CN205769683U - A kind of four-footed reconnaissance robot - Google Patents
A kind of four-footed reconnaissance robot Download PDFInfo
- Publication number
- CN205769683U CN205769683U CN201620762878.3U CN201620762878U CN205769683U CN 205769683 U CN205769683 U CN 205769683U CN 201620762878 U CN201620762878 U CN 201620762878U CN 205769683 U CN205769683 U CN 205769683U
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- thigh
- housing
- footed
- shank
- swing
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Abstract
The utility model discloses a kind of four-footed reconnaissance robot, including frame, photographic head and guiding mechanism thereof and four legs；Described frame includes relatively-stationary upper spider and lower bearing bracket；Described photographic head and guiding mechanism thereof are arranged on upper spider；Four described leg structures are identical, are connected with lower bearing bracket by four thigh drive mechanisms respectively；Every leg includes shank and damping and thigh housing, and thigh housing drives shank and damping to swing by bevel gear mechanism；Each thigh drive mechanism includes thigh swing mechanism and leg side pendulum drive mechanism, and thigh swing mechanism drives thigh housing to swing by axle construction, and leg side pendulum drive mechanism drives the leg side-sway of thigh housing by cating nipple.Designed four-footed reconnaissance robot has the strongest obstacle climbing ability and a motor capacity, and body and noise smaller, good by property, lighter weight, damping property is good, and protective is good, and reliability is high.
Description
Technical field
This utility model relates to robotics, particularly to a kind of four-footed reconnaissance robot.
Background technology
Existing wheeled ground mobile robot is poor to the adaptation ability of landform, is only applicable to rigidity or semi-rigid road
Face, is susceptible to skid, the extreme case such as tumble.Existing crawler type ground mobile robot movement velocity is slow, to step, relatively
Big block barrier is difficult to cross over, and row body is relatively big, and noise is relatively big, disguised poor.In a word, wheeled out of office with caterpillar type robot
Outer mountain region complexity landform, the obstacle climbing ability under urban architecture environment is poor, and mobility is low, poor by property.
Existing quadruped robot mostly is internal combustion engine and drives, the loading-type quadruped robot of hydraulic system transmission, and volume is huge
Greatly, structure is complicated, and noise is relatively big, disguised poor, it is impossible to walk between barrier, be not suitable for the tasks such as scouting to machine
Device human-shaped body requires higher occasion.
Utility model content
Design under the complicated landform such as the purpose of this utility model is for military surveillance, security, disaster assistance and environment
A kind of four-footed reconnaissance robot, this robot uses servo driving, and Design of Mechanical Structure is simple, exquisite, and mechanism transmission design is high
Imitate, stablize.
For reaching above-mentioned purpose, this utility model by the following technical solutions:
A kind of four-footed reconnaissance robot, including frame, photographic head and guiding mechanism thereof and four legs；
Described frame includes relatively-stationary upper spider and lower bearing bracket；
Described photographic head and guiding mechanism thereof are arranged on upper spider；
Four described leg structures are identical, are connected with lower bearing bracket by four thigh drive mechanisms respectively；Every leg
Including shank and damping and thigh housing, thigh housing drives shank and damping to swing by bevel gear mechanism；Often
Individual thigh drive mechanism includes thigh swing mechanism and leg side pendulum drive mechanism, and thigh swing mechanism drives big by axle construction
Lower limb housing swings, and leg side pendulum drive mechanism drives the leg side-sway of thigh housing by cating nipple.
Described thigh housing is made up of portal, interior plate, outer panel, front apron and backboard, wherein interior plate and
Outer panel is separately positioned on the lower end of portal both sides, interior plate and outer panel and is connected with front apron and backboard.
Described shank and damping end are provided with shank connecting shaft, and the first sliding axle is passed through at shank connecting shaft two ends
Hold and be arranged on interior plate and outer panel；In shank connecting shaft, bevel gear wheel is installed；
Being provided with shank in thigh housing and drive steering wheel, shank drives and is provided with bevel pinion, auger tooth on the axle of steering wheel
Wheel and bevel pinion engage.
