CN203545138U - Material sucking mechanism - Google Patents
Material sucking mechanism Download PDFInfo
- Publication number
- CN203545138U CN203545138U CN201320633050.4U CN201320633050U CN203545138U CN 203545138 U CN203545138 U CN 203545138U CN 201320633050 U CN201320633050 U CN 201320633050U CN 203545138 U CN203545138 U CN 203545138U
- Authority
- CN
- China
- Prior art keywords
- axis
- module
- suction
- connecting panel
- mounting bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to a material sucking mechanism. An X-axis mechanism is arranged on a base; a Y-axis mechanism is connected with the X-axis mechanism by virtue of an X-axis and Y-axis connecting angle and can slide on the X-axis mechanism, and the sliding distance is determined by virtue of an X-axis photoelectric sensor; a Z-axis mechanism is connected with the Y-axis mechanism by virtue of a Y-Z module connecting plate and can slide on the Y-axis mechanism, and the sliding distance is determined by virtue of a Y-axis photoelectric sensor; the Z-axis mechanism is connected with an R-axis mechanism and is used for controlling the ascending and descending of the R-axis mechanism, and the ascending and descending distances are determined by virtue of a Z-axis mechanism; the lower end of the R-axis mechanism is connected with a material sucking module, the R-axis mechanism can rotate so as to enable a suction head of the material sucking module to be aligned with a material, and the rotation angle is determined by virtue of a rotating photoelectric sensor; after positions are aligned, a material sucking cylinder of the material sucking module drives to suck the material by virtue of a suction hole in the suction head, then the Z-axis mechanism ascends, the X-axis mechanism and the Y-axis mechanism are used for conveying the material sucking mechanism to a standard operation position, the material is photographed and aligned by virtue of a CCD (Charge Coupled Device), and the positions of the material in all directions are adjusted.
Description
Technical field:
The utility model relates to a kind of adsorption mechanism apparatus field, relates in particular a kind of adsorption mechanism that can regulate on X-axis, Y-axis, Z axis and R direction of principal axis.
Background technology:
During adsorption mechanism work, after material is picked up, need to adjust the position of material all directions, make material in standard operation position, now just need sucking disc mechanism can regulate on X-axis, Y-axis, Z axis and R direction of principal axis.
Utility model content:
The purpose of this utility model is for the deficiencies in the prior art part, and a kind of adsorption mechanism is provided, and its adjusting through X-axis mechanism, Y-axis mechanism, Z-axis mechanism and R axis mechanism can be by the material transportation of inhaling on suction module to standard operation position.
Technology solution of the present utility model is as follows:
An adsorption mechanism, it comprises base, X-axis mechanism, Y-axis mechanism, Z-axis mechanism, R axis mechanism and suction module, described X-axis mechanism is installed on base; Described Y-axis mechanism connects by XY axle joint angle YuXZhou mechanism, and can in XZhou mechanism, slide, and sliding distance is determined by X-axis opto-electronic pickup; Described Z-axis mechanism connects by YZ module connecting panel YuYZhou mechanism, and can in YZhou mechanism, slide, and sliding distance is determined by Y-axis opto-electronic pickup; On described Z-axis mechanism, connecting R axis mechanism, Z-axis mechanism is controlled the lifting of R axis mechanism, and lifting distance is determined by Z axis opto-electronic pickup; Described R axis mechanism lower end is connecting suction module, and the rotation of R axis mechanism, aims at material by the suction nozzle of suction module, the anglec of rotation determined by rotary photoelectric sensor, after position alignment, and the suction air cylinder driven of suction module, sucker by suction nozzle, picks up material.
As preferably, described X-axis mechanism comprises X-axis motor, X-axis coupler, the linear module of X-axis, X-axis slide rail, X-axis slide block, X-axis mounting bar, X-axis opto-electronic pickup and X-axis sensing chip, the linear module of described X-axis, X-axis slide rail and X-axis mounting bar are arranged on base respectively, and the linear module of X-axis, X-axis slide rail and X-axis mounting bar are parallel to each other; On described X-axis slide rail, coordinate X-axis slide block is installed, X-axis opto-electronic pickup is installed on X-axis mounting bar; Described X-axis motor links together by X-axis coupler and the linear module of X-axis; The linear module of described X-axis with on X-axis slide block, be connected XY axle joint angle, and X-axis sensing chip is arranged on the bottom of XY axle joint angle.
