CN203753270U - Soft ground stepping type walking mechanism - Google Patents
Soft ground stepping type walking mechanism Download PDFInfo
- Publication number
- CN203753270U CN203753270U CN201320778882.5U CN201320778882U CN203753270U CN 203753270 U CN203753270 U CN 203753270U CN 201320778882 U CN201320778882 U CN 201320778882U CN 203753270 U CN203753270 U CN 203753270U
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- support
- tooth bar
- gear
- stepping type
- lifting
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Abstract
The utility model relates to a soft ground stepping type walking mechanism. The existing walking mechanism generally has a complicated structure and also has the defects that the manufacturing cost is high, the use and the operation are complicated, and the like. A product which only provide one motive power and can complete the whole stepping type walking action completely through mechanical matching does not exist in the existing market. The soft ground stepping type walking mechanism comprises a compartment, an inner support frame and an outer support frame, wherein the inner support frame and the outer support frame are glidingly assembled on the compartment and can realize alternate ascending descending and advancing relative to the compartment, the inner support frame comprises an inner framework and two sub support frames positioned at the two sides of the inner framework, and the outer support frame comprises an outer framework and two sub support frames fixedly arranged at the two inner sides of the outer framework. The soft ground stepping type walking mechanism has the advantages that the structure is reasonable, the functions are complete, through the ingenious design, and various gear rack assemblies are utilized for forming an ascending and descending mechanism and a pushing mechanism, so all stepping type waling circulation actions can be completed through single-power driving.
Description
Technical field
The utility model relates to a kind of hag face stepping type traveling gear.
Background technology
The general more complicated of existing traveling gear structure, and stepping type traveling gear is owing to need to completing the horizontal and vertical action of alternate cycles, often need multiple actuating devices in the parameters such as time, position and amplitude on precision coordinate accurately execution smoothly, caused manufacturing cost costliness, used the drawback such as complicated operation.Now do not exist on the market a power is only provided, rely on mechanical cooperation can complete the product of whole stepping type walking action completely.
Utility model content
The technical problems to be solved in the utility model is the above-mentioned defect that how to overcome prior art, and a kind of hag face stepping type traveling gear is provided.
For solving the problems of the technologies described above, this hag face stepping type traveling gear comprises compartment, inner support and outer support, and wherein said inner support and outer support be sliding fitting on described compartment all, and inside and outside support can replace lifting and move ahead with respect to compartment; Described inner support comprises inner frame and two sub-stents that are fixed on inner frame both sides, and described outer support comprises outside frame and is fixed on two sub-stents of outside frame two inner sides.
As optimization, on described compartment, comprise that axle drive shaft, these axle drive shaft two ends are respectively equipped with one group of inside and outside side plate, between every group of inside and outside side plate, on axle drive shaft, be equipped with two driven wheels, before and after between every group of inside and outside side plate, be provided with one group of upper and lower pivot shaft, upper and lower pivot shaft two ends are equipped with a pair of guide roller, wherein on lower support axle, be also provided with and advance big gear wheel and advance miniature gears, under inside and outside side plate, drive tooth bar along being equipped with lifting; Described propelling big gear wheel and propelling miniature gears are normal-running fit with coordinating of lower support axle, and are provided with ratchet device between propelling big gear wheel and propelling miniature gears.
As optimization, described sub-stent comprises supporting guide, support, guide rod, driving tooth bar, lifting mechanism and shoe plate, wherein said supporting guide is provided with supporting guide and advances tooth bar, described support is provided with support and advances tooth bar, supporting guide and support two ends are equipped with the lifting axis of guide, and mate lifting track adjusting wheel, and described guide rod cunning is assigned between lifting track adjusting wheel, guide rod upper end is connected in described driving tooth bar two ends, and lower end of the guide rod and described shoe plate are all connected on lifting mechanism, described lifting mechanism comprises driving gear, driven gear, shifting slide gear, bent axle, tranverse connecting rod, slide block, upper connecting rod, lower connecting rod, bent axle adapter plate, wherein said driving gear connects described driven gear by a tween drive shaft, this driven gear is meshed with described shifting slide gear, this shifting slide gear is by bent axle described in dive key or guiding spline joint, the hinged described tranverse connecting rod of this bent axle one end, this tranverse connecting rod other end connects described slide block, this slide block other end hinged described on, lower connecting rod one end, the wherein hinged described support of the upper connecting rod other end, the hinged described shoe plate of the lower connecting rod other end and lower end of the guide rod, described bent axle and tranverse connecting rod be arranged on two described between bent axle adapter plate, these bent axle adapter plate two ends are provided with one group of clamping plate, and between clamping plate, be provided with the lifting axis of guide, and mate lifting track adjusting wheel.
