CN203344065U - Human-simulated robot head - Google Patents

Human-simulated robot head Download PDF

Info

Publication number
CN203344065U
CN203344065U CN2013204434975U CN201320443497U CN203344065U CN 203344065 U CN203344065 U CN 203344065U CN 2013204434975 U CN2013204434975 U CN 2013204434975U CN 201320443497 U CN201320443497 U CN 201320443497U CN 203344065 U CN203344065 U CN 203344065U
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CN
China
Prior art keywords
steering wheel
rod
head
metallic
eyeball
Prior art date
Application number
CN2013204434975U
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Chinese (zh)
Inventor
蔡继文
Original Assignee
蔡继文
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 蔡继文 filed Critical 蔡继文
Priority to CN2013204434975U priority Critical patent/CN203344065U/en
Application granted granted Critical
Publication of CN203344065U publication Critical patent/CN203344065U/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/0005Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B25J11/0015Face robots, animated artificial faces for imitating human expressions

Abstract

The utility model relates to the field of anthropomorphic robots, in particular to a human-stimulated robot head mechanism. A human-stimulated robot head consists of two ears, eye balls, two eyebrows, eyelids, a mouth and a neck, wherein the two ears, the eye balls, the two eyebrows, the eyelids, the mouth and the neck are all connected to a main frame of the head; the main frame comprises a first metal plate, a second metal plate and a third metal plate; the first metal plate and the second metal plate are fixedly connected through a first metal rod, a second metal rod and a third metal rod; the second metal plate and the fourth metal plate are fixedly connected through a fourth metal rod, a fifth metal rod, a sixth metal rod and a seventh metal rod. According to the human-stimulated robot head, the actions of blinking, moving the eyebrows, moving the ears, lifting the head, lowering the head, shaking the head, and opening the mouth can be stimulated, and various expressions and actions can be combined.

