CN203510240U - Mechanical arm of explosive-handling robot - Google Patents
Mechanical arm of explosive-handling robot Download PDFInfo
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- CN203510240U CN203510240U CN201320383335.7U CN201320383335U CN203510240U CN 203510240 U CN203510240 U CN 203510240U CN 201320383335 U CN201320383335 U CN 201320383335U CN 203510240 U CN203510240 U CN 203510240U
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- wrist
- worm
- explosive
- elbow
- rotating shaft
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Abstract
The utility model discloses a mechanical arm of an explosive-handling robot and relates to the field of robots. A worm gear and a worm are arranged at the wrist joint and the elbow joint of the mechanical arm respectively, and the worm is driven by motors to rotate respectively. Meanwhile, the middle of a small arm and the middle of a large arm are provided with a wrist rotation shaft and an elbow rotation shaft, the wrist rotation shaft and the elbow rotation shaft are driven by the motors to rotate respectively, and therefore the actions of swinging of the large arm, swinging and rotating of the small arm, rotating of the wrist and the like are achieved. The mechanical arm can be used independently and can also be used cooperatively, the mechanical arm can be controlled manually and can also be controlled by inputting a program into a single chip microcomputer in advance, and therefore the explosive-handling robot can finish the explosive-handling work under various conditions. The mechanical arm of the explosive-handling robot has the advantages of being high in positioning precision, good in self-locking performance, suitable for large-range popularization and application and the like.
Description
[technical field]
The utility model relates to robot field, relates in particular to a kind of mechanical arm of robot, is specifically related to a kind of mechanical arm of explosive-removal robot.
[background technology]
Known, explosive work be one complicated, relate to the work of personal safety, this just requires explosive staff not only bold, also careful, but it is reported, there are every year many explosive staff's injures and deaths, if there is platform can help the robot of explosive staff's work, to protecting explosive personnel's personal safety and the explosive personnel's of minimizing life casualty all can play a part useful, creation thought based on such just, each state all produces various explosive-removal robots, such as Britain is the country that develops the earliest explosive-removal robot, due to the long-term national conflict of Britain and Northern Ireland, constantly be subject to the threat of explosive, therefore, early develop Explosive Ordnance Disposal Robot, the crawler type of its production " handcart " and " super handcart " explosive-removal robot, sold the army and police mechanism of more than 50 country, again " handcart " optimized recently, develop " marmot " and " wild ox " two kinds of remote control electric explosive-removal robots, and in nearest the war in Iraq, be used for surveying and processing explosive, also having the more famous explosive-removal robot of France is the RS200 robot of Cy-bernetics company development, the air force of France, ground force, police administration have all bought this robot, in addition the RM35 robot of DM company development is also used to airport, Paris, this robot is equipped with the long-armed 2.8m of reaching of built-in telescopical machinery, payload 30kg, by adopting Full Tracked chassis, makes it have fabulous cross-country power, the instrument of some specific functions is also housed in addition, the Zai You U.S. is to be to attach great importance to the research of explosive-removal robot, important component part using it as fighting capacity of future generation, a large amount of funds and manpower and materials have been dropped into, the Andros series robot of U.S. Romotec company development is subject to the welcome of various countries army and police department, this robot has all been bought in the White House and police office, the Capitol, after the Gulf War, the U.S. once cleared up land mine and unexploded ammunition with this robot in the air base of Saudi Arabia and Kuwait, there is a support that can be elevated to 4.5m in this robot, can fill color video camera in the above, day/night sight, binaural audio detector, chemical probe, miniature navigation system, infrared ray sensor etc., remote control distance reaches 10m, in addition, MR5 and MR7 explosive-removal robot that company of U.S. Wolstenholme robot produces are for indoor and outdoor environment, the explosive-removal robot that adapts to all landform, Israel is subject to the threat of terrorist activity for a long time simultaneously, anti-terrorism is attached great importance to, in order to tackle suicide bombing, attack, develop and bought the explosive-removal robot of Multiple Type, in addition, the state such as Canada, Germany, Australia, Japan, Korea S all in succession drops into suitable manpower and materials and develops explosive-removal robot, and China is aspect the R&D capability of explosive-removal robot, lag significantly behind above-mentioned developed country, but, the scientific and technological researcher of China through great efforts, approached in some respects international advanced level, existing several explosive-removal robots come into operation, such as Shanghai Communications University is one of China unit of being engaged in the earliest robot research, bore the key project tackling key problem of multinomial