As optimization, the supporting guide of described inside and outside support and support are separately fixed at described inside and outside framework both sides, described supporting guide cunning is assigned between the guide roller of the upper and lower pivot shaft in described compartment, described propelling miniature gears engages described supporting guide and advances tooth bar, described propelling big gear wheel engages described support and advances tooth bar, described lifting drives tooth bar to engage described driving gear, and described driven wheel matches with described driving tooth bar.
As optimization, described driving gear is connected by a ratchet device with tween drive shaft, unidirectional delivery motion; Between described tween drive shaft and support, be provided with a ratchet device, prevent tween drive shaft revolution, this ratchet device comprises ratchet and check pawl, and wherein ratchet is fixed on tween drive shaft, and check pawl is arranged on support.
As optimization, described driving tooth bar is provided with the evagination plug and the indent slot that cooperatively interact.
As optimization, described tween drive shaft is provided with latch.
As optimization, on described inside and outside support, be respectively equipped with energy disperser and baffle plate; Wherein energy disperser is arranged on the support rear and front end of inner support, and baffle plate is arranged on the midway location of outer support, or energy disperser is arranged on the support rear and front end of outer support, and baffle plate is arranged on the midway location of inner support.
Principle of work
(1) outer support carrying compartment, inner support is pushed ahead
In the time of outer support carrying compartment, (driving tooth bar, shoe plate and the guide rod of outer support are in and fall position, carry out plate and land, and drive tooth bar to engage with driven wheel; Driving tooth bar, shoe plate and the guide rod of inner support are in raised position, carry out plate liftoff, drive tooth bar to separate with driven wheel), compartment travels forward on this group supporting guide; Meanwhile, inner support is pushed ahead under the effect of one group of propulsive mechanism.
When inner support pushed extremely foremost (this group advances miniature gears to arrive corresponding tooth bar foremost, advances big gear wheel to be in the extreme end of corresponding tooth bar) simultaneously.Propulsive mechanism no longer advances inner support.The kinetic energy that shock absorber between interior outer support absorbs inner support stops it, at this moment this inner support drive the upper outside protruding plug of tooth bar be in outer support drive tooth bar indent slot directly over.The now lifting of compartment interior plate front end drives tooth bar to be about to act on inner support driving gear.
(2) outer support carrying compartment, inner support lifting part is fallen
Compartment continues to advance on the supporting guide of outer support, and driving tooth bar, shoe plate and the guide rod of inner support decline under the effect of lifting mechanism.In the process declining, interior outer support is expert in mechanism's working direction does not have change in location.
When the lifting of compartment interior plate front end drives tooth bar completely after inner support driving gear, inner support tween drive shaft and bent axle just turn over 1/2 circle, lifting mechanism is converted to completely and is fallen position (crawler belt lands by raised position, drive tooth bar to engage with driven wheel), now each connecting rod is all in " dead point " position at gravity direction, and bent axle is also in " dead point " position.Add the effect of latch, this state is highly stable, therefore can bear heavy duty.The now lifting of compartment outer panel rear end drives tooth bar to be about to act on outer support driving gear.
(3) inner support carrying compartment, outer support lifting unit divides rise
Compartment transfers on the supporting guide of inner support and moving, and plate, is carried out and guide rod is about to rise under the effect of lifting mechanism at the driving tooth bar of outer support in inner support carrying compartment.In uphill process, indent slot rises under the constraint of evagination plug, and interior outer support does not have change in location in working direction.
