CN205428223U - Traffic control robot - Google Patents
Traffic control robot Download PDFInfo
- Publication number
- CN205428223U CN205428223U CN201521062604.5U CN201521062604U CN205428223U CN 205428223 U CN205428223 U CN 205428223U CN 201521062604 U CN201521062604 U CN 201521062604U CN 205428223 U CN205428223 U CN 205428223U
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- joint
- fixed
- disc
- steering wheel
- traffic control
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Abstract
The utility model discloses a traffic control robot, including base, running gear, stand subassembly and commander's hand, be equipped with the coexistence board between chassis and the last chassis under, be formed with the holding chamber between the coexistence board, the supporting rack is fixed on last chassis, running gear includes two sets of running gear, and running gear includes servo motor, shaft coupling, pivot and walking wheel, and the stand unit mount is on the supporting rack, commander's hand is installed respectively to both sides at the stand subassembly. The utility model discloses can improve stability.
Description
Technical field
This utility model relates to traffic control robot.
Background technology
At present, the point duty in major part place is all to be realized by traffic police, and in some crossroads, in order to preferably carry out point duty, traffic police is standing in the middle of four crossway, and due to the traveling of vehicle, the danger to traffic police is the biggest.
Therefore, the robot using machine to replace people commander is the most also occurred in that.But the stability of current traffic control robot is bad, the intensity of supporting is not good enough, and the motility of commander is bad, robot underaction in the process of walking.
Summary of the invention
In order to improve stability, this utility model provides a kind of traffic control robot.
For reaching above-mentioned purpose, a kind of traffic control robot, including base, walking mechanism, columns assemblies and commander's hands；Described base includes low bottom-disc, top bottom-disc, riser and bearing support, is provided with two risers being parallel to each other, is formed with cavity between low bottom-disc and top bottom-disc, be formed with containing cavity between two risers between low bottom-disc and top bottom-disc；Low bottom-disc is provided with lower race, top bottom-disc is provided with race；Bearing support is fixed on top bottom-disc；Described walking mechanism includes two groups of running gears, described running gear includes servomotor, shaft coupling, rotating shaft and road wheel, two servomotors in two groups of running gears are arranged in containing cavity, two servomotors are fixed together, servomotor all contacts with low bottom-disc and top bottom-disc, the output shaft of servomotor passes riser, the output shaft of servomotor connects and has shaft coupling, shaft coupling connects and has rotating shaft, rotating shaft is provided with road wheel, the both sides being positioned at road wheel on low bottom-disc are fixed with bearing block, bearing it is provided with in bearing block, rotating shaft passes bearing；The bottom of road wheel is stretched out through lower race, and the top of road wheel is stretched out through upper race；Columns assemblies is arranged on bearing support；It is separately installed with commander's hands in the both sides of columns assemblies.
Owing to defining cavity between low bottom-disc and top bottom-disc, servomotor is fixed in the containing cavity that two risers are formed, therefore, servomotor, road wheel are installed the most relatively downward, the center making walking mechanism moves down, therefore, traffic control robot of the present utility model is the most stable, it is not easy to the phenomenon of rollover occur.In this utility model, riser has the effect of location to servomotor.Owing to servomotor all contacts with upper low bottom-disc, therefore, top bottom-disc is supported by available servomotor, more preferable to the supporting stabilizer of top bottom-disc.Stretched out time race and upper race respectively due to road wheel, therefore, even if the road wheel rotating shaft or the rotating shaft fracture that depart from or rotating shaft separates with shaft coupling, road wheel, also without departing from base, improves security performance.Owing to being provided with the running gear of two groups of independences, therefore, the rotating speed of two road wheels can be made different by the speed controlling servomotor, can more preferably realize turning to.
Further, described bearing support includes column, crossbeam and longeron, is fixed with four root posts on top bottom-disc, and connecting between two root posts above has crossbeam, and connecting between two root posts below has crossbeam, and connecting between crossbeam has longeron.The bearing strength of above-mentioned bearing support is high, simple in construction, low cost.