Description

The apery head machine
Technical field
The utility model relates to the anthropomorphic robot field, particularly a kind of apery head machine mechanism.
Background technology
The illusion and the history of pursuing existing more than 3000 year of people to robot, the mankind wish to manufacture a kind of machine as the people, in order to replace the mankind to complete various work.Nineteen fifty-nine, the First industrial robot is born in the U.S., and nearly decades, the robot of various uses comes out one after another, and makes many dreams of the mankind become reality.Complicated along with robot working environment and task, require robot to have higher kinematic dexterity and, in the adaptability of special circumstances not known, the travel mechanism of the simple wheel of robot and crawler belt can not adapt to changeable complex environment requirement.In today of bionics techniques, control technology and manufacturing technology development, apery and bionical thing robot are developed out in succession, and bio-robot has become the important member in family of robot.
Bio-robot is exactly the system of external shape, motion principle and the behavior of biology in natural imitation circle, can be engaged in the robot of biological characteristic work.The type of bio-robot is a lot, is mainly apery, bionical thing and the large class of biorobot 3.The main feature of bio-robot: the one, mostly be the robot of redundant degree of freedom or ultra-redundant degree of freedom, mechanism's complexity; The 2nd, its type of drive is different from conventional revolute robot a bit, usually adopts the drivings such as rope, artificial muscle or marmem.
The utility model content
The utility model provides a kind of apery head machine mechanism, this mechanism can simulate the people nictation, moving eyebrow, pick up the ears, come back, bow, shake the head and open one's mouth, be combined into diversified expression and action.
The utility model technical solution:
A kind of apery head machine, ears 1, eyeball 3, two eyebrow 6, eyelid 2, face 4 and neck 5 form, it is characterized in that: described ears 1, eyeball 3, two eyebrow 6, eyelid 2, face 4 and neck 5 compositions all are connected on the head body framework, described head body framework comprises that the first metallic plate 7, the second metallic plate 9 and the 3rd metallic plate 16, the first metallic plates 7 are fixedly connected with by the first metallic rod 8, the second metallic rod 10, the 3rd metallic rod 11 with the second metallic plate 9; The second metallic plate 9 is fixedly connected with by the 4th metallic rod 12, the 5th metallic rod 13, the 6th metallic rod 14 and the 7th metallic rod 15 with the 3rd metallic plate 16.
Described eyeball 3 is connected on the second metallic plate 9 by the 8th metallic rod 27, described eyeball 3 is connected by the second universal structure 36 with the 8th metallic rod 27, and described eyeball 3 is done four-degree-of-freedom motion up and down around the second universal structure 36 under the traction of the first transmission rod 23 and the second transmission rod 25.
Described the first transmission rod 23, the second transmission rod 25 are connected with the 3rd transmission rod 29 and are connected to form a power transmission loop with the first steering wheel 19 by L-type hardware 30, by the first steering wheel 19 traction eyeballs, do two free degree motions; Do two other free degree motion by the second steering wheel 20 traction eyeballs.
Described eyelid 2 is connected on the head body framework by left and right each the 9th metallic rod 26, the tenth metallic rod 28 of one, described eyelid 2 is connected with the 9th metallic rod 26, the tenth metallic rod 28 by rod end joint pivotal construction, and described eyelid 2 also holds axle by the traction of the 5th transmission rod 22, the 6th transmission rod 24 and rotates around the rod end joint.
Described the 5th transmission rod 22, the 6th transmission rod 24 are driven by the 3rd steering wheel 17 tractions and the 4th steering wheel 18.
Described neck 5 is connected on lateral metal bar 56 by the head metal framework, and lateral metal bar 56 is groove structure, by the 5th steering wheel 58, through the first force transferring lever 57, drives to realize steeving and low action of head; Through three, 39, the ball in circular groove drives to realize turning to of head to described head metal framework on pedestal and by the 6th steering wheel 38.
Described mouth 4 drives chins 54 by the 7th steering wheel 53 through the 7th transmission rod 55 and moves to realize opening with closed of face.
Described ears 1 comprise left ear 52 and right ear, left ear 52 is connected with becket 51, becket 51 is connected on the head metal framework by the first universal drive shaft 42, the 8th steering wheel 43 and the 9th steering wheel 50 drive becket 51 motions by the second universal drive shaft 41 and the 3rd universal drive shaft 40 respectively, make becket 51 do the four-degree-of-freedom motion, described right ear is realized the four-degree-of-freedom motion by the tenth steering wheel 44 and the 11 steering wheel 45.
Described pair of eyebrow 6 comprises left eyebrow 47 and right eyebrow, and left eyebrow 47 is automatically connected in motion on metal steering wheel Rocker arm 48 by the 12 steering wheel 49 bands; Described right eyebrow is realized motion by the 13 steering wheel 46.
The beneficial effects of the utility model:
People's nictation, moving eyebrow, the action such as pick up the ears, come back, bow, shake the head and open one's mouth can be simulated by mechanism of the present utility model, and can be combined into diversified expression and action.
The accompanying drawing explanation
Fig. 1 is the utility model front schematic view.
The intermediate layer that Fig. 2 is the utility model main body frame.
Fig. 3 is the utility model main body frame bottom.
Fig. 4 is the utility model main body frame intermediate layer top view.
Fig. 5 is the utility model main body frame intermediate layer side view.
