CN204729613U - With the device of worm screw adjustment backlash - Google Patents
With the device of worm screw adjustment backlash Download PDFInfo
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- CN204729613U CN204729613U CN201520099993.2U CN201520099993U CN204729613U CN 204729613 U CN204729613 U CN 204729613U CN 201520099993 U CN201520099993 U CN 201520099993U CN 204729613 U CN204729613 U CN 204729613U
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- actuator
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Abstract
The utility model is a kind of with the device of worm screw adjustment backlash, and it comprises a drive portion, a backlash adjustment part and a control gear.Drive portion establishes one first electric machine, one first actuator, a coupling component, a Passive part and one second actuator; First actuator and coupling component coaxially drive by the first electric machine, and Passive part is coaxial with the second actuator, and rotate backward by coupling component transmission, and two actuators drive driven member respectively from the both sides of a driven member.One second electric machine, a screw piece and a backlash adjustment piece are established in backlash adjustment part, second electric machine is through screw piece transmission backlash adjustment piece linear displacement, backlash adjustment piece coaxially links Passive part, and can pass through the second actuator and pull and promote driven member, to adjust the backlash between two actuators and driven member.Make this case reach the second actuator and tool drive with backlash adjustment function, in transmission, backlash can be adjusted in real time, with the effect that can control the torque value adjusting backlash.
Description
Technical field
The utility model be a kind of with worm screw adjustment backlash device, espespecially one have the second actuator concurrently and tool drive with backlash adjustment function, in transmission, backlash can be adjusted in real time, with the device adjusting backlash with worm screw of the torque value that can control to adjust backlash.
Background technique
Worm drive worm gear is the wherein one of known driving mechanism.
And such design, there is back clearance between worm and wheel after, the back clearance between worm and wheel cannot be adjusted, and engagement group is therebetween established and quite accurately, otherwise must cannot be produced good transmission ratio, therefore, assembling process quite bothers and needs quite accurate, and produces problem with high costs like this.
Certainly, also have the device of adjustable back clearance on the market, but except device complexity, mostly need coordinate spring structure, easy generation elastic fatique of long duration, causes back clearance Adjustment effect to lose precision.
Therefore how designing the device adjusting backlash with worm screw that meets industry applications, is namely the primary of relevant industry exploitation.
Model utility content
Technical problem underlying to be solved in the utility model is, overcome the above-mentioned defect that prior art exists, and providing a kind of with the device of worm screw adjustment backlash, it reaches the second actuator and tool drives with backlash adjustment function, in transmission, can adjust backlash and the function that can control the torque value adjusting backlash in real time.
The utility model solves the technological scheme that its technical problem adopts:
With a device for worm screw adjustment backlash, comprising:
One drive portion, is provided with:
One first electric machine;
One first actuator, links this first electric machine, and is driven by it;
One coupling component, this first actuator of coaxial link, and by its interlock, this coupling component is between this first electric machine and this first actuator;
One Passive part, links this coupling component, and rotates backward by its interlock;
One second actuator, coaxial this Passive part of link, and by its interlock; This second actuator and this first actuator drive this driven member respectively in order to the both sides from a driven member;
One backlash adjustment part, is provided with:
One second electric machine, in order to drive this Passive part linear displacement;
One control gear, is provided with:
One first driver, controls signal in order to export one first, and drives this first electric machine;
One first detecting part, links and load current in order to sense this first driver; When this first actuator, this second actuator wherein produce backlash between at least one and this driven member, this load current changes;
One second driver, in order to export one second rotate forward control signal, one second reversion control signal one of them, and drive this second electric machine forward and reverse respectively; To drive this Passive part linear displacement, and can pull respectively and promote this driven member, to adjust this first actuator, the backlash of this second actuator wherein between at least one and this driven member;
One driver control system, exports this first control signal in order to control this first driver; And receive the load current that this first detecting part transmits, and when load current changes, in order to control this second driver export this second rotate forward control signal, this second reversion control signal one of them;
It is characterized in that:
This second actuator extends a pin-joint part from this Passive part axle center;
This backlash adjustment part, is provided with:
One screw piece, one end links this second electric machine, and by its transmission;
One backlash adjustment piece, has:
One screw-driven end, establishes with the mutual spiral shell of the another end of this screw piece; This backlash adjustment piece is limited not rotatable, when these screw piece forward and reverse, can pull respectively and promote this backlash adjustment piece Linear-moving;
One pivot joint end, pivot joint mutual to this pin-joint part, and relatively rotate for this Passive part and this backlash adjustment piece.