country, "836" Project, the robot project that National Nature Scientific Fund is relevant, this school successively develops fire-fighting robot, teaching robot, spray robot, arc welding robot etc., since two thousand two also be devoted to the development of explosive-removal robot, produced at present performance prototype, also have South China Science & Engineering University Ye Shi China to be early engaged in one of unit of robot research, also be Guangdong first be engaged in the unit of robot research, there is at present the explosive-removal robot that South China Science & Engineering University and Ji Jingliang Development Co., Ltd of Department of Public Security of Guangdong Province develop jointly in the anti-terrorism explosion prevention robot exhibition of China in 2005, to put on display, this robot has six-freedom degree, maximum travelling speed 0.8m/s, the maximum gradient 35 degree of creeping, maximum weight capacity 30kg, manipulator front end is furnished with explosive substance destroy machine two cover and with one of the running fire shotgun of sniperscope, end is furnished with paw, electric drill, electric saw, one piece, electric scissors and sound pick-up, and can automatically change according to control instruction, walking dolly is furnished with X-ray survey meter and movable imaging plate, loudspeaker and alarm, there is again anti-terrorism explosion prevention robot " clever lizard-A " type and " clever lizard-B " type that Shenyang China automation research is developed voluntarily also successively to succeed, " clever lizard-B " type belongs to remote controlled moving working rig, it is a kind of crawl that has, the novel robot product of the functions such as destroying explosive substance, its body is strong and vigorous, deadweight 180kg, maximum travelling speed is 40m/min, can cross over the obstacle that 0.45m is high, creep and be no more than slope and the stair of 45 degree, can equip as requested explosive substance destroy machine simultaneously, running fire bullet rifle, the weapons such as tear bombnoun, complete corresponding function etc., but because explosive-removal robot is more complicated than general industrial robot, intelligent degree is higher, related technology is more and more wider, difficulty is more and more higher, its core technology mainly comprises the technology that is movably walking, telecontrol engineering, half from advocating peace proprietary technology, multi-sensor information fusion technology, Navigation and localization technology, bionics techniques, many intelligent coordinated technology, microminiaturization technology etc., yet, that the domestic or external all kinds of explosive-removal robots of in the past releasing are all only to have less several frees degree, cannot make the arm of robot realize large arm swing, the actions such as little arm swing and rotation and wrist turn, having made space that explosive-removal robot arrives like this and completing of task is all very limited, cannot meet the demand of explosive work.
[summary of the invention]
For overcoming the deficiency existing in background technology, the utility model provides a kind of mechanical arm of explosive-removal robot, the utility model arranges respectively worm and gear by the wrist joint at mechanical arm and elbow joint place, and drive worm screw to rotate by motor, at the middle part of forearm and large arm, wrist rotating shaft and elbow rotating shaft are set simultaneously, and by motor, drive wrist rotating shaft and elbow rotating shaft to rotate respectively, realize the actions such as the large arm swing of mechanical arm, little arm swing and rotation and wrist turn, and then make explosive-removal robot can complete the explosive work in various situations.
For realizing goal of the invention as above, the utility model adopts technical scheme as described below:
A kind of mechanical arm of explosive-removal robot, comprise wrist joint, forearm, elbow joint and large arm, on described carpal top, be provided with worm-wheel shaft A, at the middle part of worm-wheel shaft A, be provided with worm gear A, in the bottom of described worm gear A, be provided with the worm screw A with worm gear A engagement, any one end of described worm screw A connects motor A by shaft coupling A, on worm-wheel shaft A, the both sides of worm gear A are respectively equipped with wrist side plate, described two wrist side plates and worm gear A connect firmly, upper end at two wrist side plates is provided with ring flange, described ring flange connects clamping device, wherein carpal bottom connects firmly the upper end of wrist rotating shaft by nut A, described wrist rotating shaft is arranged on the middle part of forearm, the lower end of wrist rotating shaft connects motor D through wrist rotating shaft support plate by shaft coupling C, lower end at forearm is provided with elbow joint, the top movable of described elbow joint is provided with worm-wheel shaft B, described worm-wheel shaft B and forearm connect firmly, at the middle part of worm-wheel shaft B, be provided with worm gear B, the bottom of described worm gear B is provided with the worm screw B with worm gear B engagement, any one end of described worm screw B connects motor B by shaft coupling B, wherein the bottom of elbow joint connects firmly the upper end of elbow rotating shaft by nut B, described elbow rotating shaft is arranged on the middle part of large arm, the lower end of elbow rotating shaft connects by shaft coupling D the mechanical arm that motor C forms described explosive-removal robot through elbow rotating shaft support plate.
