CN205201525U - Be used for electronic components to paste dress and welded industrial robot and hand claw thereof - Google Patents
Be used for electronic components to paste dress and welded industrial robot and hand claw thereof Download PDFInfo
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- CN205201525U CN205201525U CN201520949613.XU CN201520949613U CN205201525U CN 205201525 U CN205201525 U CN 205201525U CN 201520949613 U CN201520949613 U CN 201520949613U CN 205201525 U CN205201525 U CN 205201525U
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- industrial robot
- picking
- vacuum suction
- suction finger
- finger
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Abstract
The utility model discloses a be used for electronic components to paste dress and welded industrial robot and hand claw thereof, industrial robot hand claw is installed on industrial robot, industrial robot includes control system, industrial robot hand claw includes the base plate, pick up mechanism and vision mechanism, it connects respectively on the base plate and picks up the mechanism and be connected with control system is electric respectively with vision mechanism to pick up mechanism and vision mechanism, it picks up the mechanism and stands separately the piece and pick up the mechanism including pasting the dress piece to pick up the mechanism, wherein, it picks up the mechanism and includes by the vacuum system drive in order to adsorb the vacuum adsorption finger that pastes dress to paste the dress piece, discrete piece picks up the mechanism and includes by the drive of electronic jar in order to pick up the electronic clamp that picks up that stands separately the piece. The utility model discloses can realize that one kind is carried out the flexibility assembly and welded industrial robot and hand claw of dress device and component to cavity electron -like product, effectively improve efficiency, reduce working strength.
Description
Technical field
The utility model relates to a kind of industrial robot, particularly relates to a kind of for electronic devices and components attachment and the Special industrial robot welded and paw thereof.
Background technology
Be different from conventional patch machine, for the attachment of cavity electron-like components and parts and the industrial robot paw welded, a kind ofly gathered Servo Drive Technology's, vision technique and vacuum suction technology coordinated signals and the special equipment unit formed, the attachment solving inside cavity device and element with weld a difficult problem, achieve the flexibility of cavity electronic product, Automated assembly and weld, also compensate for the deficiency of conventional patch machine simultaneously.
The feature of servo-drive is accurately with flexible, be particularly suitable for active force increase fast and need in pinpoint application, and electric drive compact conformation, be applicable in the environment of limited space, especially along with Continuous Innovation and the high speed development of electron trade, the manufacturing cost of servo-drive Related product constantly declines, and these all demonstrate electric drive undoubtedly extremely strong vitality in automatic field.
Electric cylinder is a kind of form of expression of electric drive technology, it is the modular product by servomotor and leading screw integrated design, convert the rotary motion of servomotor to rectilinear motion, the characteristic transition such as the precise rotation of servomotor, revolution and moment of torsion control are become the advantages such as accurate speed, position and thrust control simultaneously, realize novelty, the integrated product of high-precision linear motion.
Compare with cylinder with hydraulic cylinder, the advantage of electric cylinder is its Close loop servo control, and control accuracy reaches 0.02mm, controls thrust precision and reaches 1%, can multipoint positioning, and achieves environment more environmental protection, and more energy-conservation, mounting means is more flexible.
Vacuum absorption device is a kind of labour saving machine that the negative pressure of vacuum relying on vacuum generator to produce is lifted by crane object, carries and clamped, vacuum cup is the executive component of vacuum absorption device, vacuum can be changed into mechanical energy, it has following advantage: structure is simple, and cost is low, easy for installation, maintenance cost is few and not disfiguring workpiece etc.
Industrial vision technology relies on the imaging of CCD industrial intelligent camera, and image processing and analyzing is carried out in imaging, extracts required characteristic information, convert the position deviation of actual executing agency to.Reaching its maturity particularly along with Digital Image Processing algorithm, industrial vision technology is more and more extensive in field application such as the automatic fixation and recognition of workpiece, position deviation correction and product quality detections.
