CN203714167U - Novel machine bionic fish - Google Patents
Novel machine bionic fish Download PDFInfo
- Publication number
- CN203714167U CN203714167U CN201320870892.1U CN201320870892U CN203714167U CN 203714167 U CN203714167 U CN 203714167U CN 201320870892 U CN201320870892 U CN 201320870892U CN 203714167 U CN203714167 U CN 203714167U
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- stay bearing
- bearing plate
- shaped plate
- motor
- plate
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 28
- 239000011664 nicotinic acid Substances 0.000 title abstract description 7
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 29
- 230000003592 biomimetic effect Effects 0.000 claims description 19
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000003754 machining Methods 0.000 abstract 1
- 230000036632 reaction speed Effects 0.000 abstract 1
- 238000011161 development Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000003653 coastal water Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
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Abstract
The utility model discloses a novel machine bionic fish, comprising a head with fish eyes, a fish body, a pectoral fin and a tail fin; a skeleton is arranged in the fish body and comprises support plates comprising a first support plate, a second support plate, a third support plate and a fourth support plate; the fourth support plate is fixedly connected with the tail fin; a first output shaft is connected with a first U-shaped plate in an insertion-pull mode; a first round ring is connected between one edge of the first U-shaped plate and one side surface of a first motor in the insertion-pull mode; pectoral fin supports are connected at two ends of the first output shaft in the insertion-pull mode; the pectoral fin supports are fixedly connected with the pectoral fin by bolts; a driving device is connected among the support plates by bolts. The integral mechanical structure of the machine fish is simple in structural design, machining is facilitated, diversified underwater motion can be realized by the joint cooperation of the pectoral fin and the tail fin, and the mode that the pectoral fin is used as a lifting rudder to control the fish to ascend and dive has sensitive reaction speed and efficient dynamic performances.
Description
Technical field
The utility model relates to a kind of bionics techniques and meets the tendency, and is specifically related to a kind of new machine Biomimetic Fish.
Background technology
Aspect the development of Biomimetic Fish and the research of propelling mechanism, domestic starts late.But along with China's economy high speed, stable development, the active demand to coastal waters and the exploitation of marine site, ocean, suddenly waiting needs a kind of efficient propelling pattern replace the propelling pattern of traditional inefficiency to widen the operating range of apparatus waterborne.Along with the rise of external bionic mechanical fish research, increasing scientific research institution takes to the work of this respect.The domestic mechanisms such as BJ University of Aeronautics & Astronautics, Institute of Automation, Chinese Academy of sociences, graduate school of the Chinese Academy of Sciences, China Science & Technology University, Harbin Institute of Technology, Shenyang Institute of Automation, Shanghai Communications University, Harbin Engineering University that mainly contain, have carried out the research-and-development activity of bionic mechanical fish at present.Continuous progress along with subjects such as bionics, robotics, fluid mechanics, electro-magnetism, new material science, automatic control theory, and the development of marine economy and the increase of military requirement, researcher has been invested sight in the research of the underwater various biological motion mechanism of long-term life.The advantages such as the high efficiency of aquatic organism, low noise, high-speed, high maneuverability, become the object of the bionic underwater robot imitation of scientists development of new high speed, low noise, maneuverability.Bionic shape has multiple spot advantage, and civilian aspect can reduce hydrobiological impact around as water quality detection robot, maximizes reduction water body environment, is more conducive to study hydrobiont habits and customs; Military aspect, can significantly reduce the chance being detected by enemy, as the used time of collecting enemy's information, can improve the probability of surviving.
The bionic mechanical fish of current development can be divided into two classes by propulsion mode: a class is the propelling pattern of the most common imitative tail fin, utilize yaw rudder rising dive, the propulsion coefficient of this type of propelling pattern of moving about is very high, and swimming speed is also very fast, but manoevreability is not strong.Another kind of is to utilize pectoral fin as the propulsion mode of major impetus, and the maneuvering performance of this type of propulsion mode is very strong, but propulsion coefficient is not high, and trip speed is not high yet.Fish mainly utilize the switching of these two kinds of propulsion modes both to reach can to move about at a high speed, have again the object of very high maneuvering performance.
Utility model content
The problem existing for above-mentioned prior art, the utility model provides a kind of new machine Biomimetic Fish.