As preferably, described Y-axis mechanism comprises y-axis motor, Y-axis coupler, the linear module of Y-axis, Y-axis mounting bar, Y-axis opto-electronic pickup and Y-axis sensing chip, the linear module of described Y-axis and Y-axis mounting bar are arranged on respectively in XY axle joint angle, and the linear module of Y-axis and Y-axis mounting bar are parallel to each other; On described Y-axis mounting bar, Y-axis opto-electronic pickup is installed; Described y-axis motor links together by Y-axis coupler and the linear module of Y-axis; On the linear module of described Y-axis, connecting YZ module connecting panel, and Y-axis sensing chip is arranged on the side of YZ module connecting panel.
As preferably, described Z-axis mechanism comprises Z axis motor, Z axis coupler, z axis module, Z axis module connecting panel, Z axis mounting bar, Z axis opto-electronic pickup and Z axis sensing chip, described Z axis motor links together by Z axis coupler and z axis module, on z axis module, connecting Z axis module connecting panel, and Z axis module connecting panel and YZ module connecting panel link together; Described Z axis mounting bar is arranged on the side of z axis module, and described Z axis opto-electronic pickup is arranged on Z axis mounting bar, and described Z axis sensing chip is arranged on the side of Z axis module connecting panel.
As preferably, described R axis mechanism comprises R spindle motor, R axle coupler, R axle adapter plate, CCD support, CCD, rotary photoelectric installation of sensors piece, rotary photoelectric sensor and rotary inductive sheet, described R axle adapter plate is fixed on the back side of z axis module, the two ends of R axle adapter plate respectively symmetry are installed with CCD support, and CCD is fixedly mounted on CCD support; Described R spindle motor lower end is connecting R axle coupler, and the side of described R spindle motor is installed with rotary photoelectric sensor by rotary photoelectric installation of sensors piece, and described rotary inductive sheet is arranged on R axle coupler.
As preferably, described suction module comprises suction connecting panel, riser, suction nozzle connecting panel, air cylinder fixed plate, suction cylinder and suction nozzle, and described suction connecting panel is arranged on the bottom of R axle coupler; The bottom of described suction connecting panel is fixed together by two risers and suction nozzle connecting panel; On described suction nozzle connecting panel, be fixed wtih air cylinder fixed plate, the lower end of suction nozzle connecting panel is connecting suction nozzle; Described suction cylinder is fixed in air cylinder fixed plate, and the bottom of suction cylinder is connecting suction nozzle, and suction nozzle is provided with sucker.
The beneficial effects of the utility model are:
The utility model X-axis mechanism is installed on base, Y-axis mechanism connects by XY axle joint angle YuXZhou mechanism, and can in XZhou mechanism, slide, sliding distance is determined by X-axis opto-electronic pickup, Z-axis mechanism connects by YZ module connecting panel YuYZhou mechanism, in Bing Ke Y-axis mechanism, slide, sliding distance is determined by Y-axis opto-electronic pickup; On Z-axis mechanism, connecting R axis mechanism, Z-axis mechanism is controlled the lifting of R axis mechanism, and lifting distance is determined by Z axis opto-electronic pickup; R axis mechanism lower end is connecting suction module, the rotation of R axis mechanism, aims at material by the suction nozzle of suction module, and the anglec of rotation is determined by rotary photoelectric sensor, after position alignment, the suction air cylinder driven of suction module, the sucker by suction nozzle, picks up material, then Z-axis mechanism rises, HeYZhou mechanism of X-axis mechanism is transported to standard operation position by adsorption mechanism, by CCD, to the material calibration of taking pictures, adjusts the position of material all directions.
