CN204206029U - The mixing magnetic force suspension device that tool three axle controls - Google Patents
The mixing magnetic force suspension device that tool three axle controls Download PDFInfo
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- CN204206029U CN204206029U CN201420579527.XU CN201420579527U CN204206029U CN 204206029 U CN204206029 U CN 204206029U CN 201420579527 U CN201420579527 U CN 201420579527U CN 204206029 U CN204206029 U CN 204206029U
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Abstract
The mixing magnetic force suspension device that the utility model provides a kind of tool three axle to control, comprises suspended substance and base, and suspended substance comprises level and is fixed on bottom and the suspending permanent magnet of magnetic pole vertical direction setting; Base comprises the repulsion permanent magnet that level in it is fixed, magnetic pole vertical direction is arranged, and on it, magnetic pole is identical with described suspended substance lower magnetic pole end magnetic pole; And comprise providing and act on suspended substance electromagnetic attraction and control its three-axis control system in position, X, Y, Z axis direction respectively; During operating state, the weight of suspended substance balance by the mixing magneticaction of permanent magnet expulsive force and electromagnetic attraction, and by control stable suspersion equilbrium position above base.The feature that this device has three-dimensional controlled, magnetic force optimization, easily suspends, can be applicable to magnetic suspension tellurian, magnetic suspension artware, magnetic suspension exhibit etc.
Description
Technical field
The utility model relates to down-push type magnetic levitation system technical field.
Background technology
Magnetic levitation technology is as the application of general product, and mainly comprise down-push type and pull-up magnetic levitation technology, the utility model relates to down-push type magnetic levitation technology.
Publication number is the magnetic-repellent suspension device of CN1819436A, comprises the permanent magnetism suspension magnet being fixed on suspended substance, the permanent magnetism annular magnet being fixed on magnetic bases and horizontal level control device; This magnetic-repellent suspension device is according to the magnetic field of annular magnet centre bore and the different feature of magnetic fidle of end magnetic pole, utilize centre bore to the repulsion of suspended substance and upper surface to the suction of suspended substance, suspended substance can not be overturn above base and the weight of neutral buoyancy body; According to known technology, the end face magnetic force of annular magnet and the relation of centre bore magnetic force are relatively fixing and uncontrolled, and the end face suction acting on suspended substance is comparatively strong relative to the repulsion of centre bore, and the magnetic potential gradient of suspended substance near equilbrium position is larger; Therefore, there is following problem in this device: first: when we manually place suspended substance, and suspended substance is easily subject to the strong suction effect of crossing of annular magnet upper surface and outwards slippage, not easily finds equilbrium position; Second: excessively strong suction balances out part repulsion, reduce hoverheight and the weight suspension of suspended substance; 3rd: in production practices, the face size of suspension magnet is generally less than the size of annular magnet centre bore, therefore, and the size restrictions that annular magnet the is larger range of application of this device.
Publication number is that CN202076972U patent discloses the lower supporting type magnetic levitation system adopting integrated rotary system, comprise the suspending permanent magnet being arranged at suspended substance and the lower towing force electromagnetism ring be arranged in lower box, center electromagnet, lower towing force electromagnetism ring and center electromagnet are electromagnet, according to known technology, lower towing force electromagnetism ring is to produce the electromagnetic repulsion force of energy neutral buoyancy body weight, need to consume the gravity of suspended substance itself and the electromagnetic attraction of center electromagnet, the electromagnet of relatively high power is needed to realize, therefore, the volume that this device exists product is larger, power consumption is larger, the problems such as temperature rise is high.
In down-push type magnetic levitation technology field, the known prior art of the present inventor is substantially all controlled suspended substance by single shaft or twin shaft, not yet finds the three-axis control system acting on suspended substance.
Utility model content
The mixing magnetic force suspension device that the utility model object is to provide that a kind of three-dimensional is controlled, magnetic force optimization, tool three axle that easily suspends control.