View-based access control model technology, the mechanism that electric cylinder and vacuum absorption device are built can reach stable, complete the different Mount Device of pickup various shape and element fast and coordinated the basic demand of welding, but at present cavity electronic product device and element assembling with weld that to be also in manual assembly be the stage of leading, not yet appearance electric cylinder, the mechanism of vision technique and vacuum suction technology is used for Mount Device and component mounter and welds special-purpose machinery paw, designing a kind of brand-new assembling with the paw welded for cavity electron-like components and parts is the utility model purpose.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of flexibility assembling and the industrial robot welded and the paw thereof that can realize carrying out cavity electronic product Mount Device and element.
To achieve these goals, of the present utility model for electronic devices and components attachment and the industrial robot paw welded, be arranged on an industrial robot, described industrial robot comprises control system, described industrial robot paw comprises substrate, mechanism for picking and visual mechanisms, described mechanism for picking and described visual mechanisms are connected on described substrate and described mechanism for picking and described visual mechanisms are electrically connected with described control system respectively, described mechanism for picking comprises attachment part mechanism for picking and separate piece mechanism for picking, wherein, described attachment part mechanism for picking comprises the first vacuum suction finger being driven to adsorb attachment part by vacuum system, described separate piece mechanism for picking comprises the electronic pickup grippers being driven to pick up separate piece by electric cylinder.
Above-mentioned industrial robot paw, wherein, described first vacuum suction finger comprises hard vacuum suction finger and soft vacuum suction finger, and described hard vacuum suction finger comprises hard sucker mouth, and described soft vacuum suction finger comprises soft sucker mouth.
Above-mentioned industrial robot paw, wherein, described visual mechanisms comprises industrial camera and annular light source, and described industrial camera is connected to the below of described substrate and is electrically connected with described control system, and described annular light source corresponds to the below that the camera lens of described industrial camera is connected to described substrate.
Above-mentioned industrial robot paw, wherein, described mechanism for picking also comprises the charging tray mechanism for picking of pickup charging tray, described charging tray mechanism for picking connects on the substrate and is electrically connected with described control system, and described charging tray mechanism for picking comprises the second vacuum suction finger being driven to adsorb charging tray by vacuum system.
Above-mentioned industrial robot paw, wherein, described second vacuum suction finger is for multiple, and the adsorption plane of multiple described second vacuum suction finger is positioned at same plane.
Above-mentioned industrial robot paw, wherein, described second vacuum suction finger is the soft vacuum suction finger comprising soft sucker mouth.
Above-mentioned industrial robot paw, wherein, described attachment part mechanism for picking, described separate piece mechanism for picking and described charging tray mechanism for picking comprise slide unit cylinder respectively, described slide unit cylinder connects on the substrate, and described first vacuum suction finger, described second vacuum suction finger and described electronic pickup grippers are connected on described slide unit cylinder.
Above-mentioned industrial robot paw, wherein, described attachment part mechanism for picking and described charging tray mechanism for picking comprise buffer cell respectively, and described buffer cell is connected on described first vacuum suction finger and described second vacuum suction finger.
Above-mentioned industrial robot paw, wherein, described buffer cell is buffer spring.
Of the present utility model for electronic devices and components attachment and the industrial robot welded, comprise control system, arm, be arranged on mounting and the industrial robot paw welded for electronic devices and components of described arm end, wherein, described industrial robot paw is above-mentioned industrial robot paw.
Beneficial functional of the present utility model is:
The utility model arranges dissimilar pickup mode according to the difference of attachment part and separate piece profile and size: Mount Device profile rule can be picked up by the mode of vacuum suction, and the different electronic pickup grippers gripping that can only adopt flexibility of discrete component.The utility model is used for the Special industrial robot hand of the inner Mount Device of cavity electronic product and element, effectively improves efficiency, reduces working strength.
Charging tray carrying can put in place by the utility model, carry out paw switching, from charging tray and paster feed appliance, regularly take out individual devices or element and mount workpiece assigned address successively and coordinate welding robot to weld, ensureing controllability and the stability of whole attachment and welding process.A kind ofly gathered the coordinated signals such as vacuum suction technology, pneumatic gearing technology, industrial vision technology and electrical servo technology and the special equipment unit formed.