Accompanying drawing explanation:
Below in conjunction with accompanying drawing, the utility model is described further:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is another structural representation of the present utility model;
Fig. 3 is the front view of Fig. 1;
Fig. 4 is the structural representation of Z-axis mechanism, R axis mechanism and suction module in Fig. 1;
Fig. 5 is the back view of Fig. 4;
In Fig. 1～5: 1-base; 2-X-axis motor; 3-X-axis coupler; The linear module of 4-X-axis; 5-X-axis slide rail; 6-X-axis slide block; 7-X-axis mounting bar; 8-X-axis opto-electronic pickup; 9-X-axis sensing chip; 10-XY axle joint angle; 11-y-axis motor; 12-Y-axis coupler; The linear module of 13-Y-axis; 14-Y-axis mounting bar; 15-Y-axis opto-electronic pickup; 16-Y-axis sensing chip; 17-YZ module connecting panel; 18-Z axis motor; 19-Z axis coupler; 20-z axis module; 21-Z axis module connecting panel; 22-Z axis mounting bar; 23-Z axis opto-electronic pickup; 24-Z axis sensing chip; 25-R spindle motor; 26-R axle coupler; 27-R axle adapter plate; 28-CCD support; 29-CCD; 30-rotary photoelectric installation of sensors piece; 31-rotary photoelectric sensor; 32-rotary inductive sheet; 33-suction connecting panel; 34-riser; 35-suction nozzle connecting panel; 36-air cylinder fixed plate; 37-suction cylinder; 38-suction nozzle.
The specific embodiment:
Embodiment, is shown in accompanying drawing 1～5, a kind of adsorption mechanism, and it comprises base 1, X-axis mechanism, Y-axis mechanism, Z-axis mechanism, R axis mechanism and suction module, described X-axis mechanism is installed on base; Described Y-axis mechanism connects by XY axle joint angle YuXZhou mechanism, and can in XZhou mechanism, slide, and sliding distance is determined by X-axis opto-electronic pickup; Described Z-axis mechanism connects by YZ module connecting panel YuYZhou mechanism, and can in YZhou mechanism, slide, and sliding distance is determined by Y-axis opto-electronic pickup; On described Z-axis mechanism, connecting R axis mechanism, Z-axis mechanism is controlled the lifting of R axis mechanism, and lifting distance is determined by Z axis opto-electronic pickup; Described R axis mechanism lower end is connecting suction module, and R axis mechanism rotation is aimed at material by the suction nozzle of suction module, and the anglec of rotation determined by rotary photoelectric sensor, after position alignment, and the suction air cylinder driven of suction module, the sucker by suction nozzle, picks up material.
Described X-axis mechanism comprises X-axis motor 2, X-axis coupler 3, the linear module 4 of X-axis, X-axis slide rail 5, X-axis slide block 6, X-axis mounting bar 7, X-axis opto-electronic pickup 8 and X-axis sensing chip 9, the linear module of described X-axis, X-axis slide rail and X-axis mounting bar are arranged on base respectively, and the linear module of X-axis, X-axis slide rail and X-axis mounting bar are parallel to each other; On described X-axis slide rail, coordinate X-axis slide block is installed, X-axis opto-electronic pickup is installed on X-axis mounting bar; Described X-axis motor links together by X-axis coupler and the linear module of X-axis; The linear module of described X-axis with on X-axis slide block, be connected XY axle joint angle 10, and X-axis sensing chip is arranged on the bottom of XY axle joint angle.
Described Y-axis mechanism comprises y-axis motor 11, Y-axis coupler 12, the linear module 13 of Y-axis, Y-axis mounting bar 14, Y-axis opto-electronic pickup 15 and Y-axis sensing chip 16, the linear module of described Y-axis and Y-axis mounting bar are arranged on respectively in XY axle joint angle, and the linear module of Y-axis and Y-axis mounting bar are parallel to each other; On described Y-axis mounting bar, Y-axis opto-electronic pickup is installed; Described y-axis motor links together by Y-axis coupler and the linear module of Y-axis; On the linear module of described Y-axis, connecting YZ module connecting panel 17, and Y-axis sensing chip is arranged on the side of YZ module connecting panel.