This device comprises suspended substance and base; The level that comprises suspended substance is fixed on bottom and the suspending permanent magnet of magnetic pole vertical direction setting; Base comprises the repulsion permanent magnet that level in it is fixed, magnetic pole vertical direction is arranged, and on it, magnetic pole is identical with described suspended substance lower magnetic pole end magnetic pole; And comprise providing and act on suspended substance electromagnetic attraction and control its three-axis control system in position, X, Y, Z axis direction respectively; During operating state, the weight of suspended substance balance by the mixing magneticaction of permanent magnet expulsive force and electromagnetic attraction, and by control stable suspersion equilbrium position above base.
Repulsion permanent magnet of the present utility model comprises a permanent magnet arranging centered by Z axis or is made up of at least three permanent magnets of array centered by Z axis, when adopting a permanent magnet, its center is provided with the through hole not affecting magnetic characteristic, and this through hole is as the criterion with the size holding sensor cluster; The end face outside dimension of repulsion permanent magnet is not more than the face size of suspending permanent magnet.
According to the principle of same-sex repulsion of magnet, because the upper magnetic pole of repulsion permanent magnet is identical with the lower magnetic pole end magnetic pole of suspended substance, therefore, repulsion permanent magnet produces magnetic repulsion to suspending permanent magnet, and this magnetic repulsion is in order to bear the weight of suspended substance; But, when suspended substance is in the effect of one direction repulsion, easy upset, therefore, the utility model additionally provides the suction acting on suspended substance, the force action of repulsion and suction, can prevent the upset of suspended substance and provide the equilbrium position of a suspended substance, this suction is provided by following three-axis control system.
Three-axis control system of the present utility model comprises sensor cluster, electromagnet assembly and control circuit.
Sensor cluster comprises and is fixed in base and presses close to the X-axis transducer of repulsion permanent magnet center, Y-axis transducer and Z axis transducer, this transducer is magnetic sensor, the position of suspended substance in X-axis, Y-axis and Z axis three dimension directions, perpendicular to respective shaft, is detected respectively in its magnetic induction face.
The level that comprises electromagnet assembly is fixed in base, magnetic pole vertical direction is arranged X-axis electromagnet, Y-axis electromagnet and Z axis electromagnet; X-axis electromagnet or Y-axis electromagnet are made up of two electromagnet being symmetrical in Z axis respectively; Z axis electromagnet comprises a ring electromagnet arranging centered by Z axis or is made up of at least three electromagnet of array centered by Z axis, is arranged at outside repulsion permanent magnet, different with repulsion permanent magnet pole orientation.
Control circuit connecting sensor assembly and electromagnet assembly, accept the horizontal level signal of X-axis transducer or Y-axis transducer and the vertical position signal of Z axis transducer, and control X-axis electromagnet, Y-axis electromagnet and Z axis electromagnet response position signal produce corresponding controlling magnetic field respectively.
Transducer adopts linear hall sensor, its output voltage and tested magnetic field intensity linear, magnetic induction face is perpendicular to respective shaft, X-axis transducer, Y-axis transducer detect the horizontal magnetic field of suspended substance in the direction of X-axis, Y-axis respectively, this horizontal magnetic field reflection suspended substance is in the position of X-axis, Y-axis, Z axis transducer detects the vertical magnetic field of suspended substance in Z-direction, and this vertical magnetic field reflection suspended substance is in the position of Z-direction.
Electromagnet is a kind of device generated an electromagnetic field that is energized; The magnetic of electromagnet is with or without using switching Current Control, and magnetic field power can control by the duty ratio of the size of electric current or pwm signal, and magnetic pole can be controlled by the change sense of current; That is: electromagnet magnetic, pole orientation strong and weak with or without, magnetic field can be controlled; Electromagnet of the present utility model is all with electrician's iron core, and the horizontal direction component of the electromagnetic force that X-axis electromagnet, Y-axis electromagnet produce is used for suspended substance horizontal direction Position Control, and vertical stress component is cancelled out each other; The vertical stress component of Z axis electromagnet is used for suspended substance vertical direction Position Control, and horizontal component is cancelled out each other.
Control circuit comprises signal processing circuit, control module and drive circuit; Signal processing circuit receives the position signalling from sensor cluster, outputs to control module after carrying out operation amplifier process to position signalling; Control module is single chip circuit, carries out judgement calculate input signal, exports pwm control signal to drive circuit; Drive circuit is H bridge drive circuit in bi-directional, receives pwm control signal, the electromagnetic field that drive magnet assembly generation magnetic field intensity, pole orientation are controlled.