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail, but not as to restriction of the present utility model.
Accompanying drawing explanation
Fig. 1 is the structural representation of industrial robot paw of the present utility model;
Fig. 2 is the structural representation of the syndeton of the utility model one embodiment;
Fig. 3 is the structural representation of the attachment part mechanism for picking of the utility model one embodiment;
Fig. 4 is the structural representation of the charging tray mechanism for picking of the utility model one embodiment;
Fig. 5 is the structural representation of the soft vacuum suction finger of the utility model one embodiment.
Fig. 6 is the structural representation of the hard vacuum suction finger of the utility model one embodiment.
Fig. 7 is the structural representation of the second vacuum suction finger of the utility model one embodiment.
Fig. 8 is the structural representation of the separate piece mechanism for picking of the utility model one embodiment.
Fig. 9 is the structural representation of the visual mechanisms of the utility model one embodiment.
Wherein, Reference numeral
100 industrial robot paws
200 syndetons
210 adpting flanges
220 flange connecting plates
230 gripper shoes
240 substrates
300 attachment part mechanism for picking
310 slide unit cylinder mount frame
320 slide unit cylinders
330 sucker connecting plates
340 soft vacuum suction fingers
341 soft sucker mouths
342 soft sucker connecting rods
350 hard vacuum suction fingers
351 hard sucker mouths
352 hard sucker geometrical clamps
353 hard sucker connecting rods
360 first vacuum suction fingers
400 charging tray mechanism for picking
410 slide unit cylinder mount frame
420 slide unit cylinders
430 sucker connecting plates
440 second vacuum suction fingers
441 soft sucker mouths
442 buffer cells
500 separate piece mechanism for picking
510 slide unit cylinder mount frame
520 slide unit cylinders
530 electric cylinder installing plates
540 electric cylinders
550 electronic pickup grippers
600 visual mechanisms
610 vision systems
620 vision light source installing racks
630 vision light sources
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solutions of the utility model are described in detail, further to understand the purpose of this utility model, scheme and effect, but not as the restriction of the utility model claims protection domain.
As shown in Figure 1, the assembling of the inner Mount Device of cavity electronic product of the present utility model and element and the industrial robot paw 100 welded, be arranged on the mechanical arm working end of industrial robot 10, industrial robot 10 comprises control system (not shown), and industrial robot paw 100 comprises syndeton 200, mechanism for picking and visual mechanisms 600.Mechanism for picking and visual mechanisms 600 are connected on the substrate 240 of syndeton 200, and mechanism for picking and visual mechanisms 600 are electrically connected with the control system of industrial robot 10 respectively.Wherein, mechanism for picking comprises attachment part mechanism for picking 300 and separate piece mechanism for picking 500, wherein, attachment part mechanism for picking 300 comprises the first vacuum suction finger 360 being driven to adsorb attachment part by vacuum system, and separate piece mechanism for picking 500 comprises the electronic pickup grippers 550 being driven to pick up separate piece by electric cylinder 540.
Mechanism for picking also comprises the charging tray mechanism for picking 400 of pickup charging tray, and charging tray mechanism for picking 400 to be connected on substrate 240 and be electrically connected with control system, and charging tray mechanism for picking 400 comprises the second vacuum suction finger 440 being driven to adsorb charging tray by vacuum system.
Be described giving each several part in detail below.
It is the structural representation of the syndeton of the utility model one embodiment see Fig. 2, Fig. 2.In the present embodiment, syndeton 200 also comprises adpting flange 210, flange connecting plate 220 and gripper shoe 230, adpting flange 210 is connected on the mechanical arm of industrial robot 10, flange connecting plate 220 is fixed on below adpting flange 210, gripper shoe 230 is fixed on each one piece of both sides below flange connecting plate 220, and substrate 240 is fixed on below two pieces of gripper shoes 230.