The mechanical arm of described explosive-removal robot, described wrist joint comprises wrist joint base plate and wrist joint side plate, two ends on described wrist joint base plate respectively correspondence are provided with wrist joint side plate, top between corresponding two wrist joint side plates is provided with worm-wheel shaft A, between the two ends of described worm-wheel shaft A and two wrist joint side plates, is respectively equipped with bearings D.
The mechanical arm of described explosive-removal robot, is provided with key between described carpal bottom and the upper end of wrist rotating shaft.
The mechanical arm of described explosive-removal robot, is provided with bearing B between the upper end of described wrist rotating shaft and the top board of forearm, between the bottom of wrist rotating shaft and wrist rotating shaft support plate, is provided with bearing.
The mechanical arm of described explosive-removal robot, described elbow joint comprises elbow joint base plate and elbow joint side plate, two ends on described elbow joint base plate respectively correspondence are provided with elbow joint side plate, top between corresponding two elbow joint side plates is provided with worm-wheel shaft B, middle part at worm-wheel shaft B connects worm gear B by key, between the two ends of worm-wheel shaft B and two elbow joint side plates, be respectively equipped with bearing, wherein the inner side of two elbow joint side plates connects respectively the lower end of forearm by key, in the lower end of worm gear B, be provided with worm screw B, described worm screw B is arranged between the correspondence two elbow joint side plates of elbow joint, between worm screw B and corresponding two elbow joint side plates, be respectively equipped with bearing A.
The mechanical arm of described explosive-removal robot, the bottom of described elbow joint connects the upper end of elbow rotating shaft by key.
The mechanical arm of described explosive-removal robot, is provided with bearing E between the top board of the Yu great Bei upper end, upper end of described elbow rotating shaft, between the lower end of elbow rotating shaft and elbow rotating shaft support plate, is provided with bearing C.
The mechanical arm of described explosive-removal robot, described motor D is fixed on wrist rotating motor fixed head by bolt B.
The mechanical arm of described explosive-removal robot, described motor C is fixed on elbow rotating shaft electric motor fixed head by bolt A.
The mechanical arm of described explosive-removal robot, described forearm comprises forearm upper plate and forearm lower plate, described forearm upper plate is connected by trip bolt with forearm lower plate.
Adopt technical scheme as above, the utlity model has superiority as described below:
The mechanical arm of a kind of explosive-removal robot described in the utility model, the utility model arranges respectively worm and gear by the wrist joint at mechanical arm and elbow joint place, and by motor, drive worm screw to rotate respectively, at the middle part of forearm and large arm, wrist rotating shaft and elbow rotating shaft are set simultaneously, and by motor, drive wrist rotating shaft and elbow rotating shaft to rotate respectively, realize the large arm swing of mechanical arm, the actions such as little arm swing and rotation and wrist turn, mechanical arm described in the utility model not only can be used separately but also can be used in conjunction with, its control mode can be that manual control also can be inputted program in single-chip microcomputer and control in advance, and then make explosive-removal robot can complete the explosive work in various situations, the utlity model has positioning precision high, the features such as self-locking property is good, be applicable to large-scale promotion and application
[accompanying drawing explanation]
Fig. 1 is the structural representation of the utility model mechanical arm;
Fig. 2 is the left TV structure schematic diagram of Fig. 1;
In the drawings: 1, ring flange; 2, wrist side plate; 3, worm screw A; 4, nut A; 5, wrist rotating shaft; 6, forearm; 7, trip bolt; 8, worm screw B; 9, bearing A; 10, elbow joint; 11, nut B; 12, key; 13, elbow rotating shaft; 14, large arm; 15, bolt A; 16, shaft coupling A; 17, motor A; 18, shaft coupling B; 19, motor B; 20, motor C; 21, worm gear A; 22, worm-wheel shaft A; 23, bearing B; 24, wrist rotating shaft support plate; 25, shaft coupling C; 26, wrist rotating motor fixed head; 27, bolt B; 28, motor D; 29, worm gear B; 30, worm-wheel shaft B; 31, bearing C; 32, shaft coupling D; 33, bearings D; 34, wrist joint; 35, bearing E; 36, elbow rotating shaft support plate; 37, elbow rotating shaft electric motor fixed head.