During operating state, repulsion permanent magnet provides permanent magnet expulsive force, and Z axis electromagnet is energized controlled generation electromagnetic attraction, and suspended substance is subject to the acting in conjunction of permanent magnet expulsive force and electromagnetic attraction and can not overturns, the weight of suspended substance balance by the force action of repulsion and suction; In addition, three-axis control system detects the position signalling of the X-axis of suspended substance, Y-axis, Z axis, and control X-axis electromagnet respectively, Y-axis electromagnet, Z axis electromagnet produce the electromagnetic force acting on suspended substance position, traction suspended substance returns to equilbrium position; Z axis electromagnet, while providing the electromagnetic attraction of anti-canting, controls further the position of suspended substance certain limit in the vertical direction.
In sum, one of the present utility model is obviously improved feature and is: the utility model utilizes Z axis electromagnet to produce controllable electromagnetic suction, and what provide a kind of permanent magnet expulsive force and electromagnetic attraction mixes magnetic force; Positive effect is: the relation optimizing repulsion and suction, and suspended substance is not easy outside slippage, more easily suspends, and provides the possibility increasing suspend distance and weight suspension simultaneously.
Accompanying drawing explanation
Fig. 1 is the operating state schematic perspective view of the utility model preferred embodiment;
Fig. 2 is the perspective view of the utility model preferred embodiment;
Fig. 3 is the three-axis control system block diagram of the utility model preferred embodiment;
Fig. 4 is the X-axis circuit theory diagrams of the utility model preferred embodiment;
Fig. 5 is the Z axis circuit theory diagrams of the utility model preferred embodiment;
Fig. 6 is the change schematic diagram of other embodiment of the utility model;
Fig. 7 is the change schematic diagram of other embodiment of the utility model;
Fig. 8 is the change schematic diagram of other embodiment of the utility model.
Embodiment
Below in conjunction with accompanying drawing and preferred embodiment, the utility model is described in further detail.
With reference to Fig. 1: utility model works state schematic perspective view, suspended substance 10 is tellurion, is suspended in the equilbrium position above base 20.
With reference to Fig. 2, Fig. 3.
The mixing magnetic force suspension device that tool three axle of the present utility model controls comprises suspended substance 10 and base 20; The level that comprises suspended substance 10 is fixed on bottom and the suspending permanent magnet 11 of magnetic pole vertical direction setting; Base 20 comprises the repulsion permanent magnet 21 that level in it is fixed, magnetic pole vertical direction is arranged, and on it, magnetic pole is identical with described suspended substance 10 lower magnetic pole end magnetic pole; And comprise and the electromagnetic attraction that acts on suspended substance 10 is provided and controls its three-axis control system 22 in position, X, Y, Z axis direction respectively; During operating state, the weight of suspended substance 10 balance by the mixing magneticaction of permanent magnet expulsive force and electromagnetic attraction, and by control stable suspersion equilbrium position above base 20.
The repulsion permanent magnet 21 of this preferred embodiment is made up of four permanent magnet 21A-21D of array centered by Z axis, the end face outside dimension of repulsion permanent magnet 21 is not more than the face size of suspending permanent magnet 11, upper surface magnetic pole as suspending permanent magnet is N, then the upper surface magnetic pole of repulsion permanent magnet is S, therefore, repulsion permanent magnet 21 pairs of suspending permanent magnet 11 produce permanent magnet expulsive force.
The three-axis control system 22 of this preferred embodiment comprises sensor cluster 221, electromagnet assembly 223 and control circuit 222.
Sensor cluster 221 comprises and is fixed in base 20, presses close to X-axis transducer SX, Y-axis transducer SY and the Z axis transducer SZ of repulsion permanent magnet 21 center, transducer is magnetic sensor, the position of suspended substance 10 in X-axis, Y-axis and Z axis three dimension directions, perpendicular to respective shaft, is detected respectively in magnetic induction face.
Electromagnet assembly 223 is fixed in base 20 by level, magnetic pole vertical direction is arranged X-axis electromagnet, Y-axis electromagnet and Z axis electromagnet form; X-axis electromagnet or Y-axis electromagnet are made up of two electromagnet LX1-LX2, LY1-LY2 being symmetrical in Z axis, pole orientation different respectively; Z axis electromagnet is made up of four electromagnet LZ1-LZ4 of array centered by Z axis, is arranged at outside repulsion permanent magnet 21, different with repulsion permanent magnet 21 pole orientation.