When the lifting of outer panel rear end, compartment drives tooth bar completely after outer support driving gear, outer support tween drive shaft and bent axle just in time turn over 1/2 circle, in fully lift position (crawler belt is liftoff, drives tooth bar to separate with driven wheel), bent axle is in another " dead point " position.Add the effect of latch, in motion process below, this state is highly stable.At this moment before the indent slot on the driving tooth bar rising, terminal block, before corresponding evagination plug, prevents that outer support from moving backward, because now act on the also not effect with it of tooth bar of second group of propulsive mechanism, is about to act on it.
(4) inner support carrying compartment, outer support is pushed ahead
Compartment continues to travel forward on the supporting guide of inner support.Outer support is pushed ahead under the effect of second group of propulsive mechanism.
When outer support pushed extremely foremost (second group advances miniature gears to arrive corresponding tooth bar foremost, advances big gear wheel to be in the extreme end of corresponding tooth bar) simultaneously.Propulsive mechanism no longer advances outer support.The kinetic energy that shock absorber between interior outer support absorbs inner support stops it, at this moment this outer support drive plug on tooth bar be in inner support drive tooth bar slot directly over.The now lifting of compartment outer panel front end drives tooth bar to be about to act on outer support driving gear.
(5) inner support carrying compartment, outer support lifting part is fallen
Compartment continues to advance on the supporting guide of inner support, and driving tooth bar, shoe plate and the guide rod of outer support decline under the effect of lifting mechanism.In the process declining, interior outer support is expert in mechanism's working direction does not have change in location.
When the lifting of compartment outer panel front end drives tooth bar completely after outer support driving gear, outer support tween drive shaft and bent axle just turn over 1/2 circle, lifting mechanism is converted to completely and is fallen position (crawler belt lands by raised position, drive tooth bar to engage with driven wheel), now each connecting rod is all in " dead point " position at gravity direction, and bent axle is also in " dead point " position.Add the effect of latch, this state is highly stable, therefore can bear heavy duty.The now lifting of compartment interior plate rear end drives tooth bar to be about to act on inner support driving gear.
(6) outer support carrying compartment, inner support lifting unit divides rise
Compartment transfers on the supporting guide of outer support and moving, and plate, is carried out and guide rod is about to rise under the effect of lifting mechanism at the driving tooth bar of inner support in outer support carrying compartment.In uphill process, slot rises under the constraint of plug, and interior outer support does not have change in location in working direction.
When the lifting of interior plate rear end, compartment drives tooth bar completely after inner support driving gear, inner support tween drive shaft and bent axle just in time turn over 1/2 circle, in fully lift position (crawler belt is liftoff, drives tooth bar to separate with driven wheel), bent axle is in another " dead point " position.Add the effect of latch, in motion process below, this state is highly stable.This is that before the slot on the driving tooth bar rising, terminal block, before corresponding plug, prevents that outer support from moving backward, because now act on the also not effect with it of tooth bar of first group of propulsive mechanism, is about to act on it.
Next just repeat above 1～6 motion, circulate with this, interior outer support is running alternately, and hag face stepping type traveling gear just continues walking forward.
The legged walking manner of hag face stepping type traveling gear uniqueness of the present invention makes it have following beneficial effect:
That this hag face stepping type traveling gear has is large with contact area of ground, good stability, heavy burden ability is strong, off-road capability good, high ground Clearance and the feature such as linear driving performance is good.In addition, due to large with contact area of ground, and be stepping type walking manner, so can significantly slow down ground out-of-flat, improve condition of road surface, thereby ensure vehicle good rideability, the ability that makes it cross the obstacle such as step, trench is strong, can travel in places such as muddy, marsh, paddy field, mellow soil, desert, grassland, snowfields well.
Above technical characterstic and the advantage of this hag face stepping type traveling gear, make it can be in the very severe region operation of state of ground, and the research and development that it is legged machinery proposes some new thinking and solutions.
The utility model hag face stepping type traveling gear is rational in infrastructure, perfect in shape and function, pass through ingehious design, utilize multinomial rack and pinion assembly to form lifting mechanism and delivery device, make the utility model rely on single-power to drive and can complete whole stepping type walking cycle events.