Further, the both sides being positioned at bearing support on top bottom-disc are provided with battery space, are provided with battery in battery space.Being respectively provided with battery in the both sides of bearing support, the stress of top bottom-disc can be allowed more to balance, traffic control robot is the most steady.It addition, the weight of battery itself is heavier, battery is installed in this position, can allow the decentralization of whole traffic control robot, further increase stability.
Further, described walking mechanism also includes universal wheel, is separately installed with universal wheel, is provided with breach on low bottom-disc before and after top bottom-disc on bottom surface, and universal wheel extends downwardly from through breach.Described breach is used for dodging universal wheel, by arranging universal wheel, traffic control robot can be allowed to walk in all directions.
Further, described columns assemblies includes supporting disk, base plate, column and connection post, is fixed with pillar on bearing support, supporting disk is fixed on pillar, is provided with cavity on supporting disk, and base plate is located in cavity, the lower end of column is fixed on base plate, and the lower end connecting post is connected to the upper end of column.Base plate is located in supporting disk, can carry out spacing to base plate by cavity, and the connection of base plate is also reliable, it addition, conveniently mount and separate base plate, allows base plate, column separate with supporting disk with connection post entirety.
Further, the cross section of column is circular, and the cross section connecting post is square.Using cross section is square connection post, convenient fixing commander's hands.
Further, described commander's hands includes fixed mount, the first joint, second joint, the 3rd joint, the 4th joint, the first link, the second link and finger；Fixed mount is fixed in columns assemblies, fixing the first described joint on fixed mount, it is fixed with the first steering wheel at the first intraarticular, the output shaft of the first steering wheel is horizontally disposed with, and the output shaft of the first steering wheel stretches out the first joint, is fixed with second joint on the output shaft of the first steering wheel, the second steering wheel it is fixed with in second joint, the output shaft of the second steering wheel is vertically arranged, and the output shaft of the second steering wheel stretches out second joint, is fixed with the first link on the output shaft of the second steering wheel；3rd intraarticular is provided with the 3rd steering wheel, and the output shaft of the 3rd steering wheel is fixed on the first link；It is fixed with the second link in the lower end in the 3rd joint；Being fixed with the 4th steering wheel at the 4th intraarticular, the output shaft of the 4th steering wheel is fixed on the second link；Described finger is fixed on the lower end in the 4th joint.
Above-mentioned commander's hands, the first steering wheel work, the first steering wheel drives second joint to rotate；Second steering wheel work, the second steering wheel drives the first link to rotate；3rd steering wheel work, the 3rd steering wheel drives the 3rd joint to rotate；4th steering wheel work, the 4th steering wheel drives the 4th joint to rotate, and the 4th joint drives finger motion.Owing to being provided with first, second, third, fourth steering wheel, therefore, finger can be allowed to move in all directions, allow commander's hands command the most flexibly.Owing to being provided with first, second, third and fourth joint, therefore, convenient fixing first, second, third and fourth steering wheel.
Further, the first joint, second joint, the 3rd joint are identical with the structure in the 4th joint；The first described joint includes that base plate, top board, front side board, back side panel and right plate, base plate, top board, front side board, back side panel and right plate surround left side and have the accommodation space of opening；Base plate is provided with the first perforation, base plate is provided with on circumference with the first perforated base as the center of circle first installing hole of more than three；Top board is provided with the second perforation, top board is provided with on circumference with the second perforated base as the center of circle second installing hole of more than three；Front side board is provided with the 3rd perforation, front side board is provided with on circumference with the 3rd perforated base as the center of circle the 3rd installing hole of more than three；Back side panel is provided with the 4th perforation, back side panel is provided with on circumference with the 4th perforated base as the center of circle the 4th installing hole of more than three；Right plate is provided with groove, right plate is positioned at above and below groove and is provided with the 5th installing hole.Having the accommodation space of opening, therefore, convenient accommodating steering wheel owing to defining left side, be also convenient for mounting and dismounting steering wheel simultaneously, fixing of steering wheel is the most reliable.Use the structure in above-mentioned first joint, the output shaft of steering wheel can be allowed towards the right side, it is also possible to allow and extend before and after the output shaft of steering wheel, the output of steering wheel can also be allowed downward, it is also possible to allow steering wheel output shaft upwards, can select as required, therefore, the scope that this first articulation structure is suitable for is wide.
Further, front side board is positioned at above and below the 3rd perforation and is respectively equipped with the first through hole；Back side panel is positioned at above and below the 4th perforation and is respectively equipped with the second through hole；It is provided with third through-hole at front side board near the edge in left side, there is from the left side edge of front side board the first breach to the right that communicate with third through-hole；It is provided with fourth hole at back side panel near the edge in left side, there is from the left side edge of back side panel the second breach to the right that communicate with fourth hole.By the convenient fixing steering wheel of third through-hole and fourth hole.
Further, at the top of columns assemblies, CCD camera assembly is installed, described CCD camera assembly includes support column and photographic head, support column is taper type, photographic head is set, the situation on road surface can be monitored in real time, use the support column of taper type, support column is good to the bearing performance of photographic head, and is not easy to block the shooting sight line of photographic head.
Accompanying drawing explanation
Fig. 1 is traffic control robot schematic diagram.
Fig. 2 is traffic control robot exploded view.
Fig. 3 is the schematic diagram in the first joint.
Fig. 4 is the schematic diagram at first another visual angle, joint.
Detailed description of the invention
With detailed description of the invention, this utility model is further elaborated below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, traffic control robot includes base 1, walking mechanism 2, columns assemblies 3, commander's hands 4 and CCD camera assembly 5.
Described base 1 includes low bottom-disc 11, top bottom-disc 12, riser 13 and bearing support 14.Low bottom-disc 11 is provided with breach 111.Between low bottom-disc 11 and top bottom-disc 12, it is provided with two risers 13 being parallel to each other, between low bottom-disc 11 and top bottom-disc 12, is formed with cavity 100, between two risers 13, be formed with containing cavity；Low bottom-disc 11 is provided with lower race 112, top bottom-disc 12 is provided with race 121；Bearing support 14 is fixed on top bottom-disc 12.
Described bearing support 14 includes column 141, crossbeam 142 and longeron 143, top bottom-disc 12 is fixed with four root posts 141, connecting between two root posts 141 above and have crossbeam 142, connecting between two root posts 141 below has crossbeam 142, and connecting between crossbeam 142 has longeron 143.The bearing strength of above-mentioned bearing support 14 is high, simple in construction, low cost.The both sides being positioned at bearing support 14 on top bottom-disc 12 are provided with battery space 201, are provided with battery 200 in battery space 201.Being respectively provided with battery 200 in the both sides of bearing support 14, the stress of top bottom-disc 12 can be allowed more to balance, traffic control robot is the most steady.It addition, the weight of battery 200 itself is heavier, battery 200 is installed in this position, can allow the decentralization of whole traffic control robot, further increase stability.
Described walking mechanism 2 includes universal wheel 21 and two groups of running gears.Described running gear includes servomotor 22, shaft coupling 23, rotating shaft 24 and road wheel 25, two servomotors 22 in two groups of running gears are arranged in containing cavity, two servomotors 22 are fixed together, servomotor 22 all contacts with low bottom-disc 11 and top bottom-disc 12, the output shaft of servomotor 22 passes riser 13, the output shaft of servomotor 22 connects and has shaft coupling 23, shaft coupling 23 connects and has rotating shaft 24, rotating shaft 24 is provided with road wheel 25, the both sides being positioned at road wheel 25 on low bottom-disc 11 are fixed with bearing block, bearing it is provided with in bearing block, rotating shaft 24 is through bearing；The bottom of road wheel 25 is stretched out through lower race 112, and the top of road wheel 25 is stretched out through upper race 121.