To achieve these goals, the technical solution adopted in the utility model is: a kind of new machine Biomimetic Fish, comprises the fish head, fish body, pectoral fin and the tail fin that are provided with flake; In fish body, be provided with skeleton, skeleton comprises stay bearing plate, and stay bearing plate is divided into the first stay bearing plate, the second stay bearing plate, the 3rd stay bearing plate and the 4th stay bearing plate, and the 4th stay bearing plate is fixedly connected with tail fin; The first stay bearing plate front has been bolted rectangular slab, rectangular slab first type surface is provided with oblong projection, oblong projection is positive is fixedly connected with the first motor by a few font clamps, first output shaft vertical orientation the first motor two sides of the first motor extend to outside the first motor two sides, on the first output shaft, plug-in is connected with the first U-shaped plate, between first U-shaped plate one side and the first motor one side, plug-in is connected with the first annulus, the first output shaft two ends plug-in is connected with pectoral fin support, and pectoral fin support has been bolted to connection pectoral fin; Rectangular slab has also been bolted to connection L shaped plate, and L shaped plate one side first type surface is provided with breach and symmetrical vertical orientation has one group of leg; Between described stay bearing plate, be bolted actuating device, actuating device comprises the second U-shaped plate, the 3rd U-shaped plate, the second motor and rectangular blocks, the second U-shaped plate both sides vertical orientation is provided with the second bearing, the 3rd U-shaped plate both sides vertical orientation is provided with the 3rd bearing, the positive side of rectangular blocks is provided with cylindrical protrusions, the second output shaft of the second motor is through cylindrical protrusions and rectangular blocks, and be connected with rectangular blocks plug-in with cylindrical protrusions, the second output shaft two ends are connected with the 3rd bearing plug-in with the second bearing.
As preferably, the nylon shell that fish head is hollow, fish head and the first stay bearing plate bayonet coupling.
As preferably, notch size coordinates with oblong bump sizes.
As preferably, rectangular blocks one side overlaps and equal and opposite in direction completely with the 3rd U-shaped plate inner concave, and rectangular blocks is fixedly connected with the 3rd U-shaped plate by bolt.
As preferably, the second motor thickness is consistent with the second U-shaped plate and the 3rd U-shaped plate thickness.
As preferably, rectangular slab is also at least provided with first through hole, and the first through hole extends to outside the first stay bearing plate through the first stay bearing plate; The second U-shaped plate is at least provided with second through hole, and the second through hole is through the 3rd U-shaped plate, the second stay bearing plate and the 3rd stay bearing plate.
As preferably, in the first motor and the second motor, be provided with lithium cell.
As preferably, the first output shaft can be threaded with there being pectoral fin support; The first stay bearing plate, the second stay bearing plate, the 3rd stay bearing plate and the 4th stay bearing plate can be provided with screw-threaded counterbore by vertical orientation.
Compared with prior art, the utility model has the advantage of:
1. the integral mechanical structure simplicity of design of this machine fish, be of value to processing, common cooperation by pectoral fin and tail fin can realize various sub aqua sport, the liter that pectoral fin is controlled aircraft just as host wing or the horizontal wings of aircraft is dived, in fish height speed, move about in situation, pectoral fin rises latent mode as elevating rudder control fish body and has sensitive speed of response and efficient dynamic performance;
2. on the first output shaft, plug-in is connected with the first U-shaped plate, between first U-shaped plate one side and the first motor one side, plug-in is connected with the first annulus, rectangular slab has also been bolted to connection L shaped plate, L shaped plate one side first type surface is provided with breach and symmetrical vertical orientation has one group of leg, be conducive to limit the rotational angle of pectoral fin, prevent because pectoral fin rotational angle is excessive, and cause the fluctuation of service that occurs, even make integral body be subject to excessive resistance and damage:
3. the positive side of rectangular blocks is provided with cylindrical protrusions, rectangular blocks one side overlaps and equal and opposite in direction completely with the 3rd U-shaped plate inner concave, rectangular blocks is fixedly connected with the 3rd U-shaped plate by bolt, increased flexural strength, increase by the second output shaft area of thrust surface, prevent bending, thereby the phenomenon that appearance cannot be rotated affects whole operation;
4. the second output shaft of the second motor is through cylindrical protrusions and rectangular blocks, and be connected with rectangular blocks plug-in with cylindrical protrusions, the second output shaft two ends are connected with the 3rd bearing plug-in with the second bearing, be conducive to reduce the suffered moment of flexure of each steering wheel rotating shaft, friction is reduced, rotate flexibly.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model new machine Biomimetic Fish.