The substrate 240 of syndeton 200 is rectangular configuration, and the first vacuum suction finger 360, second vacuum suction finger 440 of mechanism for picking and electronic pickup grippers 550 are symmetricly set in the surrounding of substrate 240 respectively.Wherein, electronic pickup grippers 550 can solve the components and parts that cannot be picked up by vacuum suction mode, such as: the discrete components such as electrochemical capacitor, chromatic circle resistance, wire-wound inductor.First vacuum suction finger 360, second vacuum suction finger 440 solves profile rule by the mode of vacuum suction, the surface mount elements, circuit module etc. of surfacing mount part and charging tray.
It is the structural representation of the attachment part mechanism for picking of the utility model one embodiment see Fig. 3, Fig. 3.In the present embodiment, attachment part mechanism for picking 300 comprises slide unit cylinder mount frame 310, slide unit cylinder 320 and sucker connecting plate 330.First vacuum suction finger 360 of attachment part mechanism for picking 300 comprises soft vacuum suction finger 340 and hard vacuum suction finger 350, slide unit cylinder 320 is arranged on the both sides of substrate 240 by slide unit cylinder mount frame 310, and soft vacuum suction finger 340 and hard vacuum suction finger 350 are arranged on the flange of slide unit cylinder 320 by sucker connecting plate 330.
Particularly, substrate 240 is provided with the cylinder groove passed for slide unit cylinder 320, slide unit cylinder 320 to be arranged on slide unit cylinder mount frame 310 and the plane orthogonal at the direction of motion of slide unit cylinder 320 and substrate 240 place, soft vacuum suction finger 340 and hard vacuum suction finger 350 are arranged on the end of slide unit cylinder 320 by sucker connecting plate 330, soft vacuum suction finger 340 is parallel with the direction of motion of slide unit cylinder 320 with the axis of hard vacuum suction finger 350.Slide unit cylinder 320 drives soft vacuum suction finger 340 and hard vacuum suction to point 350 opposing substrate 240 and moves when sliding.
It is the structural representation of the soft vacuum suction finger of the utility model one embodiment see Fig. 5, Fig. 5.In the present embodiment, soft vacuum suction finger 340 comprises: soft sucker mouth 341 and soft sucker connecting rod 342, soft sucker mouth 341 is arranged on one end of soft sucker connecting rod 342.
It is the structural representation of the hard vacuum suction finger of the utility model one embodiment see Fig. 6, Fig. 6.In the present embodiment, soft vacuum suction finger 350 comprises: soft sucker mouth 351, hard sucker geometrical clamp 352 and hard sucker connecting rod 353, hard sucker mouth 351 is arranged on one end of hard sucker connecting rod 353 by hard sucker geometrical clamp 352.
Sucker is divided into soft sucker (quality of rubber materials) and two kinds, hard sucker (metal material) by the material difference of the suction nozzle of joining according to vacuum suction, soft vacuum suction finger 340 adopts soft sucker mouth 341 to be used for picking up adsorbable large components and parts (and charging tray), hard vacuum suction finger 350 adopts hard sucker mouths 351 to be used for the little and components and parts that profile is little of adsorbable of pickup, such as: the SMD components such as Chip-R, patch capacitor.
It is the structural representation of the charging tray mechanism for picking of the utility model one embodiment see Fig. 4, Fig. 4.In the present embodiment, charging tray mechanism for picking 400 also comprises slide unit cylinder mount frame 410, slide unit cylinder 420 and sucker connecting plate 430.Slide unit cylinder mount frame 410 is arranged on substrate 240 through substrate 240 via hole, and slide unit cylinder 420 is arranged on slide unit cylinder mount frame 410, and the second vacuum suction finger 440 is soft vacuum suction finger.Second vacuum suction finger 440 is arranged on slide unit cylinder 420 by sucker connecting plate 430.Second vacuum suction finger 440 is for picking up charging tray, and because charging tray area is comparatively large, the second vacuum suction finger 440 is multiple, preferably, the adsorption plane of multiple second vacuum suction finger 440 is positioned at same plane, and when picking up charging tray, multiple second vacuum suction finger 440 works simultaneously.In the present embodiment, the second vacuum suction finger 440 adopts three, but not as limit.