Described Z-axis mechanism comprises Z axis motor 18, Z axis coupler 19, z axis module 20, Z axis module connecting panel 21, Z axis mounting bar 22, Z axis opto-electronic pickup 23 and Z axis sensing chip 24, described Z axis motor links together by Z axis coupler and z axis module, on z axis module, connecting Z axis module connecting panel, and Z axis module connecting panel and YZ module connecting panel link together; Described Z axis mounting bar is arranged on the side of z axis module, and described Z axis opto-electronic pickup is arranged on Z axis mounting bar, and described Z axis sensing chip is arranged on the side of Z axis module connecting panel.
Described R axis mechanism comprises R spindle motor 25, R axle coupler 26, R axle adapter plate 27, CCD support 28, CCD29, rotary photoelectric installation of sensors piece 30, rotary photoelectric sensor 31 and rotary inductive sheet 32, described R axle adapter plate is fixed on the back side of z axis module, the two ends of R axle adapter plate respectively symmetry are installed with CCD support, and CCD is fixedly mounted on CCD support; Described R spindle motor lower end is connecting R axle coupler, and the side of described R spindle motor is installed with rotary photoelectric sensor by rotary photoelectric installation of sensors piece, and described rotary inductive sheet is arranged on R axle coupler.
Described suction module comprises suction connecting panel 33, riser 34, suction nozzle connecting panel 35, air cylinder fixed plate 36, suction cylinder 37 and suction nozzle 38, and described suction connecting panel is arranged on the bottom of R axle coupler; The bottom of described suction connecting panel is fixed together by two risers and suction nozzle connecting panel; On described suction nozzle connecting panel, be fixed wtih air cylinder fixed plate, the lower end of suction nozzle connecting panel is connecting suction nozzle; Described suction cylinder is fixed in air cylinder fixed plate, and the bottom of suction cylinder is connecting suction nozzle,, suction nozzle is provided with sucker.
Work engineering: YouXZhou mechanism of whole mechanism, Y-axis mechanism and Z-axis mechanism drive, Z-axis mechanism is controlled the rise and fall of R axis mechanism, the rotation of R axis mechanism, suction nozzle is aimed to material, the anglec of rotation determined by rotary photoelectric sensor, after position alignment, and suction air cylinder driven, by the sucker on suction nozzle, material is picked up, and then Z-axis mechanism rises, and then HeYZhou mechanism of X-axis mechanism is transported to standard operation position by adsorption mechanism, by CCD, to the material calibration of taking pictures, adjust the position of material all directions.
Above-described embodiment is the specific descriptions that the utility model is carried out; just the utility model is further described; can not be interpreted as the restriction to the utility model protection domain, within those skilled in the art makes some nonessential improvement according to the content of above-mentioned utility model and adjusts and all to fall into protection domain of the present utility model.
Claims (6)
1. an adsorption mechanism, is characterized in that: it comprises base, X-axis mechanism, Y-axis mechanism, Z-axis mechanism, R axis mechanism and suction module, and described X-axis mechanism is installed on base; Described Y-axis mechanism connects by XY axle joint angle YuXZhou mechanism, and can in XZhou mechanism, slide, and sliding distance is determined by X-axis opto-electronic pickup; Described Z-axis mechanism connects by YZ module connecting panel YuYZhou mechanism, and can in YZhou mechanism, slide, and sliding distance is determined by Y-axis opto-electronic pickup; On described Z-axis mechanism, connecting R axis mechanism, Z-axis mechanism is controlled the lifting of R axis mechanism, and lifting distance is determined by Z axis opto-electronic pickup; Described R axis mechanism lower end is connecting suction module, and R axis mechanism rotation is aimed at material by the suction nozzle of suction module, and the anglec of rotation determined by rotary photoelectric sensor, after position alignment, and the suction air cylinder driven of suction module, the sucker by suction nozzle, picks up material.