Owing to defining cavity 100 between low bottom-disc 11 and top bottom-disc 12, servomotor 22 is fixed in the containing cavity that two risers 13 are formed, therefore, servomotor 22, road wheel 25 are installed the most relatively downward, the center making walking mechanism 2 moves down, therefore, traffic control robot of the present utility model is the most stable, it is not easy to the phenomenon of rollover occur.In this utility model, riser 13 has the effect of location to servomotor 22.Owing to servomotor 22 all contacts with upper low bottom-disc 11, therefore, top bottom-disc 12 is supported by available servomotor 22, more preferable to the supporting stabilizer of top bottom-disc 12.Owing to road wheel 25 has stretched out time race 112 and upper race 121 respectively, therefore, even if the rotating shaft 24 that departs from of road wheel 25 or rotating shaft 24 is ruptured or rotating shaft 24 separates with shaft coupling 23, road wheel 25 also without departing from base 1, improves security performance.Owing to being provided with the running gear of two groups of independences, therefore, the rotating speed of two road wheels 25 can be made different by the speed controlling servomotor 22, can more preferably realize turning to.
Described walking mechanism 2 also includes universal wheel 21, is separately installed with universal wheel 21 before and after top bottom-disc 12 on bottom surface, and universal wheel 21 extends downwardly from through breach 111.Described breach 111 is used for dodging universal wheel 21, by arranging universal wheel 21, traffic control robot can be allowed to walk in all directions.
Described columns assemblies 3 includes supporting disk 31, base plate 32, column 33 and connects post 34, bearing support 14 is fixed with pillar, supporting disk 31 is fixed on pillar, supporting disk 31 is provided with cavity 311, base plate 32 is located in cavity 311, the lower end of column 33 is fixed on base plate 32, and the lower end connecting post 34 is connected to the upper end of column 33.The cross section of column 33 is circular, and the cross section connecting post 34 is square.Base plate 32 is located in supporting disk 31, can carry out spacing to base plate 32 by cavity 311, and the connection of base plate 32 is also reliable, it addition, conveniently mount and separate base plate 32, allows base plate 32, column 33 and connection post 34 entirety separate with supporting disk 31.Using cross section is square connection post 34, convenient fixing commander's hands 4.
Described commander's hands 4 includes fixed mount the 41, first joint 42, second joint the 43, the 3rd joint the 44, the 4th joint the 45, first link the 46, second link 47 and finger 48；Fixed mount 41 is fixed in columns assemblies 3, fixing the first described joint 42 on fixed mount 41, the first steering wheel (not shown) it is fixed with in the first joint 42, the output shaft of the first steering wheel is horizontally disposed with, the output shaft of the first steering wheel stretches out the first joint 42, the output shaft of the first steering wheel is fixed with second joint 43, the second steering wheel (not shown) it is fixed with in second joint 43, the output shaft of the second steering wheel is vertically arranged, the output shaft of the second steering wheel stretches out second joint 43, is fixed with the first link 46 on the output shaft of the second steering wheel；Being provided with the 3rd steering wheel (not shown) in 3rd joint 44, the output shaft of the 3rd steering wheel is fixed on the first link 46；It is fixed with the second link 47 in the lower end in the 3rd joint 44；Being fixed with the 4th steering wheel (not shown) in the 4th joint 45, the output shaft of the 4th steering wheel is fixed on the second link 47；Described finger 48 is fixed on the lower end in the 4th joint 45.
Above-mentioned commander's hands 4, the first steering wheel work, the first steering wheel drives second joint 43 to rotate；Second steering wheel work, the second steering wheel drives the first link 46 to rotate；3rd steering wheel work, the 3rd steering wheel drives the 3rd joint 44 to rotate；4th steering wheel work, the 4th steering wheel drives the 4th joint 45 to rotate, and the 4th joint 45 drives finger 48 to move.Owing to being provided with first, second, third, fourth steering wheel, therefore, finger 48 can be allowed to move in all directions, allow commander's hands 4 command the most flexibly.Owing to being provided with first, second, third and fourth joint 45, therefore, convenient fixing first, second, third and fourth steering wheel.