[specific embodiment]
By the following examples, can explain in more detail the utility model, the utility model is not limited to the following examples;
The mechanical arm of a kind of explosive-removal robot described in 1～2 by reference to the accompanying drawings, comprise wrist joint 34, forearm 6, elbow joint 10 and large arm 14, on the top of described wrist joint 34, be provided with worm-wheel shaft A22, at the middle part of worm-wheel shaft A22, be provided with worm gear A21, in the bottom of described worm gear A21, be provided with the worm screw A3 with worm gear A21 engagement, described wrist joint 34 comprises wrist joint base plate and wrist joint side plate, two ends on described wrist joint base plate respectively correspondence are provided with wrist joint side plate, top between corresponding two wrist joint side plates is provided with worm-wheel shaft A22, between the two ends of described worm-wheel shaft A22 and two wrist joint side plates, be respectively equipped with bearings D 33, any one end of described worm screw A3 connects motor A17 by shaft coupling A16, by motor A17, drive worm screw A3 to rotate, and then make the ring flange 1 on wrist joint 34 realize rotation, on worm-wheel shaft A22, the both sides of worm gear A21 are respectively equipped with wrist side plate 2, described two wrist side plates 2 connect firmly with worm gear A21, in the upper end of two wrist side plates 2, be provided with ring flange 1, described ring flange 1 connects clamping device, wherein clamping device is manipulator, manipulator the utility model people separate case application, at this, will not tire out and state, wherein the bottom of wrist joint 34 connects firmly the upper end of wrist rotating shaft 5 by nut A4, between the upper end of the bottom of wrist joint 34 and wrist rotating shaft 5, be provided with key, described key is flat key or woodruff key or spline, between the upper end of wrist rotating shaft 5 and the top board of forearm 6, be provided with bearing B23, described wrist rotating shaft 5 is arranged on the middle part of forearm 6, described forearm 6 comprises forearm upper plate and forearm lower plate, described forearm upper plate is connected by trip bolt 7 with forearm lower plate, the lower end of wrist rotating shaft 5 connects motor D 28 through wrist rotating shaft support plate 24 by shaft coupling C25, described motor D 28 is fixed on wrist rotating motor fixed head 26 by bolt B 27, between the bottom of wrist rotating shaft 5 and wrist rotating shaft support plate 24, be provided with bearing, in the lower end of forearm 6, be provided with elbow joint 10, the top movable of described elbow joint 10 is provided with worm-wheel shaft B30, described worm-wheel shaft B30 and forearm 6 connect firmly, at the middle part of worm-wheel shaft B30, be provided with worm gear B29, the bottom of described worm gear B29 is provided with the worm screw B8 with worm gear B29 engagement, any one end of described worm screw B8 connects motor B19 by shaft coupling B18, described elbow joint 10 comprises elbow joint base plate and elbow joint side plate, two ends on described elbow joint base plate respectively correspondence are provided with elbow joint side plate, top between corresponding two elbow joint side plates is provided with worm-wheel shaft B30, flat key or woodruff key or spline joint worm gear B29 are passed through in middle part at worm-wheel shaft B30, between the two ends of worm-wheel shaft B30 and two elbow joint side plates, be respectively equipped with bearing, wherein the inner side of two elbow joint side plates connects respectively the lower end of forearm 6 by key, in the lower end of worm gear B29, be provided with worm screw B8, described worm screw B8 is arranged between the correspondence two elbow joint side plates of elbow joint 10, between worm screw B8 and corresponding two elbow joint side plates, be respectively equipped with bearing A9, wherein the bottom of elbow joint 10 connects firmly the upper end of elbow rotating shaft 13 by nut B11, the bottom of described elbow joint 10 connects the upper end of elbow rotating shaft 13 by key 12, wherein between the upper end of elbow rotating shaft 13 and the top board of large arm 14 upper ends, be provided with bearing E35, described elbow rotating shaft 13 is arranged on the middle part of large arm 14, the lower end of elbow rotating shaft 13 connects by shaft coupling D32 the mechanical arm that motor C20 forms described explosive-removal robot through elbow rotating shaft support plate 36, wherein between the lower end of elbow rotating shaft 13 and elbow rotating shaft support plate 36, be provided with bearing C31, described motor C20 is fixed on elbow rotating shaft electric motor fixed head 37 by bolt A15.