Fig. 6 is eye rearview of the present utility model.
Fig. 7 is neck base schematic diagram of the present utility model.
Fig. 8 is neck of the present utility model and mouth side view.
Fig. 9 is top layer of the present utility model, comprises ears and two eyebrow.
Figure 10 is top layer side view of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail:
Embodiment:
As shown in Figure 1 to Figure 3, a kind of apery head machine, ears 1, eyeball 3, two eyebrow 6, eyelid 2, face 4 and neck 5 form, described ears 1, eyeball 3, two eyebrow 6, eyelid 2, face 4 and neck 5 compositions all are connected on the head body framework, described head body framework comprises that the first metallic plate 7, the second metallic plate 9 and the 3rd metallic plate 16, the first metallic plates 7 are fixedly connected with by the first metallic rod 8, the second metallic rod 10, the 3rd metallic rod 11 with the second metallic plate 9; The second metallic plate 9 is fixedly connected with by the 4th metallic rod 12, the 5th metallic rod 13, the 6th metallic rod 14 and the 7th metallic rod 15 with the 3rd metallic plate 16.
As shown in Figures 4 to 6, described eyeball 3 is connected on the second metallic plate 9 by the 8th metallic rod 27, described eyeball 3 is connected by the second universal structure 36 with the 8th metallic rod 27, and described eyeball 3 is done four-degree-of-freedom motion up and down around the second universal structure 36 under the traction of the first transmission rod 23 and the second transmission rod 25.Described the first transmission rod 23, the second transmission rod 25 are connected with the 3rd transmission rod 29 and are connected to form a power transmission loop with the first steering wheel 19 by L-type hardware 30, by the first steering wheel 19 traction eyeballs, do two free degree motions; Do two other free degree motion by the second steering wheel 20 traction eyeballs.Described eyelid 2 is connected on the head body framework by left and right each the 9th metallic rod 26, the tenth metallic rod 28 of one, described eyelid 2 is connected with the 9th metallic rod 26, the tenth metallic rod 28 by rod end joint pivotal construction, and described eyelid 2 also holds axle by the traction of the 5th transmission rod 22, the 6th transmission rod 24 and rotates around the rod end joint.Described the 5th transmission rod 22, the 6th transmission rod 24 are driven by the 3rd steering wheel 17 tractions and the 4th steering wheel 18.
As shown in Figure 7 and Figure 8, described neck 5 is connected on lateral metal bar 56 by the head metal framework, and lateral metal bar 56 is groove structure, by the 5th steering wheel 58, through the first force transferring lever 57, drives to realize steeving and low action of head; Through three, 39, the ball in circular groove drives to realize turning to of head to described head metal framework on pedestal and by the 6th steering wheel 38.Described mouth 4 drives chins 54 by the 7th steering wheel 53 through the 7th transmission rod 55 and moves to realize opening with closed of face.
As shown in Figure 9 and Figure 10, described ears 1 comprise left ear 52 and right ear, left ear 52 is connected with becket 51, becket 51 is connected on the head metal framework by the first universal drive shaft 42, the 8th steering wheel 43 and the 9th steering wheel 50 drive becket 51 motions by the second universal drive shaft 41 and the 3rd universal drive shaft 40 respectively, make becket 51 do the four-degree-of-freedom motion, described right ear is realized the four-degree-of-freedom motion by the tenth steering wheel 44 and the 11 steering wheel 45.Described pair of eyebrow 6 comprises left eyebrow 47 and right eyebrow, and left eyebrow 47 is automatically connected in motion on metal steering wheel Rocker arm 48 by the 12 steering wheel 49 bands; Described right eyebrow is realized motion by the 13 steering wheel 46.
The specific works process:
Ears have four-degree-of-freedom, by two steering wheels, are driven, and wherein each steering wheel drives respectively two frees degree.Ear is arranged on the main body frame top, and the V-shaped structure of ears extends to respectively two flank side surface.
Two eyebrows are connected with the steering wheel metal rocker arm by the steering wheel drive, and two eyebrows are arranged on the main body frame top and extend to dead ahead, directly over eyes.
Eyeball is connected to the intermediate layer of main body frame by the rod end universal structure, draw separately respectively two motions in the free degree by two steering wheels and make eyeball to move in four-degree-of-freedom.Each steering wheel can be controlled motion in the 2DOF of two eyeballs and realize that with this two steering wheels control the four-degree-of-freedom motion of two eyeballs by back-shaped structure.Steering wheel is arranged on the intermediate layer of main body frame.
Eyelid partly encases eyeball, and eyelid is driven by steering wheel that two transmission rods form "<" the type structure drives respectively upper eyelid and palpebra inferior, makes eyelid to blink.The steering wheel that drives eyelid is arranged on the intermediate layer of main body frame.
Face is arranged on the outer bottom of main body frame, by a steering wheel that is arranged on the main body frame inner bottom part, by transmission rod, drives chin, makes face can open with closed.
Neck forms T font structure groove bonding jumper by an inverted groove bonding jumper and a metallic support and can rotate around the contact of metallic support and groove bonding jumper, whole head body frame installation is at the top of groove bonding jumper, the tail end of groove bonding jumper is connected with a steering wheel by a transmission rod, steering wheel drives whole head movement, with this, realizes the action that comes back and bow.
Neck is by three Universal caster framves on base, and whole head is driven and can be carried out left-right rotation by steering wheel, with this realize shaking the head, the action of rotary head.
To sum up, the utility model accomplishes the end in view.

Claims (9)

1. an apery head machine, by ears (1), eyeball (3), two eyebrows (6), eyelid (2), face (4) and neck (5) form, it is characterized in that: described ears (1), eyeball (3), two eyebrows (6), eyelid (2), face (4) and neck (5) composition all are connected on the head body framework, described head body framework comprises the first metallic plate (7), the second metallic plate (9) and the 3rd metallic plate (16), the first metallic plate (7) and the second metallic plate (9) are by the first metallic rod (8), the second metallic rod (10), the 3rd metallic rod (11) is fixedly connected with, the second metallic plate (9) is fixedly connected with by the 4th metallic rod (12), the 5th metallic rod (13), the 6th metallic rod (14) and the 7th metallic rod (15) with the 3rd metallic plate (16).
2. a kind of apery head machine according to claim 1, it is characterized in that: described eyeball (3) is connected on the second metallic plate (9) by the 8th metallic rod (27), described eyeball (3) is connected by the second universal structure (36) with the 8th metallic rod (27), and described eyeball (3) is done four-degree-of-freedom motion up and down around the second universal structure (36) under the traction of the first transmission rod (23) and the second transmission rod (25).
3. a kind of apery head machine according to claim 2, it is characterized in that: described the first transmission rod (23), the second transmission rod (25) are connected with the 3rd transmission rod (29) and are connected to form a power transmission loop with the first steering wheel (19) by L-type hardware (30), by the first steering wheel (19) traction eyeball, do two free degree motions; Do two other free degree motion by the second steering wheel (20) traction eyeball.
4. a kind of apery head machine according to claim 1, it is characterized in that: described eyelid (2) is connected on the head body framework by left and right each the 9th metallic rod (26), the tenth metallic rod (28) of one, described eyelid (2) is connected with the 9th metallic rod (26), the tenth metallic rod (28) by rod end joint pivotal construction, and described eyelid (2) also by the 5th transmission rod (22), the 6th transmission rod, (hold axle and rotate around the rod end joint by 240 traction.
5. a kind of apery head machine according to claim 4 is characterized in that: described the 5th transmission rod (22), the 6th transmission rod (24) are by the 3rd steering wheel (17) traction and the driving of the 4th steering wheel (18).
6. a kind of apery head machine according to claim 1, it is characterized in that: described neck (5) is connected on lateral metal bar (56) by the head metal framework, lateral metal bar (56) is groove structure, by the 5th steering wheel (58), through the first force transferring lever (57), drives to realize steeving and low action of head; Through three, ball (39) frame in circular groove drives to realize turning to of head described head metal framework on pedestal and by the 6th steering wheel (38).
7. a kind of apery head machine according to claim 1 is characterized in that: described face (4) drives chin (54) motion to realize the opening with closed of face by the 7th steering wheel (53) through the 7th transmission rod (55).
8. a kind of apery head machine according to claim 1, it is characterized in that: described ears (1) comprise left ear (52) and right ear, left ear (52) is connected with becket (51), becket (51) is connected on the head metal framework by the first universal drive shaft (42), the 8th steering wheel (43) and the 9th steering wheel (50) drive becket (51) motion by the second universal drive shaft (41) and the 3rd universal drive shaft (40) respectively, make becket (51) do the four-degree-of-freedom motion, described right ear is realized the four-degree-of-freedom motion by the tenth steering wheel (44) and the 11 steering wheel (45).
9. a kind of apery head machine according to claim 1, it is characterized in that: described pair of eyebrow (6) comprises left eyebrow (47) and right eyebrow, and left eyebrow (47) is automatically connected in the upper motion of metal steering wheel rocking arm (48) by the 12 steering wheel (49) band; Described right eyebrow is realized motion by the 13 steering wheel (46).
CN2013204434975U 2013-07-24 2013-07-24 Human-simulated robot head CN203344065U (en)