It is the soft vacuum suction finger structure schematic diagram of the band buffer gear of the utility model one embodiment see Fig. 7, Fig. 7.In the present embodiment, the second vacuum suction finger 440 is the vacuum suction finger of band buffer cell 442, and the second vacuum suction finger 440 comprises soft sucker mouth 441 and buffer cell 442, and soft sucker mouth 441 is arranged on one end of buffer cell 442.Buffer cell 442 is such as multiple spring, and multiple spring is set on the second vacuum suction finger 440 of multiple carrying charging tray.Buffer cell 442 can also be arranged on the first vacuum suction finger 360 of at least one pickup Mount Device or element.The setting of buffer cell 442 is the flexibilities in order to increase by the second vacuum suction finger 440.
It is the structural representation of the separate piece mechanism for picking of the utility model one embodiment see Fig. 8, Fig. 8.In the present embodiment, separate piece mechanism for picking 500 also comprises slide unit cylinder mount frame 510, slide unit cylinder 520, electric cylinder installing plate 530 and electronic pickup grippers 550, slide unit cylinder mount frame 510 is arranged on substrate 240 side, slide unit cylinder 520 is arranged on slide unit cylinder mount frame 510, electric cylinder installing plate 530 is arranged on the flange of slide unit cylinder 520, electric cylinder 540 is arranged on electric cylinder installing plate 530, and electronic pickup grippers 550 is arranged on the flange of electric cylinder 540.Electronic pickup grippers 550 can pick up at least three kinds of different discrete components.
In the utility model, finger, in same plane, is just stretched out by corresponding slide unit cylinder when with which finger of use need pick up by the sucker face of all vacuum fingers and the finger tip of electronic finger.During every task, not just finger work, needs multiple finger to work together sometimes, such as: during pickup charging tray, needs three the second vacuum suction fingers 440 to work simultaneously.
It is the structural representation of the visual mechanisms of the utility model one embodiment see Fig. 9, Fig. 9.In the present embodiment, visual mechanisms 600 comprises vision system 610, vision light source installing rack 620 and vision light source 630, vision system 610 is arranged on the below of substrate 240, vision light source installing rack 620 is arranged on the below of substrate 240, and vision light source 630 is arranged on the below of vision light source installing rack 620.
Vision system 610 is highly integrated CCD and the industrial camera of controller integral, vision light source 630 adopts annular light source, industrial camera is connected to the below of substrate and is electrically connected with control system, and annular light source corresponds to the below that the camera lens of industrial camera is connected to substrate.
In the utility model one embodiment, industrial robot adopts Yamaha robot to realize the driving of whole paw.According to the difference of job specification, Yamaha robot can realize assembling, casting cleaning, application/spraying, cutting, polishing, material handling, the functions such as stacking, by selection grounds such as actuating range, positioning precision, wrist load, use occasion and outer shaft configurations, the utility model preferred robot YK900 series (brachium 900mm, prudent 20kg) realizes quick, stable, the movement reliably of whole manipulator.
The utility model visual mechanisms identifies the position of each device or element in charging tray accurately and reliably, with vacuum finger and electronic finger (electronic pickup grippers) quick pick-up device or element, the flexibility of finger is increased with buffer cell, can point needed for rapid translating with slide unit cylinder, different according to workpiece to be mounted, by switching different fingers, reach the object of accurate, reliable, flexible attachment.Can solve in existing chip mounter technology and be only limitted to mount the surface device of such as pcb board etc., the problem of circuit attachment and welding cannot be carried out cavity class inside workpiece.
Certainly; the utility model also can have other various embodiments; when not deviating from the utility model spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the utility model, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the utility model.
Claims (10)
1. one kind mounts and the industrial robot paw welded for electronic devices and components, be arranged on an industrial robot, described industrial robot comprises control system, described industrial robot paw comprises substrate, mechanism for picking and visual mechanisms, described mechanism for picking and described visual mechanisms are connected on described substrate and described mechanism for picking and described visual mechanisms are electrically connected with described control system respectively, it is characterized in that, described mechanism for picking comprises attachment part mechanism for picking and separate piece mechanism for picking, wherein, described attachment part mechanism for picking comprises the first vacuum suction finger being driven to adsorb attachment part by vacuum system, described separate piece mechanism for picking comprises the electronic pickup grippers being driven to pick up separate piece by electric cylinder.
2. industrial robot paw according to claim 1, it is characterized in that, described first vacuum suction finger comprises hard vacuum suction finger and soft vacuum suction finger, and described hard vacuum suction finger comprises hard sucker mouth, and described soft vacuum suction finger comprises soft sucker mouth.
3. industrial robot paw according to claim 1, it is characterized in that, described visual mechanisms comprises industrial camera and annular light source, described industrial camera is connected to the below of described substrate and is electrically connected with described control system, and described annular light source corresponds to the below that the camera lens of described industrial camera is connected to described substrate.
4. the industrial robot paw according to any one of claims 1 to 3, it is characterized in that, described mechanism for picking also comprises the charging tray mechanism for picking of pickup charging tray, described charging tray mechanism for picking connects on the substrate and is electrically connected with described control system, and described charging tray mechanism for picking comprises the second vacuum suction finger being driven to adsorb charging tray by vacuum system.
5. industrial robot paw according to claim 4, is characterized in that, described second vacuum suction finger is for multiple, and the adsorption plane of multiple described second vacuum suction finger is positioned at same plane.
6. industrial robot paw according to claim 4, is characterized in that, described second vacuum suction finger is the soft vacuum suction finger comprising soft sucker mouth.
7. industrial robot paw according to claim 4, it is characterized in that, described attachment part mechanism for picking, described separate piece mechanism for picking and described charging tray mechanism for picking comprise slide unit cylinder respectively, described slide unit cylinder connects on the substrate, and described first vacuum suction finger, described second vacuum suction finger and described electronic pickup grippers are connected on described slide unit cylinder.
8. industrial robot paw according to claim 4, it is characterized in that, described attachment part mechanism for picking and described charging tray mechanism for picking comprise buffer cell respectively, and described buffer cell is connected on described first vacuum suction finger and described second vacuum suction finger.
9. industrial robot paw according to claim 8, is characterized in that, described buffer cell is buffer spring.
10. one kind mounts and the industrial robot welded for electronic devices and components, comprise control system, arm, be arranged on mounting and the industrial robot paw welded for electronic devices and components of described arm end, it is characterized in that, described industrial robot paw is the industrial robot paw described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520949613.XU CN205201525U (en) | 2015-11-25 | 2015-11-25 | Be used for electronic components to paste dress and welded industrial robot and hand claw thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520949613.XU CN205201525U (en) | 2015-11-25 | 2015-11-25 | Be used for electronic components to paste dress and welded industrial robot and hand claw thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205201525U true CN205201525U (en) | 2016-05-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520949613.XU Expired - Fee Related CN205201525U (en) | 2015-11-25 | 2015-11-25 | Be used for electronic components to paste dress and welded industrial robot and hand claw thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205201525U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555918A (en) * | 2018-02-12 | 2018-09-21 | 上海发那科机器人有限公司 | A kind of multifunctional and composite type paw being adapted to industrial robot training |
| CN108994870A (en) * | 2018-09-30 | 2018-12-14 | 东莞华贝电子科技有限公司 | End effector and manipulator for manipulator |
| CN114407066A (en) * | 2022-03-03 | 2022-04-29 | 苏州天准科技股份有限公司 | Material picking mechanism, device and method |
-
2015
- 2015-11-25 CN CN201520949613.XU patent/CN205201525U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555918A (en) * | 2018-02-12 | 2018-09-21 | 上海发那科机器人有限公司 | A kind of multifunctional and composite type paw being adapted to industrial robot training |
| CN108994870A (en) * | 2018-09-30 | 2018-12-14 | 东莞华贝电子科技有限公司 | End effector and manipulator for manipulator |
| CN114407066A (en) * | 2022-03-03 | 2022-04-29 | 苏州天准科技股份有限公司 | Material picking mechanism, device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160504 Termination date: 20181125 |
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| CF01 | Termination of patent right due to non-payment of annual fee |