The mechanical arm of a kind of explosive-removal robot described in the utility model, in actual application, not only can be applied in explosive field, in other field, also there is boundless purposes, such as using in the industrial production line that automaticity is higher, by changing the clamping device of mechanical arm upper end, realize the job requirement of the difform part of clamping, thereby improve workman's labour intensity, raise labour productivity, reduce the production cost of product, increase the economic benefit of enterprise, in addition, if used, human body is had in the work situation of injury, can improve workman's working condition, reduce environment to the injury of workman's health etc.
The utility model does not describe part in detail for prior art.
The embodiment selecting in this article for open the purpose of this utility model, currently thinks suitablely, still, will be appreciated that, the utility model is intended to comprise that all belong to all changes and the improvement of the embodiment in this design and invention scope.
Claims (10)
1. the mechanical arm of an explosive-removal robot, comprise wrist joint (34), forearm (6), elbow joint (10) and large arm (14), it is characterized in that: the top at described wrist joint (34) is provided with worm-wheel shaft A(22), at worm-wheel shaft A(22) middle part be provided with worm gear A(21), at described worm gear A(21) bottom be provided with and worm gear A(21) engagement worm screw A(3), described worm screw A(3) any one end is by shaft coupling A(16) connection motor A(17), at worm-wheel shaft A(22) upper worm gear A(21) both sides be respectively equipped with wrist side plate (2), described two wrist side plates (2) and worm gear A(21) connect firmly, in the upper end of two wrist side plates (2), be provided with ring flange (1), described ring flange (1) connects clamping device, wherein the bottom of wrist joint (34) is by nut A(4) connect firmly the upper end of wrist rotating shaft (5), described wrist rotating shaft (5) is arranged on the middle part of forearm (6), shaft coupling C(25 is passed through through wrist rotating shaft support plate (24) in the lower end of wrist rotating shaft (5)) connection motor D (28), in the lower end of forearm (6), be provided with elbow joint (10), the top movable of described elbow joint (10) is provided with worm-wheel shaft B(30), described worm-wheel shaft B(30) connect firmly with forearm (6), at worm-wheel shaft B(30) middle part be provided with worm gear B(29), described worm gear B(29) bottom is provided with and worm gear B(29) engagement worm screw B(8), described worm screw B(8) any one end is by shaft coupling B(18) connection motor B(19), wherein the bottom of elbow joint (10) is by nut B(11) connect firmly the upper end of elbow rotating shaft (13), described elbow rotating shaft (13) is arranged on the middle part of large arm (14), the lower end of elbow rotating shaft (13) through elbow rotating shaft support plate (36) by shaft coupling D(32) connect motor C(20) form the mechanical arm of described explosive-removal robot.
2. the mechanical arm of explosive-removal robot according to claim 1, it is characterized in that: described wrist joint (34) comprises wrist joint base plate and wrist joint side plate, two ends on described wrist joint base plate respectively correspondence are provided with wrist joint side plate, top between corresponding two wrist joint side plates is provided with worm-wheel shaft A(22), described worm-wheel shaft A(22) two ends and two wrist joint side plates between be respectively equipped with bearings D (33).