2. a kind of adsorption mechanism according to claim 1, it is characterized in that: described X-axis mechanism comprises X-axis motor, X-axis coupler, the linear module of X-axis, X-axis slide rail, X-axis slide block, X-axis mounting bar, X-axis opto-electronic pickup and X-axis sensing chip, the linear module of described X-axis, X-axis slide rail and X-axis mounting bar are arranged on base respectively, and the linear module of X-axis, X-axis slide rail and X-axis mounting bar are parallel to each other; On described X-axis slide rail, coordinate X-axis slide block is installed, X-axis opto-electronic pickup is installed on X-axis mounting bar; Described X-axis motor links together by X-axis coupler and the linear module of X-axis; The linear module of described X-axis with on X-axis slide block, be connected XY axle joint angle, and X-axis sensing chip is arranged on the bottom of XY axle joint angle.
3. a kind of adsorption mechanism according to claim 1, it is characterized in that: described Y-axis mechanism comprises y-axis motor, Y-axis coupler, the linear module of Y-axis, Y-axis mounting bar, Y-axis opto-electronic pickup and Y-axis sensing chip, the linear module of described Y-axis and Y-axis mounting bar are arranged on respectively in XY axle joint angle, and the linear module of Y-axis and Y-axis mounting bar are parallel to each other; On described Y-axis mounting bar, Y-axis opto-electronic pickup is installed; Described y-axis motor links together by Y-axis coupler and the linear module of Y-axis; On the linear module of described Y-axis, connecting YZ module connecting panel, and Y-axis sensing chip is arranged on the side of YZ module connecting panel.
4. a kind of adsorption mechanism according to claim 1, it is characterized in that: described Z-axis mechanism comprises Z axis motor, Z axis coupler, z axis module, Z axis module connecting panel, Z axis mounting bar, Z axis opto-electronic pickup and Z axis sensing chip, described Z axis motor links together by Z axis coupler and z axis module, on z axis module, connecting Z axis module connecting panel, and Z axis module connecting panel and YZ module connecting panel link together; Described Z axis mounting bar is arranged on the side of z axis module, and described Z axis opto-electronic pickup is arranged on Z axis mounting bar, and described Z axis sensing chip is arranged on the side of Z axis module connecting panel.
5. a kind of adsorption mechanism according to claim 4, it is characterized in that: described R axis mechanism comprises R spindle motor, R axle coupler, R axle adapter plate, CCD support, CCD, rotary photoelectric installation of sensors piece, rotary photoelectric sensor and rotary inductive sheet, described R axle adapter plate is fixed on the back side of z axis module, the two ends of R axle adapter plate respectively symmetry are installed with CCD support, and CCD is fixedly mounted on CCD support; Described R spindle motor lower end is connecting R axle coupler, and the side of described R spindle motor is installed with rotary photoelectric sensor by rotary photoelectric installation of sensors piece, and described rotary inductive sheet is arranged on R axle coupler.
6. a kind of adsorption mechanism according to claim 5, is characterized in that: described suction module comprises suction connecting panel, riser, suction nozzle connecting panel, air cylinder fixed plate, suction cylinder and suction nozzle, and described suction connecting panel is arranged on the bottom of R axle coupler; The bottom of described suction connecting panel is fixed together by two risers and suction nozzle connecting panel; On described suction nozzle connecting panel, be fixed wtih air cylinder fixed plate, the lower end of suction nozzle connecting panel is connecting suction nozzle; Described suction cylinder is fixed in air cylinder fixed plate, and the bottom of suction cylinder is connecting suction nozzle, and suction nozzle is provided with sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320633050.4U CN203545138U (en) | 2013-10-14 | 2013-10-14 | Material sucking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320633050.4U CN203545138U (en) | 2013-10-14 | 2013-10-14 | Material sucking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203545138U true CN203545138U (en) | 2014-04-16 |