Fig. 2 is the skeleton structure schematic diagram of the utility model new machine Biomimetic Fish.
Fig. 3 is the first supporting plate structure schematic diagram of the utility model new machine Biomimetic Fish.
Fig. 4 is the driving device structure schematic diagram of the utility model new machine Biomimetic Fish.
Fig. 5 is the actuating device cross-sectional view of the utility model new machine Biomimetic Fish.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
A new machine Biomimetic Fish, comprises the fish 1, fish body 2, pectoral fin 3 and the tail fin 7 that are provided with flake 11, in fish body 2, be provided with skeleton, skeleton comprises stay bearing plate, and stay bearing plate is divided into the first stay bearing plate 4, the second stay bearing plate 5, the 3rd stay bearing plate 6 and the 4th stay bearing plate 71, the four stay bearing plates 71 and is fixedly connected with tail fin 7, the first stay bearing plate 4 fronts have been bolted rectangular slab 42, rectangular slab 42 first type surfaces are provided with oblong projection 421, oblong projection 421 fronts are fixedly connected with the first motor 44 by a few font clamps 43, first output shaft 46 vertical orientation the first motor 44 two sides of the first motor 44 extend to outside the first motor 44 two sides, on the first output shaft 46, plug-in is connected with the first U-shaped plate 45, between first U-shaped plate 45 one side and the first motor 44 1 sides, plug-in is connected with the first annulus 48, the first output shaft 46 two ends plug-ins are connected with pectoral fin support 31, pectoral fin support 31 has been bolted to connection pectoral fin 3, rectangular slab 42 has also been bolted to connection L shaped plate 41, L shaped plate 41 one side first type surfaces are provided with breach 412 and symmetrical vertical orientation has one group of leg 411, be conducive to limit the rotational angle of pectoral fin 3, prevent because pectoral fin 3 rotational angles are excessive, and cause the fluctuation of service that occurs, even make integral body be subject to excessive resistance and damage, between described stay bearing plate, be bolted actuating device 8, actuating device 8 comprises the second U-shaped plate 82, the 3rd U-shaped plate 83, the second motor 81 and rectangular blocks 84, the second U-shaped plate 82 both sides vertical orientations are provided with the second bearing 821, the 3rd U-shaped plate 83 both sides vertical orientations are provided with the 3rd bearing 831, the positive side of rectangular blocks 84 is provided with cylindrical protrusions 841, the second output shaft 85 of the second motor 81 is through cylindrical protrusions 841 and rectangular blocks 84, and be connected with rectangular blocks 84 plug-ins with cylindrical protrusions 841, the second output shaft 85 two ends are connected with the 3rd bearing 831 plug-ins with the second bearing 821, be conducive to reduce the suffered moment of flexure of each steering wheel rotating shaft, friction is reduced, rotate flexibly.The nylon shell that fish 1 is hollow, fish the 1 and first stay bearing plate 4 bayonet couplings.Breach 412 sizes and oblong projection 421 dimensional fits.Rectangular blocks 84 1 sides overlap and equal and opposite in direction completely with the 3rd U-shaped plate 83 inner concaves, and rectangular blocks 84 is fixedly connected with the 3rd U-shaped plate 83 by bolt.The second motor 81 thickness and the second U-shaped plate 82 and the 3rd U-shaped plate 83 consistency of thickness, increased flexural strength, increases by the second output shaft 85 area of thrust surface, prevents bending, thereby the phenomenon that appearance cannot be rotated affects whole operation.Rectangular slab 42 is also at least provided with first through hole 49, the first through holes 49 and extends to outside the first stay bearing plate 4 through the first stay bearing plate 4; The second U-shaped plate 82 is at least provided with second through hole 86, the second through holes 86 through the 3rd U-shaped plate 83, the second stay bearing plate 5 and the 3rd stay bearing plate 6.In the first motor 44 and the second motor 81, be provided with lithium cell.The first output shaft 46 can be threaded with there being pectoral fin support 31; The first stay bearing plate 4, the second stay bearing plate 5, the 3rd stay bearing plate 6 and the 4th stay bearing plate 71 can be provided with screw-threaded counterbore by vertical orientation.