The beneficial effects of the utility model are, it reaches the second actuator and tool drives with backlash adjustment function, in transmission, can adjust backlash and the function that can control the torque value adjusting backlash in real time.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is schematic diagram of the present utility model.
Fig. 2 A is the schematic diagram pulling worm screw to adjust backlash of the present utility model.
Fig. 2 B is the schematic diagram of promotion worm screw adjustment backlash of the present utility model.
Fig. 3 A is the enlarged diagram of the partial devices of Fig. 2 A.
Fig. 3 B is the enlarged diagram of the partial devices of Fig. 2 B.
Fig. 4 is the schematic diagram of other application examples of the present utility model.
Fig. 5 is the schematic diagram of other application examples of drive portion of the present utility model.
Fig. 6 is the action schematic diagram of the partial devices of Fig. 5.
Number in the figure illustrates:
10 drive portion 10A first auxiliary wheels
10B second auxiliary wheel 10C regulating wheel
10D transmission strips 101 transmission internal surface
102 transmission outer surface 11 first electric machines
12 first actuator 13 coupling components
14 Passive part 15 second actuators
151 backlash adjustment part, pin-joint parts 20
21 second electric machine 22 screw pieces
23 backlash adjustment piece 231 screw-driven ends
232 pivot joint end 30 control gear
31 first drivers 311 first control signal
32 first detecting part 33 second drivers
331 second rotate forward the reversion of control signal 332 second controls signal
34 driver control system 35 second detecting parts
36 primary importance detection device 361 primary importance sensing signals
37 second place detection device 371 second place sensing signals
38 the 3rd position detecting device 381 the 3rd location sensing signals
90 driven member D1, D2 backlash
L1, L2 backlash adjustment distance P1 normal position
P2 tightens position
Embodiment
Consult Fig. 1 and Fig. 2 A, the utility model is a kind of with the device of worm screw adjustment backlash, and it comprises:
One drive portion 10, is provided with:
One first electric machine 11;
One first actuator 12, links this first electric machine 11, and is driven by it;
One coupling component 13, this first actuator 12 of coaxial link, and by its interlock, this coupling component 13 is between this first electric machine 11 and this first actuator 12;
One Passive part 14, links this coupling component 13, and rotates backward by its interlock;
One second actuator 15, coaxial this Passive part 14 of link, and by its interlock; This second actuator 15 and this first actuator 12 are in order to drive this driven member 90 respectively from the both sides of a driven member 90;
One backlash adjustment part 20, is provided with:
One second electric machine 21, in order to drive this Passive part 14 linear displacement;
One control gear 30, is provided with:
One first driver 31, controls signal 311 in order to export one first, and drives this first electric machine 11;
One first detecting part 32, links and load current in order to sense this first driver 31; (Fig. 3 A and Fig. 3 B is consulted when this first actuator 12, this second actuator 15 wherein produce backlash between at least one and this driven member 90, producing backlash D1 or D2 in this this driven member 90 of illustrating is that example is described), this load current changes;
One second driver 33, in order to export one second rotate forward control signal 331 (as shown in Figure 2 A), one second reversion control signal 332 (consulting Fig. 2 B) one of them, and drive this second electric machine 21 forward and reverse respectively; To drive this Passive part 14 linear displacement, and can pull respectively and promote this driven member 90, to adjust this first actuator 12, this second actuator 15 backlash (D1 or D2) wherein between at least one and this driven member 90;
One driver control system 34, exports this first control signal 311 in order to control this first driver 31; And receive the load current that this first detecting part 32 transmits, and when load current changes, in order to control this second driver 33 export this second rotate forward control signal 331, this second reversion control signal 332 one of them;
It is characterized in that:
This second actuator 15 extends a pin-joint part 151 from this Passive part 14 axle center;
This backlash adjustment part 20, is provided with:
One screw piece 22, one end links this second electric machine 21, and by its transmission;
One backlash adjustment piece 23, has:
One screw-driven end 231, establishes with the mutual spiral shell of the another end of this screw piece 22; This backlash adjustment piece 23 is limited not rotatable, when these screw piece 22 forward and reverse, can pull respectively and promote (consulting Fig. 2 B) this backlash adjustment piece 23 Linear-moving;
One pivot joint end 232, with the pivot joint mutually of this pin-joint part 151, and relatively rotates with this backlash adjustment piece 23 for this Passive part 14.
In application examples of the present utility model, this first electric machine 11 can be servomotor, stepper motor one of them (also can be certainly, general electric motor).And control this first electric machine 11 convert forward and backward (and then synchronous drive this first actuator 12 respectively in forward and backward, and oppositely drive this second actuator 15 respectively in reversion, rotate forward) be must attainable known technology, do not repeat for this reason.
About this first actuator 12, this second actuator 15 and the corresponding relation of this driven member 90, can be following two kinds of application examples:
[A] this first actuator 12 can be worm screw;
This second actuator 15 can be worm screw;
This driven member 90 to should the first actuator 12, this second actuator 15, and can be worm gear.
[B] this first actuator 12 can be halberd tooth catch bar;
This second actuator 15 can be halberd tooth catch bar;
This driven member 90 to should the first actuator 12, this second actuator 15, and can be hypoid gear.
Whereby, this first actuator 12 and this second actuator 15 mutually in rotating backward, and in order to the both sides from this driven member 90, drive this driven member 90 respectively.
This second electric machine 21 can be servomotor, stepper motor one of them.
About the corresponding relation of this coupling component 13, this Passive part 14, can be following application examples:
[A] this coupling component 13 can be at least one gear;
This Passive part 14 can be at least one gear, in order to engage with this coupling component 13, and by its transmission.
[B] consults Fig. 5, and this coupling component 13 can be at least one gear:
This Passive part 14 can be at least one gear;
This drive portion 10 comprises again:
One first auxiliary wheel 10A;
One second auxiliary wheel 10B;
One regulating wheel 10C;
One transmission strips 10D, has transmission internal surface 101 and a transmission outer surface 102;
This transmission strips 10D is set around between this coupling component 13, this first auxiliary wheel 10A, this Passive part 14, this second auxiliary wheel 10B and this regulating wheel 10C;
This transmission strips 10D is linked to this coupling component 13 with this transmission outer surface 102, and by its transmission;
This transmission strips 10D is with this this first auxiliary wheel of transmission internal surface 101 transmission 10A, this Passive part 14, this second auxiliary wheel 10B and this regulating wheel 10C.
This regulating wheel 10C can strain between the P2 of transmission position in a standard drive position P1 and and convert (consulting Fig. 6); When being positioned at this standard drive position P1, this transmission strips 10D carries out transmission with standard state.When being positioned at this tension transmission position P2, be carry out transmission with tension.
Certainly, this Passive part 14 still can carry out the function (unless precision is very high, otherwise between conventional belt and gear, originally namely have the linear displacement of trace, this part does not affect transmission effect) of relative linear displacement with this transmission internal surface 101.
This control gear 30 comprises again:
One second detecting part 35, links and load current in order to sense this second driver 33; When this first actuator 12, this second actuator 15 wherein produce backlash (D1 or D2) between at least one and this driven member 90; This load current changes;
This driver control system 34, in order to receive this first, this second detecting part 32 and 35 wherein at least one load current transmitted, and when arbitrary load current changes, in order to control this second driver 33 export this second rotate forward control signal 331, this second reversion control signal 332 one of them.
One primary importance detection device 36, can be encoder, optical ruler (drawing does not show) one of them, be located on this first electric machine 11 and (consult Fig. 2 A and Fig. 2 B), in order to transmit a primary importance sensing signal 361 to this driver control system 34, it represents the rotation angle (or mobile position, and the precision that can improve adjustment backlash) of this first electric machine 11.
One second place detection device 37, can be encoder, optical ruler (drawing does not show) one of them, be located on this second electric machine 21, in order to transmit a second place sensing signal 371 to this driver control system 34, it represents the rotation angle (or mobile position, and the precision that can improve adjustment backlash) of this second electric machine 21.
One the 3rd position detecting device 38, can be encoder, optical ruler (drawing does not show) one of them, be located in this driven member 90, in order to transmit one the 3rd location sensing signal 381 to this driver control system 34, it represents the rotation angle (or mobile position, and the precision that can improve adjustment backlash) of this driven member 90.
Whereby, this driver control system 34 can by this first, the 3rd location sensing signal 361 and 381, the displaced posi detected between this first actuator 11 and this driven member 90 (also can say it is angle, this is known technology, do not repeat for this reason, in order to improve the precision of adjustment backlash); And by this second, the 3rd location sensing signal 371 and 381, detect the displaced posi (also can say it is angle, this is known technology, does not repeat for this reason, in order to improve the precision of adjustment backlash) between this second actuator 15 and this driven member 90.
All can torsion torque sensor (known technology be set again on this first actuator 12, on this second actuator 15, drawing does not show, close first Chen Ming), and this driver control system 34 of electrical communication, detect on this first actuator 12 in order to coordinate, the torsion of this second actuator 15, to improve the precision of adjustment backlash.
Course of action of the present utility model can be divided into following two kinds of patterns:
[A] actuator drive pattern:
Start this control gear 30, this control gear 30 is through this driver control system 34, control this first driver 31 export this first control signal 311 and start this first electric machine 11, this first electric machine 11 drives this first actuator 12, this this coupling component 13 of the first actuator 12 transmission; This this Passive part 14 of coupling component 13 interlock reverses, and this this second actuator 15 of Passive part 14 coaxial transmission, whereby, this first, the forward and reverse rotation respectively of this second actuator 12 and 15, and drive this driven member 90 respectively from the both sides of this driven member 90.
When this first actuator 12, this second actuator 15 wherein produce backlash (D1 or D2) between at least one and this driven member 90.
Then carry out following modes:
[B] actuator adjustment backlash pattern: when this first, this second detecting part 32 and 35 wherein at least one load current transmitted change, this driver control system 34 control this second driver 33 export this second rotate forward control signal 331, this second reversion control signal 332 one of them, and drive this second electric machine 21 forward and reverse respectively, now because this backlash adjustment piece 23 is limited rotatably (not consult Fig. 1 and Fig. 4, its outer surface precalculated position is spacing plane, opposite linear can be carried out in order to the fixture illustrated with imaginary line to move), this screw piece 22 pulls respectively through this screw-driven end 231 and promotes this backlash adjustment piece 23, this backlash adjustment piece 23 is through this pin-joint part 151, pull (as shown in Figure 2 A respectively, signal pulls a backlash adjustment distance L1, its unit is depending on actual integrated model size) and promote (as shown in Figure 2 B, signal promotion one backlash adjustment distance L2, its unit is depending on actual integrated model size) this Passive part 14, this Passive part 14 and this second actuator 15 linear displacement, and can pull respectively and promote this driven member 90, to adjust this first actuator 12, backlash D1 or D2 of this second actuator 15 wherein between at least one and this driven member 90 is (as shown in Fig. 3 A and Fig. 3 B, this second actuator 15 all represents the position before adjustment with solid line, and the position that after representing adjustment with imaginary line, backlash D1 or D2 disappears).
Certainly, it is less that backlash adjusts, and this driven member 90 of driving that this first actuator 12, this second actuator 15 can be made more stable, can reduce the shock conditions because backlash causes, other tool shock damping effect relatively.
In the part that this will illustrate, be the amplitude size about backlash adjustment, can be set by actual user demand, also can adjust in advance before device dispatches from the factory, or device dispatch from the factory after not timing detect and adjust, entirely comply with actual user demand and set.
Further say, this second rotates forward and controls signal 331 and second reverse with this and control signal 332 and can be electric signal;
This driver control system 34 can control that this second driver 33 exports this second rotate forward and control the strong and weak of signal 331, and then improve the torque value pulling this driven member 90 with this second actuator 15 of reduction.