Family
ID=50463287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320633050.4U Expired - Fee Related CN203545138U (en) | 2013-10-14 | 2013-10-14 | Material sucking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203545138U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103496590A (en) * | 2013-10-14 | 2014-01-08 | 吴江市博众精工科技有限公司 | Material sucking mechanism |
| CN104003187A (en) * | 2014-06-03 | 2014-08-27 | 苏州博众精工科技有限公司 | Grabbing rotation mechanism |
| CN104002293A (en) * | 2014-06-12 | 2014-08-27 | 苏州乔岳软件有限公司 | Attachment mechanical arm mechanism |
| CN104129647A (en) * | 2014-07-11 | 2014-11-05 | 德清县宝华氟塑料工贸有限公司 | Automatic slice-shaped part feed device |
| CN104192563A (en) * | 2014-08-25 | 2014-12-10 | 昆山迈致治具科技有限公司 | Shifting device for automatic mobile phone button assembling |
| CN105922283A (en) * | 2016-06-28 | 2016-09-07 | 郑州金海威科技实业有限公司 | Vacuum adsorption type mechanical arm |
| CN111516945A (en) * | 2020-02-25 | 2020-08-11 | 浙江工业大学 | Automatic material taking and feeding device and method for wine jar sealing material |
-
2013
- 2013-10-14 CN CN201320633050.4U patent/CN203545138U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103496590A (en) * | 2013-10-14 | 2014-01-08 | 吴江市博众精工科技有限公司 | Material sucking mechanism |
| CN104003187A (en) * | 2014-06-03 | 2014-08-27 | 苏州博众精工科技有限公司 | Grabbing rotation mechanism |
| CN104002293A (en) * | 2014-06-12 | 2014-08-27 | 苏州乔岳软件有限公司 | Attachment mechanical arm mechanism |
| CN104129647A (en) * | 2014-07-11 | 2014-11-05 | 德清县宝华氟塑料工贸有限公司 | Automatic slice-shaped part feed device |
| CN104129647B (en) * | 2014-07-11 | 2017-01-18 | 德清县宝华氟塑料工贸有限公司 | Automatic slice-shaped part feed device |
| CN104192563A (en) * | 2014-08-25 | 2014-12-10 | 昆山迈致治具科技有限公司 | Shifting device for automatic mobile phone button assembling |
| CN105922283A (en) * | 2016-06-28 | 2016-09-07 | 郑州金海威科技实业有限公司 | Vacuum adsorption type mechanical arm |
| CN111516945A (en) * | 2020-02-25 | 2020-08-11 | 浙江工业大学 | Automatic material taking and feeding device and method for wine jar sealing material |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203545138U (en) | Material sucking mechanism | |
| CN103496590A (en) | Material sucking mechanism | |
| CN103586662B (en) | A kind of carrier device of automatic aligning | |
| CN103698916B (en) | A kind of pipeline system LCD mounting equipment | |
| CN103379820B (en) | A kind of automatic aligning parts mount mechanism | |
| CN203544436U (en) | Automatic laminator | |
| CN103231244B (en) | A kind of automatic aligning component-mounting machine | |
| CN103657967B (en) | A kind of automatic dispensing machine | |
| CN104002293A (en) | Attachment mechanical arm mechanism | |
| CN203541972U (en) | Automatic-alignment carrier device | |
| CN203658694U (en) | Assembly line type liquid crystal display (LCD) assembling device | |
| CN103587944A (en) | Mechanism for sucking light and thin sheet material | |
| CN104646996B (en) | Suction nozzle and pressing claw mechanism capable of moving in Z-axis direction | |
| CN103659802A (en) | Grabbing mechanism | |
| CN111941422A (en) | Tile pasting robot system | |
| CN103738557B (en) | One is labelled mechanism | |
| CN103662820A (en) | Jacking correction mechanism | |
| CN104668952A (en) | Four-axis direction-adjustable component mounting mechanism | |
| CN203510075U (en) | Automatic centering installing machine | |
| CN203416570U (en) | Alignment assembly machine | |
| CN107364719A (en) | A kind of sheet glass feeding and conveying device | |
| CN205437748U (en) | Locking screw mechanism | |
| CN104526332A (en) | Locking mechanism for mobile phone shell screws | |
| CN203399478U (en) | Automatic-alignment part installation mechanism | |
| CN203901280U (en) | Pasting mechanical arm mechanism |
Legal Events
| 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 |
Granted publication date: 20140416 Termination date: 20161014 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |