot produces last or lower direction propulsive force; Can make current successively along water inlet 15, inlet channel 14-1, the first horizontal pipe 14-2, vertical duct 14-3 circulation through the unlatching and the closure of the different electric magnet valve on the controlling plumbing fixtures; From the water injector ejection of last or lower direction, can produce the propulsive force of downward or last direction at last; If when needing robot to produce front and back or left and right sides propulsive force; Unlatching and closure through the different electric magnet valve on the controlling plumbing fixtures make current successively along water inlet 15, inlet channel 14-1, the first horizontal pipe 14-2, vertical duct 14-3, the second horizontal pipe 14-4, the 3rd horizontal pipe 14-5 circulation; From corresponding water injector ejection, can produce front and back or left and right sides propulsive force at last.
Each electromagnetic valve is connected with umbilical cable respectively with diving pump 1, and umbilical cables is connected to the computing machine that is located on the water-surface working boat through umbilical cables outlet 11, and computing machine passes through the umbilical cables realization to be controlled the unlatching closure of each electromagnetic valve, regulate diving pump 1 rotating speed.
In the course of the work, can drive diving pump 1 and electromagnetic valve 5 in a different manner, adjust different water outlet directions to obtain the propulsive force of different directions; Operating speed through regulating diving pump 1 to be changing water outlet intensity, and then changes the kinematic velocity of robot.
As shown in Figure 7, when the water outlet of needs diving pump advances under-water robot to move straight up, start diving pump 1, diving pump extracts water from the outside, and water inlet 15 gets into waterjet propulsion water pipe networking 6 to current from the water pipe networking; Open the 3rd electromagnetic valve 5-3 and the 4th electromagnetic valve 5-4; Close all the other electromagnetic valves; Cause current only from the 3rd water injector 10-3 and the 4th water injector 10-4 ejection; The current that ejected by the 3rd water injector 10-3 and the 4th water injector 10-4 produce with joint efforts, promote under-water robot toward direction motion straight up.
As shown in Figure 7, when the water outlet of needs diving pump advances under-water robot to move straight down, start diving pump 1, diving pump extracts water from the outside, and water inlet 15 gets into waterjet propulsion water pipe networking 6 to current from the water pipe networking; Open the first electromagnetic valve 5-1 and the second electromagnetic valve 5-2; Close all the other electromagnetic valves; Current are only from the first water injector 10-1 and second water injector 10-2 ejection, and the current that penetrated by the first water injector 10-1 and the second water injector 10-2 produce with joint efforts, promote under-water robot toward direction motion straight down.
As shown in Figure 8, when needs diving pump waterjet propulsion under-water robot level travels forward, start diving pump 1, diving pump extracts water from the outside, and water inlet 15 gets into waterjet propulsion water pipe networking 6 to current from the water pipe networking; Open the 5th electromagnetic valve 5-5 and the 6th electromagnetic valve 5-6, close all the other electromagnetic valves, cause current only from the 5th water injector 10-5 and the 6th water injector 10-6 ejection; The current that ejected by the 5th water injector 10-5 and the 6th water injector 10-6 produce with joint efforts, promote under-water robot and travel forward toward level.
When diving pump waterjet propulsion under-water robot needs level to move backward, start diving pump 1, diving pump extracts water from the outside, and water inlet 15 gets into waterjet propulsion water pipe networking 6 to current from the water pipe networking; Open the 8th electromagnetic valve 5-8 and the 9th electromagnetic valve 5-9, close all the other electromagnetic valves, cause current only from the 8th water injector 10-8 and the 9th water injector 10-9 ejection; The current that penetrated by the 8th water injector 10-8 and the 9th water injector 10-9 produce with joint efforts, promote under-water robot and move backward toward level.
When diving pump waterjet propulsion under-water robot needs level to move right, start diving pump 1, diving pump extracts water from the outside, and water inlet 15 gets into waterjet propulsion water pipe networking 6 to current from the water pipe networking; Open the tenth electromagnetic valve 5-10, close all the other electromagnetic valves, cause current only to spray from the tenth water injector 10-10; The thrust promotion under-water robot that is ejected the current generation by the tenth water injector 10-10 moves right toward level.
When diving pump waterjet propulsion under-water robot needs level to left movement, start diving pump 1, diving pump extracts water from the outside, and water inlet 15 gets into waterjet propulsion water pipe networking 6 to current from the water pipe networking; Open the 7th electromagnetic valve 5-7, close all the other electromagnetic valves, cause current only to spray from the 7th water injector 10-7; Eject the thrust that current produce by the 7th water injector 10-7, promote the past level of under-water robot to left movement.
In practice, the unlatching and the closure of a plurality of electromagnetic valves 5 of may command, and the rotating speed of control diving pump 1 through the axially thrust stack of the different directions that vary in size with side direction, can obtain the thrust of any direction in theory.
In sum, can better realize the utility model.