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103770121A (en) * 2014-02-20 2014-05-07 西北工业大学 Combined facial expression simulation device
CN103853071A (en) * 2014-01-20 2014-06-11 南京升泰元机器人科技有限公司 Human-computer facial expression interaction system based on biological signal
CN104552306A (en) * 2015-01-07 2015-04-29 上海大学 Spatial RSSR mechanism based biomimetic eye movement mechanism
CN104723349A (en) * 2015-03-30 2015-06-24 北京电影学院 Electronic machinery bionic role producing system
CN106041963A (en) * 2016-08-12 2016-10-26 欢乐飞(上海)机器人有限责任公司 Intelligent robot head system and operation method thereof
CN106078762A (en) * 2016-07-23 2016-11-09 芜湖哈特机器人产业技术研究院有限公司 Ten head and neck mechanisms of six-degree-of-freedom humanoid robot
CN106426295A (en) * 2016-11-16 2017-02-22 北京因时机器人科技有限公司 Mechanical bionic eye device
WO2017166991A1 (en) * 2016-03-31 2017-10-05 深圳光启合众科技有限公司 Robot having blinking function
CN108161953A (en) * 2018-02-24 2018-06-15 上海理工大学 A kind of intelligent robot head system
WO2018113722A1 (en) * 2016-12-23 2018-06-28 深圳光启合众科技有限公司 Eye structure of robot, head structure of robot, and robot
CN109015598A (en) * 2018-07-17 2018-12-18 东北大学 A kind of facial expression bio-mechanism based on SMA
KR20190055495A (en) * 2017-11-15 2019-05-23 한국생산기술연구원 Robot eye device
CN111044258A (en) * 2019-11-28 2020-04-21 扬州莱达光电技术有限公司 Simulation testing device in helmet of helmet display
CN111421558A (en) * 2020-03-19 2020-07-17 浙江工业大学 Robot with anthropomorphic expression based on electroactive polymer driver

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103853071B (en) * 2014-01-20 2016-09-28 南京升泰元机器人科技有限公司 Man-machine facial expression interactive system based on bio signal
CN103853071A (en) * 2014-01-20 2014-06-11 南京升泰元机器人科技有限公司 Human-computer facial expression interaction system based on biological signal
CN103770121B (en) * 2014-02-20 2016-02-24 西北工业大学 A kind of combined type facial expression simulator
CN103770121A (en) * 2014-02-20 2014-05-07 西北工业大学 Combined facial expression simulation device
CN104552306A (en) * 2015-01-07 2015-04-29 上海大学 Spatial RSSR mechanism based biomimetic eye movement mechanism
CN104723349A (en) * 2015-03-30 2015-06-24 北京电影学院 Electronic machinery bionic role producing system
CN104723349B (en) * 2015-03-30 2016-08-17 北京电影学院 Electric mechanical bionical role manufacturing system
WO2017166991A1 (en) * 2016-03-31 2017-10-05 深圳光启合众科技有限公司 Robot having blinking function
CN106078762A (en) * 2016-07-23 2016-11-09 芜湖哈特机器人产业技术研究院有限公司 Ten head and neck mechanisms of six-degree-of-freedom humanoid robot
CN106078762B (en) * 2016-07-23 2018-11-06 芜湖哈特机器人产业技术研究院有限公司 Ten neck mechanisms of six-degree-of-freedom humanoid robot
CN106041963A (en) * 2016-08-12 2016-10-26 欢乐飞(上海)机器人有限责任公司 Intelligent robot head system and operation method thereof
CN106426295A (en) * 2016-11-16 2017-02-22 北京因时机器人科技有限公司 Mechanical bionic eye device
WO2018113722A1 (en) * 2016-12-23 2018-06-28 深圳光启合众科技有限公司 Eye structure of robot, head structure of robot, and robot
KR20190055495A (en) * 2017-11-15 2019-05-23 한국생산기술연구원 Robot eye device
KR102032699B1 (en) * 2017-11-15 2019-10-16 한국생산기술연구원 Robot eye device
CN108161953A (en) * 2018-02-24 2018-06-15 上海理工大学 A kind of intelligent robot head system
CN109015598A (en) * 2018-07-17 2018-12-18 东北大学 A kind of facial expression bio-mechanism based on SMA
CN109015598B (en) * 2018-07-17 2020-05-08 东北大学 Facial expression bionic mechanism based on SMA
CN111044258A (en) * 2019-11-28 2020-04-21 扬州莱达光电技术有限公司 Simulation testing device in helmet of helmet display
CN111421558A (en) * 2020-03-19 2020-07-17 浙江工业大学 Robot with anthropomorphic expression based on electroactive polymer driver

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Effective date: 20150504

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Address after: 200230 room 5, building 33, No. 442, Leshan Road, Shanghai, Xuhui District

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Granted publication date: 20131218

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