From Fig. 1 and Fig. 2, the first stay bearing plate, the second stay bearing plate, the 3rd stay bearing plate and the 4th stay bearing plate can be provided with screw-threaded counterbore by vertical orientation, are conducive to play default effect, are convenient to install corresponding sensor equipment.In one embodiment, rectangular slab is also at least provided with first through hole, and the first through hole extends to outside the first stay bearing plate through the first stay bearing plate; The second U-shaped plate is at least provided with second through hole, and the second through hole, through the 3rd U-shaped plate, the second stay bearing plate and the 3rd stay bearing plate, is conducive to install the installation of corresponding sensor and arrangement circuit.
Above-mentioned explanation to the disclosed embodiments, makes professional and technical personnel in the field can realize or use the utility model.To the multiple modification of these embodiment, will be apparent for those skilled in the art, the in the situation that General Principle as defined herein can be within not departing from spirit or scope of the present utility model, realize in other embodiments.Therefore, the utility model will can not be limited to these embodiment shown in this article, but will accord with principle disclosed herein and features of novelty the widest consistent scope.
Claims (8)
1. a new machine Biomimetic Fish, comprises the fish head, fish body, pectoral fin and the tail fin that are provided with flake; It is characterized in that: in described fish body, be provided with skeleton, skeleton comprises stay bearing plate, stay bearing plate is divided into the first stay bearing plate, the second stay bearing plate, the 3rd stay bearing plate and the 4th stay bearing plate, and the 4th stay bearing plate is fixedly connected with tail fin; Described the first stay bearing plate front has been bolted rectangular slab, rectangular slab first type surface is provided with oblong projection, oblong projection is positive is fixedly connected with the first motor by a few font clamps, first output shaft vertical orientation the first motor two sides of the first motor extend to outside the first motor two sides, on the first output shaft, plug-in is connected with the first U-shaped plate, between first U-shaped plate one side and the first motor one side, plug-in is connected with the first annulus, the first output shaft two ends plug-in is connected with pectoral fin support, and pectoral fin support has been bolted to connection pectoral fin; Described rectangular slab has also been bolted to connection L shaped plate, and L shaped plate one side first type surface is provided with breach and symmetrical vertical orientation has one group of leg; Between described stay bearing plate, be bolted actuating device, actuating device comprises the second U-shaped plate, the 3rd U-shaped plate, the second motor and rectangular blocks, the second U-shaped plate both sides vertical orientation is provided with the second bearing, the 3rd U-shaped plate both sides vertical orientation is provided with the 3rd bearing, the positive side of rectangular blocks is provided with cylindrical protrusions, the second output shaft of the second motor is through cylindrical protrusions and rectangular blocks, and be connected with rectangular blocks plug-in with cylindrical protrusions, the second output shaft two ends are connected with the 3rd bearing plug-in with the second bearing.
2. new machine Biomimetic Fish according to claim 1, is characterized in that: the nylon shell that described fish head is hollow, fish head and the first stay bearing plate bayonet coupling.
3. new machine Biomimetic Fish according to claim 1, is characterized in that: described notch size coordinates with oblong bump sizes.
4. new machine Biomimetic Fish according to claim 1, is characterized in that: described rectangular blocks one side overlaps and equal and opposite in direction completely with the 3rd U-shaped plate inner concave, and rectangular blocks is fixedly connected with the 3rd U-shaped plate by bolt.
5. new machine Biomimetic Fish according to claim 1, is characterized in that: described the second motor thickness is consistent with the second U-shaped plate and the 3rd U-shaped plate thickness.
6. new machine Biomimetic Fish according to claim 1, is characterized in that: described rectangular slab is also at least provided with first through hole, and the first through hole extends to outside the first stay bearing plate through the first stay bearing plate; Described the second U-shaped plate is at least provided with second through hole, and the second through hole is through the 3rd U-shaped plate, the second stay bearing plate and the 3rd stay bearing plate.
7. new machine Biomimetic Fish according to claim 1, is characterized in that: in described the first motor and the second motor, be provided with lithium cell.