Control circuit 222 connecting sensor assembly 221 and electromagnet assembly 223, accept the horizontal level signal of X-axis transducer SX or Y-axis transducer SY and the vertical position signal of Z axis transducer SZ, and control X-axis electromagnet LX1-LX2, Y-axis electromagnet LY1-LY2 and Z axis electromagnet LZ1-LZ4 response position signal produce corresponding controlling magnetic field respectively.
Control circuit 222 comprises signal processing circuit 222A, control module 222B and drive circuit 222C; Signal processing circuit 222A receives the position signalling from sensor cluster 221, outputs to control module 222B after carrying out operation amplifier process to position signalling; Control module 222B is single chip circuit, carries out judgement calculate input signal, exports pwm control signal to drive circuit 222C; Drive circuit 222C is H bridge drive circuit in bi-directional, receives pwm control signal, and drive magnet assembly 223 produces the controlled electromagnetic field of magnetic field intensity, pole orientation.
With reference to Fig. 4, for X-axis, further illustrate the operation principle of the utility model X-axis Position Control:
Signal processing circuit 222A receives the detection signal of X-axis transducer SX, resistance R1, R2, adjustable resistance W and operational amplifier U1 form reverse amplification circuit, this signal is processed, wherein, R2/R1 is multiplication factor, adjustable resistance W is for adjusting reference voltage, and center when corresponding suspended substance 10 suspends, the signal after process outputs to the ADC input of control module 222B.
Control module 222B is single chip circuit, inside is integrated with clock circuit, reset circuit, digital-to-analogue conversion, pwm signal generator etc., this single chip circuit is controlled by programming realization PID (ratio, differential, integration), by going out the position relative to Z axis of suspended substance 10 in X-axis to this input-signal judging, calculate controlled quentity controlled variable, export PWM (pulse-width modulation) control signal to drive circuit 222C.
Drive circuit 222C comprises the H bridge drive circuit in bi-directional be made up of metal-oxide-semiconductor Q1-Q4, H-bridge drive circuit connects X-axis electromagnet LX1, LX2 of two series connection, when control end A is high level, the sense of current of electromagnet LX1, LX2 is M to N, otherwise, when control end B is high level, electromagnet LX1, LX2 sense of current N to M; Therefore, control module 222B (single-chip microcomputer) can control pole orientation by the sense of current controlling X-axis electromagnet, simultaneously can by the magnetic field intensity of the Duty ratio control X-axis electromagnet of pwm signal, because two electromagnet are connected in series, when activated, LX1, LX2 produce the different electromagnetic field of pole orientation respectively, produce repulsion and suction respectively to suspended substance 10, its vertical stress component is cancelled out each other, and the traction suspended substance 10 of making a concerted effort of horizontal component returns to equilbrium position.
When suspended substance 10 is in equilbrium position, the input of control module 222B input ADC is almost nil, and the electric current of electromagnet is also almost nil, and when suspended substance 10 is disturbed and produces skew, electromagnet will produce controlled Magnetic control suspended substance 10 stable suspersion.
It will be understood by a person skilled in the art that control module is not only single chip circuit, also comprise analog circuit; Electromagnet assembly not only can be controlled by duty ratio, can also be controlled by exciting current.
As mentioned above, the operation principle of Y-axis Position Control is identical with X-axis, does not resolve here.
With reference to Fig. 5, for Z axis, further illustrate the operation principle that Z axis controls:
Z axis transducer SZ detects the magnetic field intensity of suspended substance 10 in Z-direction, and export the voltage signal of response magnetic field intensity, this signal can reflect the position of suspended substance 10 on Z axis.
The signal processing circuit 222A of Z axis and control module 222B is identical with the operation principle of X-axis, no longer illustrates here.