Brief description of the drawings
Below in conjunction with accompanying drawing, the utility model hag face stepping type traveling gear is described further:
Fig. 1 is the perspective view of this hag face stepping type traveling gear;
Fig. 2 is the perspective view in the compartment of this hag face stepping type traveling gear;
Fig. 3 is the perspective view of the inner support of this hag face stepping type traveling gear;
Fig. 4 is the side-looking planar structure schematic diagram of the inner support of this hag face stepping type traveling gear;
Fig. 5 is the perspective view of the outer support of this hag face stepping type traveling gear.
In figure: 1-compartment, 2-inner support, 3-outer support, 4-inner frame, 5-sub-stent, 6-outside frame, 7-axle drive shaft, 8-interior plate, 9-outer panel, 10-driven wheel, the upper pivot shaft of 11-, 12-lower support axle, 13-guide roller, 14-advances big gear wheel, 15-advances miniature gears, 16-lifting drives tooth bar, 17-supporting guide, 18-support, 19-guide rod, 20-drives tooth bar, 21-carries out plate, 22-supporting guide advances tooth bar, 23-support advances tooth bar, the 24-lifting axis of guide, 25-lifting track adjusting wheel, 26-driving gear, 27-driven gear, 28-shifting slide gear, 29-bent axle, 30-tranverse connecting rod, 31-slide block, 32-upper connecting rod, 33-lower connecting rod, 34-bent axle adapter plate, 35-clamping plate, 36-evagination plug, 37-indent slot, 38-latch.
Detailed description of the invention
As shown in Fig. 1 to 5, this kind of hag face stepping type traveling gear comprises compartment 1, inner support 2 and outer support 3, wherein said inner support 2 and all sliding fitting on described compartment 1 of outer support 3, and inside and outside support 2,3 can replace lifting and move ahead with respect to compartment 1; Described inner support 2 comprises inner frame 4 and two sub-stents 5 that are fixed on inner frame 4 both sides, and described outer support 2 comprises outside frame 6 and is fixed on two sub-stents 5 of outside frame two inner sides.
On described compartment 1, comprise that axle drive shaft 7, these axle drive shaft 7 two ends are respectively equipped with one group of inside and outside side plate 8,9, between every group of inside and outside side plate 8,9, on axle drive shaft 7, be equipped with two driven wheels 10, before and after between every group of inside and outside side plate 8,9, be provided with one group of upper and lower pivot shaft 11,12, upper and lower pivot shaft 11,12 two ends are equipped with a pair of guide roller 13, wherein on lower support axle 12, be also provided with and advance big gear wheel 14 and advance miniature gears 15, under inside and outside side plate, drive tooth bar 16 along being equipped with lifting; Described propelling big gear wheel 14 and propelling miniature gears 15 are normal-running fit with coordinating of lower support axle 12, and are provided with ratchet device between propelling big gear wheel 14 and propelling miniature gears 15.
Described sub-stent 5 comprises supporting guide 17, support 18, guide rod 19, drives tooth bar 20, lifting mechanism and shoe plate 21, wherein said supporting guide 17 is provided with supporting guide and advances tooth bar 22, described support 18 is provided with support and advances tooth bar 23, supporting guide 17 and support 18 two ends are equipped with the lifting axis of guide 24, and mate lifting track adjusting wheel 25, sliding being assigned between lifting track adjusting wheel 25 of described guide rod 19, guide rod 19 upper ends are connected in described driving tooth bar 20 two ends, and guide rod 19 lower ends and described shoe plate 21 are all connected on lifting mechanism, described lifting mechanism comprises driving gear 26, driven gear 27, shifting slide gear 28, bent axle 29, tranverse connecting rod 30, slide block 31, upper connecting rod 32, lower connecting rod 33, bent axle adapter plate 34, wherein said driving gear 26 connects described driven gear 27 by a tween drive shaft, this driven gear 27 is meshed with described shifting slide gear 28, this shifting slide gear 28 is by bent axle 29 described in dive key or guiding spline joint, the hinged described tranverse connecting rod of this bent axle 29 30 one end, these tranverse connecting rod 30 other ends connect described slide block 31, this slide block 31 the other end hinged described on, lower connecting rod 32, 33 one end, the wherein hinged described support 18 of upper connecting rod 32 other end, the lower connecting rod hinged described shoe plate 21 of 32 other end and guide rod 19 lower ends, described bent axle 29 and tranverse connecting rod 30 be arranged on two described between bent axle adapter plate 34, these bent axle adapter plate 34 two ends are provided with one group of clamping plate 35, and between clamping plate 35, be provided with the lifting axis of guide 24, and mate lifting track adjusting wheel 25.