8. new machine Biomimetic Fish according to claim 1, is characterized in that: described the first output shaft can be threaded with there being pectoral fin support; Described the first stay bearing plate, the second stay bearing plate, the 3rd stay bearing plate and the 4th stay bearing plate can be provided with screw-threaded counterbore by vertical orientation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320870892.1U CN203714167U (en) | 2013-12-21 | 2013-12-21 | Novel machine bionic fish |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320870892.1U CN203714167U (en) | 2013-12-21 | 2013-12-21 | Novel machine bionic fish |
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| CN203714167U true CN203714167U (en) | 2014-07-16 |
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| CN201320870892.1U Expired - Fee Related CN203714167U (en) | 2013-12-21 | 2013-12-21 | Novel machine bionic fish |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149954A (en) * | 2014-07-25 | 2014-11-19 | 苏州大学应用技术学院 | Intelligent ornamental bionic fish and method for controlling same |
| CN105966584A (en) * | 2016-07-05 | 2016-09-28 | 杭州畅动智能科技有限公司 | Bionic robotic fish |
| CN106003091A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN106005335A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN106114792A (en) * | 2016-07-05 | 2016-11-16 | 杭州畅动智能科技有限公司 | The floating sinking mechanism of bionic machine fish |
| CN106143852A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106184676A (en) * | 2016-07-05 | 2016-12-07 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106892074A (en) * | 2017-04-11 | 2017-06-27 | 合肥工业大学 | A kind of tandem drive formula bionic machine fish |
| CN107953981A (en) * | 2017-11-30 | 2018-04-24 | 吉林大学 | A kind of serial mixed power becomes aerofoil profile bionic mechanical fish formula submariner device |
| CN110588932A (en) * | 2019-09-17 | 2019-12-20 | 西北工业大学 | Underwater bionic aircraft based on swinging pectoral fins and dorsoventral tail fin combined propulsion |
| CN110775229A (en) * | 2019-12-03 | 2020-02-11 | 上海海洋大学 | Multifunctional bionic tuna and control method thereof |
| CN112706907A (en) * | 2021-01-12 | 2021-04-27 | 江西理工大学 | Soft bionic fish based on cable and spacer combined structure |
| WO2022241751A1 (en) * | 2021-05-21 | 2022-11-24 | 西湖大学 | Driving device for aircraft and aircraft |
| WO2022252324A1 (en) * | 2021-06-02 | 2022-12-08 | 西湖大学 | Bionic fish underwater vehicle |
-
2013
- 2013-12-21 CN CN201320870892.1U patent/CN203714167U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149954B (en) * | 2014-07-25 | 2017-06-13 | 苏州大学应用技术学院 | A kind of intelligence views and admires Biomimetic Fish and its control method |
| CN104149954A (en) * | 2014-07-25 | 2014-11-19 | 苏州大学应用技术学院 | Intelligent ornamental bionic fish and method for controlling same |
| CN106114792B (en) * | 2016-07-05 | 2018-07-24 | 杭州畅动智能科技有限公司 | The floating sinking mechanism of bionic machine fish |
| CN105966584A (en) * | 2016-07-05 | 2016-09-28 | 杭州畅动智能科技有限公司 | Bionic robotic fish |
| CN106003091A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN106005335A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN106114792A (en) * | 2016-07-05 | 2016-11-16 | 杭州畅动智能科技有限公司 | The floating sinking mechanism of bionic machine fish |
| CN106143852A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106184676A (en) * | 2016-07-05 | 2016-12-07 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106892074A (en) * | 2017-04-11 | 2017-06-27 | 合肥工业大学 | A kind of tandem drive formula bionic machine fish |
| CN107953981A (en) * | 2017-11-30 | 2018-04-24 | 吉林大学 | A kind of serial mixed power becomes aerofoil profile bionic mechanical fish formula submariner device |
| CN110588932A (en) * | 2019-09-17 | 2019-12-20 | 西北工业大学 | Underwater bionic aircraft based on swinging pectoral fins and dorsoventral tail fin combined propulsion |
| CN110775229A (en) * | 2019-12-03 | 2020-02-11 | 上海海洋大学 | Multifunctional bionic tuna and control method thereof |
| CN112706907A (en) * | 2021-01-12 | 2021-04-27 | 江西理工大学 | Soft bionic fish based on cable and spacer combined structure |
| CN112706907B (en) * | 2021-01-12 | 2022-02-01 | 江西理工大学 | Soft bionic fish based on cable and spacer combined structure |
| WO2022241751A1 (en) * | 2021-05-21 | 2022-11-24 | 西湖大学 | Driving device for aircraft and aircraft |
| WO2022252324A1 (en) * | 2021-06-02 | 2022-12-08 | 西湖大学 | Bionic fish underwater vehicle |
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| 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: 20140716 Termination date: 20141221 |
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| EXPY | Termination of patent right or utility model |