Drive circuit 222C comprises employing unidirectional current drive circuit, receive the pwm signal from control module 222B, transistor Q plays switch and power amplification effect, Z axis electromagnet coil and diode D form continuous current circuit, the electric current flowing through Z axis electromagnet can be adjusted by the duty ratio adjusting pwm signal, thus control the magnetic field intensity of electromagnet, by arranging the direction controlling magnetic pole of Z axis electromagnet, make Z axis electromagnet produce the electromagnetic attraction to suspended substance by the requirement of setting.
The Z axis electromagnet of this preferred embodiment is made up of four electromagnet LZ1-LZ4, and four electromagnet can adopt and be connected in series, the equidirectional setting of magnetic pole, and different with repulsion permanent magnet pole orientation, suspended substance 10 can not overturn under its suction.
On the other hand, when suspended substance is in suspended state, if the weight of suspended substance is G, the vertical stress component of repulsion permanent magnet 21 repulsion is F1, and the vertical stress component of Z axis electromagnet LZ suction is F2, its Mechanics Vector closes: then G=F1-F2, therefore, when G mono-timing, by the size of the electromagnetic force F2 of adjustment Z axis electromagnet LZ, F1 is by passive adjustment, and the size of F1 is with the distance dependent between suspended substance 10 and repulsion permanent magnet 21; Therefore, suspended substance 10 can be regulated in the levitation position of Z-direction, when suspended substance 10 is in equilbrium position, G=F1-F2.
In sum, during this preferred embodiment operating state, suspended substance 10 is subject to the permanent magnet expulsive force from repulsion permanent magnet 21 and the acting in conjunction from the electromagnetic attraction of Z axis electromagnet LZ and can not overturns, the weight of suspended substance 10 balance by the force action of repulsion and suction; Three-axis control system 22 detects suspended substance 10 position signalling, and controls suspended substance 10 respectively in the position of X-axis, Y-axis, Z-direction, makes its stable suspersion in equilbrium position.
Below other execution mode of the present utility model is made an explanation further, with reference to Fig. 6, Fig. 7, Fig. 8.
Shown in Fig. 6, Z axis electromagnet LZ is made up of four electromagnet LX1, LX2, LY1, LY2 of X-axis electromagnet and Y-axis electromagnet, four identical settings in electromagnet pole direction also can be controlled separately, control circuit controls four electromagnet simultaneously and produces the Z axis controlling magnetic field different with repulsion permanent magnet 21A-21D pole orientation, and individually control response X-axis, Y-axis position signalling produce corresponding X-axis, Y-axis horizontal component controlling magnetic field.
Shown in Fig. 7, Z axis electromagnet is single ring electromagnet LZ, is arranged at outside repulsion permanent magnet 21 with one heart, different with repulsion permanent magnet 21 pole orientation.
Shown in Fig. 8, repulsion permanent magnet 21 is the cylindrical magnet iron arranged centered by Z axis, its center is provided with the through hole (should not be construed as annular magnet feature) not affecting magnetic characteristic, sensor cluster 221 is installed in through-holes, and the external diameter of repulsion permanent magnet 21 is not more than the external diameter of suspending permanent magnet 11;
Base 20 comprises further and is arranged at the suction permanent magnet 23A-23D that repulsion permanent magnet 21 is outer, different with its pole orientation, play assisting magnetic effect with one heart, sets up suction permanent magnet 23A-23D and can reduce the requirement of Z axle electromagnet magnetic force.
The above embodiment is only explanation the utility model, does not form restriction of the present utility model.
Claims (6)
1. a mixing magnetic force suspension device for tool three axle control, comprises suspended substance and base, and described suspended substance comprises level and is fixed on bottom and the suspending permanent magnet of magnetic pole vertical direction setting, it is characterized in that,
Described base comprises the repulsion permanent magnet that level in it is fixed, magnetic pole vertical direction is arranged, and on it, magnetic pole is identical with described suspended substance lower magnetic pole end magnetic pole;
And comprise providing and act on described suspended substance electromagnetic attraction and control its three-axis control system in position, X, Y, Z axis direction respectively;
The weight of described suspended substance balance by the mixing magneticaction of permanent magnet expulsive force and electromagnetic attraction, and by control stable suspersion equilbrium position above described base.