And this driver control system 34 can control this second reversion that this second driver 33 exports controls the strong and weak of signal 332, and then improve the torque value promoting this driven member 90 with this second actuator 15 of reduction.
In sum, advantage of the present utility model can be summarized as follows:
[1] second actuator tool drive and adjust function with backlash.Second actuator of the present utility model removes and the first actuator forward and backward respectively, and drive respectively outside driven member, also can pull by the second electric machine or promote, and reach the function of adjustment first actuator, the backlash of the second actuator wherein between at least one and this driven member.
[2] in transmission, backlash can be adjusted in real time.The utility model by the change of control gear according to load current, can control the second electric machine and pulls and promote the second actuator in real time, reaches effect of adjustment backlash in real time in transmission.
[3] torque value adjusting backlash can be controlled.Of the present utility model second rotates forward and controls signal and this second reverses that to control signal be electric signal, and this second rotating forward that driver control system can control the output of this second driver controls the strong and weak of signal, and then improve and reduce the torque value that this second actuator pulls this driven member, and driver control system can control the second reversion that the second driver exports controls the strong and weak of signal, and then improve the torque value promoting this driven member with this second actuator of reduction.
The above, it is only preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, every above embodiment is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (8)
1., with a device for worm screw adjustment backlash, comprising:
One drive portion, is provided with:
One first electric machine;
One first actuator, links this first electric machine, and is driven by it;
One coupling component, this first actuator of coaxial link, and by its interlock, this coupling component is between this first electric machine and this first actuator;
One Passive part, links this coupling component, and rotates backward by its interlock;
One second actuator, coaxial this Passive part of link, and by its interlock; This second actuator and this first actuator drive this driven member respectively in order to the both sides from a driven member;
One backlash adjustment part, is provided with:
One second electric machine, in order to drive this Passive part linear displacement;
One control gear, is provided with:
One first driver, controls signal in order to export one first, and drives this first electric machine;
One first detecting part, links and load current in order to sense this first driver; When this first actuator, this second actuator wherein produce backlash between at least one and this driven member, this load current changes;
One second driver, in order to export one second rotate forward control signal, one second reversion control signal one of them, and drive this second electric machine forward and reverse respectively; To drive this Passive part linear displacement, and can pull respectively and promote this driven member, to adjust this first actuator, the backlash of this second actuator wherein between at least one and this driven member;
One driver control system, exports this first control signal in order to control this first driver; And receive the load current that this first detecting part transmits, and when load current changes, in order to control this second driver export this second rotate forward control signal, this second reversion control signal one of them;
It is characterized in that:
This second actuator extends a pin-joint part from this Passive part axle center;
This backlash adjustment part, is provided with:
One screw piece, one end links this second electric machine, and by its transmission;
One backlash adjustment piece, has:
One screw-driven end, establishes with the mutual spiral shell of the another end of this screw piece; This backlash adjustment piece is limited not rotatable, when these screw piece forward and reverse, can pull respectively and promote this backlash adjustment piece Linear-moving;
One pivot joint end, pivot joint mutual to this pin-joint part, and relatively rotate for this Passive part and this backlash adjustment piece.
2. according to claim 1 with worm screw adjustment backlash device, it is characterized in that, described first electric machine be servomotor, stepper motor one of them;
This first actuator is worm screw;
This second actuator is worm screw;
This driven member to should the first actuator, this second actuator, and be worm gear;
Whereby, this first actuator, this second actuator, from the both sides of this driven member, drive this driven member to rotate forward, to reverse respectively respectively;
This second electric machine be servomotor, stepper motor one of them.
3. according to claim 1 with worm screw adjustment backlash device, it is characterized in that, described first electric machine be servomotor, stepper motor one of them;
This first actuator is halberd tooth catch bar;
This second actuator is halberd tooth catch bar;
This driven member to should the first actuator, this second actuator, and be hypoid gear;
Whereby, this first actuator, this second actuator, from the both sides of this driven member, drive this driven member to rotate forward, to reverse respectively respectively;
This second electric machine be servomotor, stepper motor one of them.