The supporting guide 17 of described inside and outside support 2,3 and support 18 are separately fixed at described inside and outside framework 4,6 both sides, sliding being assigned between the guide roller 13 of the upper and lower pivot shaft 11,12 in described compartment of described supporting guide 17, described propelling miniature gears 15 engages described supporting guide and advances tooth bar 22, described propelling big gear wheel 14 engages described support and advances tooth bar 23, described lifting drives tooth bar 16 to engage described driving gear 26, and described driven wheel 10 matches with described driving tooth bar 20.
Described driving gear 26 is connected by a ratchet device with tween drive shaft, unidirectional delivery motion; Between described tween drive shaft and support 18, be provided with a ratchet device, prevent tween drive shaft revolution, this ratchet device comprises ratchet and check pawl, and wherein ratchet is fixed on tween drive shaft, and check pawl is arranged on support 18.
Described driving tooth bar 20 is provided with the evagination plug 36 and the indent slot 37 that cooperatively interact.
Described tween drive shaft is provided with latch 38.
On described inside and outside support 2,3, be respectively equipped with energy disperser and baffle plate; Wherein energy disperser is arranged on the support rear and front end of inner support 2, and baffle plate is arranged on the midway location of outer support 3, or energy disperser is arranged on the support rear and front end of outer support 3, and baffle plate is arranged on the midway location of inner support 2.
Above-mentioned embodiment is intended to casehistory the utility model and can be professional and technical personnel in the field's realization or use; it will be apparent for those skilled in the art that above-mentioned embodiment is modified; therefore the utility model includes but not limited to above-mentioned embodiment; any these claims or specification sheets of meeting described; meet and principle disclosed herein and novelty, the method for inventive features, technique, product, within all falling into protection domain of the present utility model.
Claims (6)
1. a hag face stepping type traveling gear, it is characterized in that: comprise compartment (1), inner support (2) and outer support (3), wherein said inner support (2) fits over described compartment (1) above with outer support (3) is all sliding, and inside and outside support (2,3) can replace lifting and move ahead with respect to compartment (1), described inner support (2) comprises inner frame (4) and is fixed on two sub-stents (5) of inner frame (4) both sides, and described outer support (2) comprises outside frame (6) and is fixed on two sub-stents (5) of outside frame two inner sides, on described compartment (1), comprise axle drive shaft (7), this axle drive shaft (7) two ends are respectively equipped with in one group, outer panel (8, 9), in every group, outer panel (8, 9) between, on axle drive shaft (7), be equipped with two driven wheels (10), in every group, outer panel (8, 9) before and after between, be respectively provided with on one group, lower support axle (11, 12), on, lower support axle (11, 12) two ends are equipped with a pair of guide roller (13), wherein on lower support axle (12), be also provided with and advance big gear wheel (14) and advance miniature gears (15), in, under outer panel, drive tooth bar (16) along being equipped with lifting, described propelling big gear wheel (14) and propelling miniature gears (15) are normal-running fit with the connection mode of described lower support axle (12), and advance big gear wheel (14) and advance between miniature gears (15) and be provided with ratchet device, described sub-stent (5) comprises supporting guide (17), support (18), guide rod (19), drive tooth bar (20), lifting mechanism and shoe plate (21), wherein said supporting guide (17) is provided with supporting guide and advances tooth bar (22), described support (18) is provided with support and advances tooth bar (23), supporting guide (17) and support (18) two ends are equipped with the lifting axis of guide (24), and mate lifting track adjusting wheel (25), described guide rod (19) is sliding to be assigned between lifting track adjusting wheel (25), guide rod (19) upper end is connected in described driving tooth bar (20) two ends, guide rod (19) lower end and described shoe plate (21) are all connected on lifting mechanism, described lifting mechanism comprises driving gear (26), driven gear (27), shifting slide gear (28), bent axle (29), tranverse connecting rod (30), slide block (31), upper connecting rod (32), lower connecting rod (33), bent axle adapter plate (34), wherein said driving gear (26) connects described driven gear (27) by a tween drive shaft, this driven gear (27) is meshed with described shifting slide gear (28), this shifting slide gear (28) is by bent axle (29) described in dive key or guiding spline joint, the hinged described tranverse connecting rod of this bent axle (29) (30) one end, this tranverse connecting rod (30) other end connects described slide block (31), this slide block (31) other end hinged described on, lower connecting rod (32, 33) one end, wherein upper connecting rod (32) the hinged described support of the other end (18), the hinged described shoe plate of lower connecting rod (32) other end (21) and guide rod (19) lower end, described bent axle (29) and tranverse connecting rod (30) be arranged on two described between bent axle adapter plate (34), these bent axle adapter plate (34) two ends are provided with one group of clamping plate (35), and between clamping plate (35), be provided with the lifting axis of guide (24), and mate lifting track adjusting wheel (25).