2. the mixing magnetic force suspension device of tool three axle control as claimed in claim 1, is characterized in that,
Described three-axis control system comprises sensor cluster, electromagnet assembly and control circuit;
Described sensor cluster comprises and is fixed in described base and presses close to the X-axis transducer of described repulsion permanent magnet center, Y-axis transducer and Z axis transducer, described transducer is magnetic sensor, the position of described suspended substance in X-axis, Y-axis and Z axis three dimension directions, perpendicular to respective shaft, is detected respectively in its magnetic induction face;
The level that comprises described electromagnet assembly to be fixed in described base and magnetic pole vertical direction the X-axis electromagnet, Y-axis electromagnet and the Z axis electromagnet that arrange;
Described control circuit connects described sensor cluster and electromagnet assembly, accept the horizontal level signal of described X-axis transducer or Y-axis transducer and the vertical position signal of Z axis transducer, and control described X-axis electromagnet, Y-axis electromagnet and Z axis electromagnet response position signal respectively and produce corresponding controlling magnetic field.
3. the mixing magnetic force suspension device of tool three axle control as claimed in claim 2, is characterized in that,
Described X-axis electromagnet or Y-axis electromagnet are made up of two electromagnet being symmetrical in described Z axis, pole orientation different respectively;
Described Z axis electromagnet comprises a ring electromagnet arranging centered by Z axis or is made up of at least three electromagnet of array centered by Z axis, is arranged at outside described repulsion permanent magnet, different with described repulsion permanent magnet pole orientation.
4. the mixing magnetic force suspension device of tool three axle control as claimed in claim 2, is characterized in that,
Described Z axis electromagnet comprises employing X-axis electromagnet and Y-axis electromagnet further;
Described X-axis electromagnet and Y-axis electromagnet are made up of array centered by described Z axis, four electromagnet that pole orientation is identical, are arranged at outside described repulsion permanent magnet;
Described four electromagnet are controlled to produce the Z axis controlling magnetic field different with described repulsion permanent magnet pole orientation, and are produced corresponding horizontal controlling magnetic field by independent control response X, Y-axis position signalling.
5. the mixing magnetic force suspension device of tool three axle control as claimed in claim 1, is characterized in that,
Described repulsion permanent magnet comprises a permanent magnet arranging centered by described Z axis or is made up of at least three permanent magnets of array centered by Z axis, and a described permanent magnet center is provided with the through hole not affecting magnetic characteristic;
The end face outside dimension of described repulsion permanent magnet is not more than the face size of described suspending permanent magnet.
6. the mixing magnetic force suspension device of tool three axle control as claimed in claim 1, is characterized in that,
Described base comprises further and is arranged at the suction permanent magnet that described repulsion permanent magnet is outer, different with described repulsion permanent magnet pole orientation, play assisting magnetic effect with one heart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420579527.XU CN204206029U (en) | 2014-10-02 | 2014-10-02 | The mixing magnetic force suspension device that tool three axle controls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420579527.XU CN204206029U (en) | 2014-10-02 | 2014-10-02 | The mixing magnetic force suspension device that tool three axle controls |
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| Publication Number | Publication Date |
|---|---|
| CN204206029U true CN204206029U (en) | 2015-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420579527.XU Expired - Fee Related CN204206029U (en) | 2014-10-02 | 2014-10-02 | The mixing magnetic force suspension device that tool three axle controls |
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| CN (1) | CN204206029U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270035A (en) * | 2014-10-02 | 2015-01-07 | 陈云飞 | Hybrid magnetic suspension device with three-axis control system |
| CN106487278A (en) * | 2015-08-24 | 2017-03-08 | 广濑洋 | Magnetic suspension running gear |
| CN111288323A (en) * | 2020-03-05 | 2020-06-16 | 五邑大学 | Magnetic suspension globe table lamp |
-
2014
- 2014-10-02 CN CN201420579527.XU patent/CN204206029U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270035A (en) * | 2014-10-02 | 2015-01-07 | 陈云飞 | Hybrid magnetic suspension device with three-axis control system |
| CN106487278A (en) * | 2015-08-24 | 2017-03-08 | 广濑洋 | Magnetic suspension running gear |
| CN111288323A (en) * | 2020-03-05 | 2020-06-16 | 五邑大学 | Magnetic suspension globe table lamp |
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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: 20150311 Termination date: 20201002 |
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| CF01 | Termination of patent right due to non-payment of annual fee |