First joint 42, second joint the 43, the 3rd joint 44 are identical with the structure in the 4th joint 45；As shown in Figure 3 and Figure 4, the first described joint 42 includes that base plate 421, top board 422, front side board 423, back side panel 424 and right plate 425, base plate 421, top board 422, front side board 423, back side panel 424 and right plate 425 surround left side and have the accommodation space 426 of opening；Base plate 421 is provided with the first perforation, base plate 421 is provided with on circumference with the first perforated base as the center of circle first installing hole of more than three；Top board 422 is provided with the second perforation 4221, with the second installing hole 4222 being provided with more than three on the second perforation 4221 centers circumference as the center of circle on top board 422；Front side board 423 is provided with the 3rd perforation 4231, with the 3rd installing hole 4232 being provided with more than three on the 3rd perforation 4231 centers circumference as the center of circle on front side board 423, front side board 423 is positioned at above and below the 3rd perforation 4231 and is respectively equipped with the first through hole 4233, it is provided with third through-hole 4234 at front side board 423 near the edge in left side, there is from the left side edge of front side board 423 the first breach 4235 to the right that communicate with third through-hole；Back side panel 424 is provided with the 4th perforation 4241, back side panel 424 is provided with on circumference with the 4th perforated base as the center of circle the 4th installing hole 4242 of more than three, back side panel 424 is positioned at above and below the 4th perforation 4241 and is respectively equipped with the second through hole 4243, it is provided with fourth hole 4244 at back side panel 424 near the edge in left side, there is from the left side edge of back side panel 424 the second breach 4245 to the right that communicate with fourth hole；Right plate 425 is provided with groove 4251, right plate 425 is positioned at above and below groove and is provided with the 5th installing hole 4252.Having the accommodation space 426 of opening, therefore, convenient accommodating steering wheel owing to defining left side, be also convenient for mounting and dismounting steering wheel simultaneously, fixing of steering wheel is the most reliable.Use the structure in above-mentioned first joint 42, the output shaft of steering wheel can be allowed towards the right side, it is also possible to allow and extend before and after the output shaft of steering wheel, the output of steering wheel can also be allowed downward, it is also possible to allow steering wheel output shaft upwards, can select as required, therefore, the scope that this first joint 42 structure is suitable for is wide.By the convenient fixing steering wheel of third through-hole and fourth hole.
As depicted in figs. 1 and 2, at the top of columns assemblies 3, CCD camera assembly 5 is installed, described CCD camera assembly 5 includes support column 51 and photographic head 52, support column 51 is in taper type, photographic head 52 is set, the situation on road surface can be monitored in real time, use the support column 51 of taper type, support column 51 is good to the bearing performance of photographic head 52, and is not easy to block the shooting sight line of photographic head.
Claims (10)
1.A kind of traffic control robot, it is characterised in that: include base, walking mechanism, columns assemblies and commander's hands；Described base includes low bottom-disc, top bottom-disc, riser and bearing support, is provided with two risers being parallel to each other, is formed with cavity between low bottom-disc and top bottom-disc, be formed with containing cavity between two risers between low bottom-disc and top bottom-disc；Low bottom-disc is provided with lower race, top bottom-disc is provided with race；Bearing support is fixed on top bottom-disc；Described walking mechanism includes two groups of running gears, described running gear includes servomotor, shaft coupling, rotating shaft and road wheel, two servomotors in two groups of running gears are arranged in containing cavity, two servomotors are fixed together, servomotor all contacts with low bottom-disc and top bottom-disc, the output shaft of servomotor passes riser, the output shaft of servomotor connects and has shaft coupling, shaft coupling connects and has rotating shaft, rotating shaft is provided with road wheel, the both sides being positioned at road wheel on low bottom-disc are fixed with bearing block, bearing it is provided with in bearing block, rotating shaft passes bearing；The bottom of road wheel is stretched out through lower race, and the top of road wheel is stretched out through upper race；Columns assemblies is arranged on bearing support；It is separately installed with commander's hands in the both sides of columns assemblies.
2.Traffic control robot according to claim 1, it is characterized in that: described bearing support includes column, crossbeam and longeron, top bottom-disc is fixed with four root posts, connect between two root posts above and have crossbeam, connecting between two root posts below and have crossbeam, connecting between crossbeam has longeron.
3.Traffic control robot according to claim 2, it is characterised in that: the both sides being positioned at bearing support on top bottom-disc are provided with battery space, are provided with battery in battery space.
4.Traffic control robot according to claim 1, it is characterised in that: described walking mechanism also includes universal wheel, is separately installed with universal wheel, is provided with breach on low bottom-disc before and after top bottom-disc on bottom surface, and universal wheel extends downwardly from through breach.