Claims (8)
1. water-jet propulsion cable remote underwater robot is characterized in that: comprise main cavity, diving pump, waterjet propulsion water pipe networking, guard shield and computing machine; Diving pump is installed in the main cavity, and computer installation is on water-surface working boat; Main cavity is the cavity structure of a cuboid, and diving pump is installed on the center of main cavity bottom; The main cavity left and right sides is provided with guard shield; Guard shield is a cavity structure, and the internal cavities of guard shield is communicated with the cavity of main cavity, and the length of guard shield fore-and-aft direction is identical with main cavity length; On the outer wall of main cavity bottom, be provided with external water and import and export conduit, be provided with the underwater exploration sensor in the main cavity cavity; The umbilical cables outlet is arranged on the top of main cavity outer wall;
Waterjet propulsion water pipe networking is installed in the cavity inside of main cavity and guard shield; Waterjet propulsion water pipe networking comprises electromagnetic valve, water pipeline, water pipe networking water inlet and water injector; Water pipe networking water inlet is arranged on the water outlet place at diving pump top, and water injector is ten, and wherein to be positioned at the main cavity top left to the midline right-hand for first water injector and second water injector, and two water injectors are about the vertical elevation profile left-right symmetric of robot; It is to the midline right-hand that the 3rd water injector and the 4th water injector are positioned at the main cavity bottom, left, is symmetrical set up and down about main cavity with first water injector and second water injector; The 5th water injector and the 6th water injector lay respectively at center, two guard shield dead afts; The 8th water injector and the 9th water injector lay respectively at center, two guard shield dead aheads; The 7th water injector is positioned at the center, left side of the guard shield in main cavity left side; The tenth water injector is positioned at the center, right side of the guard shield on main cavity right side; Water pipeline comprises inlet channel, first horizontal pipe, vertical duct, second horizontal pipe, the 3rd horizontal pipe; Inlet channel is communicated with water pipe networking water inlet; The inlet channel horizontal surface left and right sides is communicated with two first horizontal pipes respectively; First horizontal pipe vertically is communicated with vertical duct, and the first horizontal pipe horizontal surface left and right directions is communicated with second horizontal pipe, and two second horizontal pipe horizontal surface fore-and-aft directions are communicated with the 3rd horizontal pipe respectively; Electromagnetic valve is ten, and each electromagnetic valve is separately positioned on the water injector place on the pipeline that connects corresponding water injector; Each electromagnetic valve is connected with umbilical cable respectively with diving pump, and umbilical cable is connected to the computing machine that is located on the water-surface working boat through the umbilical cables outlet.
2. water-jet propulsion cable remote underwater robot according to claim 1 is characterized in that: said main cavity is for having carried out the cuboid cavity that fillet is handled to each limit.
3. water-jet propulsion cable remote underwater robot according to claim 1 is characterized in that: said main cavity top is provided with suspension ring, and suspension ring are fixed on the main cavity framework.
4. water-jet propulsion cable remote underwater robot according to claim 1 is characterized in that: the cavity top of said main cavity is provided with the foam buoyancy material.
5. water-jet propulsion cable remote underwater robot according to claim 1 is characterized in that: the water inlet of said diving pump is arranged at main cavity front apron bottom.
6. water-jet propulsion cable remote underwater robot according to claim 1 is characterized in that: said guard shield is elliptical cylinder-shape or symmetry machine aerofoil profile.
7. water-jet propulsion cable remote underwater robot according to claim 1 is characterized in that: said main cavity bottom is provided with main body rack.
8. water-jet propulsion cable remote underwater robot according to claim 1 is characterized in that: the height of the main cavity that said guard shield left and right directions stretches out is 50～300mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201821765U CN202193198U (en) | 2011-06-01 | 2011-06-01 | Water spraying propulsion remote-control underwater robot with cables |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201821765U CN202193198U (en) | 2011-06-01 | 2011-06-01 | Water spraying propulsion remote-control underwater robot with cables |
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| Publication Number | Publication Date |
|---|---|
| CN202193198U true CN202193198U (en) | 2012-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011201821765U Expired - Lifetime CN202193198U (en) | 2011-06-01 | 2011-06-01 | Water spraying propulsion remote-control underwater robot with cables |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285435A (en) * | 2011-06-01 | 2011-12-21 | 华南理工大学 | Submersible pump waterjet type umbilical-cord cable remote control underwater robot |
| CN102975831A (en) * | 2012-11-22 | 2013-03-20 | 中国船舶重工集团公司第七○二研究所 | Storage and transfer device for underwater hoisting |
| CN106984615A (en) * | 2017-04-26 | 2017-07-28 | 华南理工大学 | A kind of glass apparatus batch cleaning drying machine and application method |
| CN114426085A (en) * | 2022-02-11 | 2022-05-03 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
| WO2022134468A1 (en) * | 2020-12-21 | 2022-06-30 | 清华大学深圳国际研究生院 | Pump-jet vector-propelled underwater vehicle |
-
2011
- 2011-06-01 CN CN2011201821765U patent/CN202193198U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285435A (en) * | 2011-06-01 | 2011-12-21 | 华南理工大学 | Submersible pump waterjet type umbilical-cord cable remote control underwater robot |
| CN102285435B (en) * | 2011-06-01 | 2013-07-10 | 华南理工大学 | Submersible pump waterjet type umbilical-cord cable remote control underwater robot |
| CN102975831A (en) * | 2012-11-22 | 2013-03-20 | 中国船舶重工集团公司第七○二研究所 | Storage and transfer device for underwater hoisting |
| CN102975831B (en) * | 2012-11-22 | 2015-07-08 | 中国船舶重工集团公司第七○二研究所 | Storage and transfer device for underwater hoisting |
| CN106984615A (en) * | 2017-04-26 | 2017-07-28 | 华南理工大学 | A kind of glass apparatus batch cleaning drying machine and application method |
| CN106984615B (en) * | 2017-04-26 | 2023-06-16 | 华南理工大学 | Glass instrument batch cleaning dryer and use method |
| WO2022134468A1 (en) * | 2020-12-21 | 2022-06-30 | 清华大学深圳国际研究生院 | Pump-jet vector-propelled underwater vehicle |
| CN114426085A (en) * | 2022-02-11 | 2022-05-03 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
| CN114426085B (en) * | 2022-02-11 | 2022-11-08 | 中国人民解放军海军特色医学中心 | Intelligent diving following robot, following system and following method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120418 Effective date of abandoning: 20130710 |
|
| RGAV | Abandon patent right to avoid regrant |