2. hag face stepping type traveling gear according to claim 1, it is characterized in that: the supporting guide (17) of described inside and outside support (2,3) and support (18) are separately fixed at described inside and outside framework (4,6) both sides, described supporting guide (17) is sliding to be assigned between the guide roller (13) of the upper and lower pivot shaft in described compartment (11,12); Described propelling miniature gears (15) engages described supporting guide and advances tooth bar (22), described propelling big gear wheel (14) engages described support and advances tooth bar (23), described lifting drives tooth bar (16) to engage described driving gear (26), and described driven wheel (10) matches with described driving tooth bar (20).
3. hag face stepping type traveling gear according to claim 2, is characterized in that: described driving gear (26) is connected by a ratchet device with tween drive shaft, unidirectional delivery motion; Between described tween drive shaft and support (18), be provided with a ratchet device, prevent tween drive shaft revolution, this ratchet device comprises ratchet and check pawl, and wherein ratchet is fixed on tween drive shaft, and check pawl is arranged on support (18).
4. hag face stepping type traveling gear according to claim 2, is characterized in that: described driving tooth bar (20) is provided with the evagination plug (36) and the indent slot (37) that cooperatively interact.
5. hag face stepping type traveling gear according to claim 2, is characterized in that: described tween drive shaft is provided with latch (38).
6. hag face stepping type traveling gear according to claim 2, is characterized in that: described inside and outside support is respectively equipped with energy disperser and baffle plate on (2,3); Wherein energy disperser is arranged on the support rear and front end of inner support (2), baffle plate is arranged on the midway location of outer support (3), or energy disperser is arranged on the support rear and front end of outer support (3), and baffle plate is arranged on the midway location of inner support (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320778882.5U CN203753270U (en) | 2013-11-28 | 2013-11-28 | Soft ground stepping type walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320778882.5U CN203753270U (en) | 2013-11-28 | 2013-11-28 | Soft ground stepping type walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203753270U true CN203753270U (en) | 2014-08-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320778882.5U Expired - Fee Related CN203753270U (en) | 2013-11-28 | 2013-11-28 | Soft ground stepping type walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203753270U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105435419A (en) * | 2015-12-04 | 2016-03-30 | 义乌市雄发尔机械设备有限公司 | Bodybuilding running instrument controlled by motor to ascend and descend |
| CN106005093A (en) * | 2016-08-04 | 2016-10-12 | 怀宁县断天自动化设备有限公司 | Walking robot with effortless leverage effect |
-
2013
- 2013-11-28 CN CN201320778882.5U patent/CN203753270U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105435419A (en) * | 2015-12-04 | 2016-03-30 | 义乌市雄发尔机械设备有限公司 | Bodybuilding running instrument controlled by motor to ascend and descend |
| CN106005093A (en) * | 2016-08-04 | 2016-10-12 | 怀宁县断天自动化设备有限公司 | Walking robot with effortless leverage effect |
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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: 20140806 Termination date: 20141128 |
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| EXPY | Termination of patent right or utility model |