5.Traffic control robot according to claim 1, it is characterized in that: described columns assemblies includes supporting disk, base plate, column and connection post, bearing support is fixed with pillar, supporting disk is fixed on pillar, supporting disk is provided with cavity, base plate is located in cavity, and the lower end of column is fixed on base plate, and the lower end connecting post is connected to the upper end of column.
6.Traffic control robot according to claim 5, it is characterised in that: the cross section of column is circular, and the cross section connecting post is square.
7.Traffic control robot according to claim 1, it is characterised in that: described commander's hands includes fixed mount, the first joint, second joint, the 3rd joint, the 4th joint, the first link, the second link and finger；Fixed mount is fixed in columns assemblies, fixing the first described joint on fixed mount, it is fixed with the first steering wheel at the first intraarticular, the output shaft of the first steering wheel is horizontally disposed with, and the output shaft of the first steering wheel stretches out the first joint, is fixed with second joint on the output shaft of the first steering wheel, the second steering wheel it is fixed with in second joint, the output shaft of the second steering wheel is vertically arranged, and the output shaft of the second steering wheel stretches out second joint, is fixed with the first link on the output shaft of the second steering wheel；3rd intraarticular is provided with the 3rd steering wheel, and the output shaft of the 3rd steering wheel is fixed on the first link；It is fixed with the second link in the lower end in the 3rd joint；Being fixed with the 4th steering wheel at the 4th intraarticular, the output shaft of the 4th steering wheel is fixed on the second link；Described finger is fixed on the lower end in the 4th joint.
8.Traffic control robot according to claim 7, it is characterised in that: the first joint, second joint, the 3rd joint are identical with the structure in the 4th joint；The first described joint includes that base plate, top board, front side board, back side panel and right plate, base plate, top board, front side board, back side panel and right plate surround left side and have the accommodation space of opening；Base plate is provided with the first perforation, base plate is provided with on circumference with the first perforated base as the center of circle first installing hole of more than three；Top board is provided with the second perforation, top board is provided with on circumference with the second perforated base as the center of circle second installing hole of more than three；Front side board is provided with the 3rd perforation, front side board is provided with on circumference with the 3rd perforated base as the center of circle the 3rd installing hole of more than three；Back side panel is provided with the 4th perforation, back side panel is provided with on circumference with the 4th perforated base as the center of circle the 4th installing hole of more than three；Right plate is provided with groove, right plate is positioned at above and below groove and is provided with the 5th installing hole.
9.Traffic control robot according to claim 8, it is characterised in that: it is positioned on front side board above and below the 3rd perforation and is respectively equipped with the first through hole；Back side panel is positioned at above and below the 4th perforation and is respectively equipped with the second through hole；It is provided with third through-hole at front side board near the edge in left side, there is from the left side edge of front side board the first breach to the right that communicate with third through-hole；It is provided with fourth hole at back side panel near the edge in left side, there is from the left side edge of back side panel the second breach to the right that communicate with fourth hole.
10.Traffic control robot according to claim 1, it is characterised in that: be provided with CCD camera assembly at the top of columns assemblies, described CCD camera assembly includes support column and photographic head, and support column is taper type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521062604.5U CN205428223U (en) | 2015-12-20 | 2015-12-20 | Traffic control robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521062604.5U CN205428223U (en) | 2015-12-20 | 2015-12-20 | Traffic control robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205428223U true CN205428223U (en) | 2016-08-03 |
Family
ID=56538505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521062604.5U Expired - Fee Related CN205428223U (en) | 2015-12-20 | 2015-12-20 | Traffic control robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205428223U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106448145A (en) * | 2016-11-21 | 2017-02-22 | 许国梁 | Intelligent commanding robot for pedestrian crosswalk |
-
2015
- 2015-12-20 CN CN201521062604.5U patent/CN205428223U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106448145A (en) * | 2016-11-21 | 2017-02-22 | 许国梁 | Intelligent commanding robot for pedestrian crosswalk |
| CN106448145B (en) * | 2016-11-21 | 2018-11-06 | 张育栋 | A kind of crossing intelligence robot command |
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| Date | Code | Title | Description |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20161220 |