4. according to claim 1 with the device of worm screw adjustment backlash, it is characterized in that, described coupling component is gear;
This Passive part is gear, in order to engage with this coupling component, and by its transmission.
5. according to claim 1 with the device of worm screw adjustment backlash, it is characterized in that, described coupling component is gear:
This Passive part is gear;
This drive portion comprises again:
One first auxiliary wheel;
One second auxiliary wheel;
One regulating wheel;
One transmission strips, has a transmission internal surface and a transmission outer surface; This transmission strips is set around between this coupling component, this first auxiliary wheel, this Passive part, this second auxiliary wheel and this regulating wheel;
This transmission strips is linked to this coupling component with this transmission outer surface, and by its transmission;
This transmission strips is with this this first auxiliary wheel of transmission internal surface transmission, this Passive part, this second auxiliary wheel and this regulating wheel;
This regulating wheel can be strained between transmission position in a standard drive position and one and convert; When being positioned at this standard drive position, this transmission strips carries out transmission with standard state; When being positioned at this tension transmission position, carry out transmission with tension.
6. according to claim 1 with the device of worm screw adjustment backlash, it is characterized in that, described control gear comprises again:
One second detecting part, links and load current in order to sense this second driver; When this first actuator, this second actuator wherein produce backlash between at least one and this driven member; This load current changes;
This driver control system, in order to receive this first, this second detecting part wherein at least one transmit load current, and when arbitrary load current changes, in order to control this second driver export this second rotate forward control signal, this second reversion control signal one of them.
7. according to claim 1 with the device of worm screw adjustment backlash, it is characterized in that, comprise again:
One primary importance detection device, is located on this first electric machine, and in order to transmit a primary importance sensing signal to this driver control system, it represents the rotation angle of this first electric machine;
This primary importance detection device be encoder, optical ruler one of them;
One the 3rd position detecting device, is located in this driven member, and in order to transmit one the 3rd location sensing signal to this driver control system, it represents the rotation angle of this driven member;
3rd position detecting device be encoder, optical ruler one of them;
This driver control system, by this first, the 3rd location sensing signal, detects the displaced posi between this first actuator and this driven member.
8. according to claim 1 with the device of worm screw adjustment backlash, it is characterized in that, comprise again:
One second place detection device, is located on this second electric machine, and in order to transmit a second place sensing signal to this driver control system, it represents the rotation angle of this second electric machine;
This second place detection device be encoder, optical ruler one of them;
One the 3rd position detecting device, is located in this driven member, and in order to transmit one the 3rd location sensing signal to this driver control system, it represents the rotation angle of this driven member;
3rd position detecting device be encoder, optical ruler one of them;
This driver control system, by this second, the 3rd location sensing signal, detects the displaced posi between this second actuator and this driven member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520099993.2U CN204729613U (en) | 2015-02-12 | 2015-02-12 | With the device of worm screw adjustment backlash |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520099993.2U CN204729613U (en) | 2015-02-12 | 2015-02-12 | With the device of worm screw adjustment backlash |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204729613U true CN204729613U (en) | 2015-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520099993.2U Expired - Fee Related CN204729613U (en) | 2015-02-12 | 2015-02-12 | With the device of worm screw adjustment backlash |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204729613U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107461457A (en) * | 2016-06-06 | 2017-12-12 | 舍弗勒技术股份两合公司 | Worm-and-wheel gear |
| CN109804179A (en) * | 2016-08-16 | 2019-05-24 | 路易斯·马里亚·安东内洛 | Gap is controlled or the gear reduction unit of zero clearance |
-
2015
- 2015-02-12 CN CN201520099993.2U patent/CN204729613U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107461457A (en) * | 2016-06-06 | 2017-12-12 | 舍弗勒技术股份两合公司 | Worm-and-wheel gear |
| CN109804179A (en) * | 2016-08-16 | 2019-05-24 | 路易斯·马里亚·安东内洛 | Gap is controlled or the gear reduction unit of zero clearance |
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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: 20151028 Termination date: 20200212 |
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| CF01 | Termination of patent right due to non-payment of annual fee |