Described shank and damping include rubber foot cover, pressure transducer, spring guide and spring guide；Cylindrical
The two ends of pressure transducer be provided with stud, one end Stud connection spring guide, other end Stud connection has rubber foot cover；
Spring guide is provided with spring, and spring guide is arranged on outside spring and spring guide, and spring guide is provided with bar-shaped trough, bullet
Being fixed with backing pin on spring guide rod, backing pin is arranged in bar-shaped trough for the connection between spring guide and spring guide and spacing.
Described thigh drive mechanism includes that thigh wobble drive steering wheel, thigh side-sway drive steering wheel, universal joint, sliding axle
Bearing and swing span, thigh wobble drive steering wheel axle head is connected with universal joint one end；The universal joint other end connects has thigh to connect
Axle, thigh connecting shaft is connected with thigh housing upper, constitutes thigh swing mechanism；
Described leg side-sway drives steering wheel axle head to connect one end of swing span, and the swing span other end connects has swing span to prop up
Support axle；On the second sliding bearing that swing span support shaft is arranged on plain bearing housing, the second plain bearing housing is fixed on lower machine
On frame, constitute leg side pendulum drive mechanism；3rd sliding bearing is installed, another of universal joint in the interstitial hole of thigh swing span
End is arranged on the 3rd sliding bearing, and thigh connecting shaft is stretched out from the interstitial hole of thigh swing span.
Also including housing, described housing is made up of right shell body, left shell and photographic head sight glass, right shell body and left housing
Being bolted between body, photographic head sight glass is embedded between right shell body and left shell；Right shell body and left shell pass through
Screw is arranged on upper spider and lower bearing bracket.
Also including the accumulator for providing electric energy to robot, accumulator is fixed on lower bearing bracket.
Described photographic head and guiding mechanism thereof are made up of photographic head, adjustment steering wheel and connecting rod, and photographic head is arranged on even
On extension bar, connecting rod is connected with the adjustment steering wheel axle head being arranged on upper spider.
The topological structure of knee joint formula in the described robot outer elbow of employing, its structure fore-and-aft direction is symmetrical, and left and right directions is the most right
Claim.
This utility model compared with prior art has an advantage highlighted below:
Robot of the present utility model uses servo driving, and Design of Mechanical Structure is simple, exquisite.Mechanism transmission design is high
Effect is stable.Every leg has three degree of freedom, and respectively thigh swings, thigh side-sway, and shank swings degree of freedom.This four-footed
The multiple gaits such as robot can adapt to various complicated landform, it is possible to uses walking, trots, run, jump.There is the strongest getting over
Barrier ability and motor capacity, and body and noise smaller, good by property, lighter weight, damping property is good, and protective is good, can
High by property.Can be widely used for many occasions such as military surveillance, security, detection, disaster relief.
Further, in outer elbow, the topological structure of knee joint formula improves stability and the reliable of robot.The machine of quadruped robot
Tool decoration structure features simple design is compact, and flexibly, mobility is high, good reliability in motion, improves the motor capacity of quadruped robot and gets over
Barrier ability.
Further, leg damping can slow down elliptical gear；Shank drive mechanism can slow down to increase and turn round, and improves motion
Accuracy, it is to avoid drive steering wheel cantilever configuration, protects motor, slows down the impact from ground simultaneously；Leg portion uses housing
Assembled structure, installs simple, good manufacturability.
Further, thigh swings transmission and thigh side-sway transmission uses integral structure, realizes thigh side-sway with big simultaneously
Lower limb swing two aspects transmission, compact conformation, take up room little, and realize two drive steering wheels be all in fixing with frame
State, enhances stability and the reliability of robot complete machine.
Accompanying drawing explanation
Fig. 1 is the complete machine shaft side figure of quadruped robot；
The complete machine top view of Fig. 2 quadruped robot；
The leg structure figure of Fig. 3 quadruped robot；
The thigh driver composition of Fig. 4 robot；
Fig. 5 is the housing figure of quadruped robot.