3. the mechanical arm of explosive-removal robot according to claim 1, is characterized in that: between the bottom of described wrist joint (34) and the upper end of wrist rotating shaft (5), be provided with key.
4. the mechanical arm of explosive-removal robot according to claim 1, it is characterized in that: between the upper end of described wrist rotating shaft (5) and the top board of forearm (6), be provided with bearing B(23), between the bottom of wrist rotating shaft (5) and wrist rotating shaft support plate (24), be provided with bearing.
5. the mechanical arm of explosive-removal robot according to claim 1, it is characterized in that: described elbow joint (10) comprises elbow joint base plate and elbow joint side plate, two ends on described elbow joint base plate respectively correspondence are provided with elbow joint side plate, top between corresponding two elbow joint side plates is provided with worm-wheel shaft B(30), at worm-wheel shaft B(30) middle part by key, connect worm gear B(29), at worm-wheel shaft B(30) two ends and two elbow joint side plates between be respectively equipped with bearing, wherein the inner side of two elbow joint side plates connects respectively the lower end of forearm (6) by key, at worm gear B(29) lower end be provided with worm screw B(8), described worm screw B(8) be arranged between the correspondence two elbow joint side plates of elbow joint (10), at worm screw B(8) with corresponding two elbow joint side plates between be respectively equipped with bearing A(9).
6. the mechanical arm of explosive-removal robot according to claim 1, is characterized in that: the bottom of described elbow joint (10) connects the upper end of elbow rotating shaft (13) by key (12).
7. the mechanical arm of explosive-removal robot according to claim 1, it is characterized in that: between the upper end of described elbow rotating shaft (13) and the top board of large arm (14) upper end, be provided with bearing E(35), between the lower end of elbow rotating shaft (13) and elbow rotating shaft support plate (36), be provided with bearing C(31).
8. the mechanical arm of explosive-removal robot according to claim 1, is characterized in that: described motor D (28) is fixed on wrist rotating motor fixed head (26) by bolt B (27).
9. the mechanical arm of explosive-removal robot according to claim 1, is characterized in that: described motor C(20) by bolt A(15) be fixed on elbow rotating shaft electric motor fixed head (37).
10. the mechanical arm of explosive-removal robot according to claim 1, is characterized in that: described forearm (6) comprises forearm upper plate and forearm lower plate, and described forearm upper plate is connected by trip bolt (7) with forearm lower plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320383335.7U CN203510240U (en) | 2013-07-01 | 2013-07-01 | Mechanical arm of explosive-handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320383335.7U CN203510240U (en) | 2013-07-01 | 2013-07-01 | Mechanical arm of explosive-handling robot |
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| Publication Number | Publication Date |
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| CN203510240U true CN203510240U (en) | 2014-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320383335.7U Expired - Fee Related CN203510240U (en) | 2013-07-01 | 2013-07-01 | Mechanical arm of explosive-handling robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526713A (en) * | 2014-10-14 | 2015-04-22 | 浙江工业大学 | Self-adaptive robot joint with rigid drive and flexible regulation functions |
| CN105882781A (en) * | 2014-11-18 | 2016-08-24 | 郝成武 | Eight-foot walking robot |
| CN108381517A (en) * | 2018-01-24 | 2018-08-10 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism |
| WO2023028733A1 (en) * | 2021-08-30 | 2023-03-09 | 苏州群志机械设备有限公司 | Mechanical arm rotating structure of machine tool |
-
2013
- 2013-07-01 CN CN201320383335.7U patent/CN203510240U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526713A (en) * | 2014-10-14 | 2015-04-22 | 浙江工业大学 | Self-adaptive robot joint with rigid drive and flexible regulation functions |
| CN105882781A (en) * | 2014-11-18 | 2016-08-24 | 郝成武 | Eight-foot walking robot |
| CN108381517A (en) * | 2018-01-24 | 2018-08-10 | 陕西科技大学 | A kind of explosive-removal robot mechanical arm mechanism |
| WO2023028733A1 (en) * | 2021-08-30 | 2023-03-09 | 苏州群志机械设备有限公司 | Mechanical arm rotating structure of machine tool |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140402 Termination date: 20160701 |