Detailed description of the invention
Below in conjunction with the accompanying drawings basic structure of the present utility model and operation principle are further illustrated.
As it is shown in figure 1, this utility model four-footed reconnaissance robot is mainly by frame, photographic head and guiding mechanism 3 and four thereof
Bar leg forms, and every leg includes shank and damping, shank drive mechanism and drives steering wheel, thigh housing, thigh to pass
The compositions such as motivation structure and driving steering wheel thereof.
The frame of quadruped robot uses aluminum alloy frame posture structure, is made up of upper spider 1 and lower bearing bracket 2, upper spider 1 He
Lower bearing bracket 2 is connected by screw, and frame has various installing hole, is respectively used to install accumulator, drives steering wheel, casing, installs
The parts such as plate.Photographic head and drive mechanism 3 thereof are fixed on upper spider 1 by bolt and nut, and upper spider 1 passes through bolt and nut
Being fixed on lower bearing bracket 2, accumulator 5 is fixed on lower bearing bracket 2 by bolt and nut.As in figure 2 it is shown, thigh drive mechanism and
Steering wheel 10,11,12,13 is driven to be fixed on upper spider 1 and lower bearing bracket 2 by bolt and nut, the structure phase of 10,11,12,13
With, installation direction is different.As it is shown in figure 1, RAT 6, right rear leg 7, left back lower limb 8, left front leg 9 are respectively mounted by cap nut
On thigh drive mechanism 10,11,12,13.
Described photographic head and guiding mechanism 3 thereof, by wide-angle camera, adjust steering wheel, and connecting rod forms, and photographic head is installed
On connector, connecting rod there is hex hole be arranged on hexagon steering wheel axle, and fix with jackscrew.
As in figure 2 it is shown, the topological structure of knee joint formula in the quadruped robot outer elbow of employing, this structure is symmetrical at fore-and-aft direction,
The most symmetrical at left and right directions.This topological structure enough draw up trunk barycenter because of joint control error trembling that direction of advance causes
Dynamic, improve the stability of body, leg overall structure is the compactest to take up room little, and foot is positioned at health and is conducive to foremost passing
Sensor contact and detection ground obstacle.Former and later two directions of robot can indifference motion.Every of quadruped robot
Lower limb has three degree of freedom, and respectively shank swings, and thigh swings, thigh side-sway.Each degree of freedom is realized by a servo driving.
Being illustrated in figure 3 quadruped robot left front leg structure chart, thigh housing is by portal A3 and interior plate A1, outside
Plate A2 is connected by screw and forms, and door type frame A3 connects outer panel A1, A2 in limit is installed by screw, and front and rear baffle A4, A5 pass through
Screw is arranged on interior outer panel.Front apron A4 and backboard A5 is connected by screw and interior plate A1, outer panel A2, A1, A2,
A3, A4, A5 collectively constitute thigh housing.Installing hole on thigh housing is used for installing shank sliding bearing, and shank drives steering wheel,
Thigh connecting shaft etc..Shank drives steering wheel A6 to be connected by screw and door shape A3, and bevel pinion A7 is arranged on shank and drives steering wheel
On A6 axle, sliding bearing A10 is arranged on interior outer panel A1 and A2.
Described shank and damping are by rubber foot cover A16, pressure transducer A15, spring guide A13, spring A12, bullet
Spring guide pin bushing A11, backing pin A14 etc. form.There is stud at the two ends of cylindrical pressure sensors A 15, and one end connects spring guide A13,
The other end connects rubber foot cover A16.Spring A12 is arranged between spring guide A11 and spring guide A13, spring guide A13 and
Connected and spacing by backing pin A14 between spring guide A11.
Described shank drive mechanism and driving steering wheel are by a pair shank connecting shaft A9, bevel gear wheel A8, sliding bearing
A10, shank drive steering wheel A6 composition.Bevel gear wheel A8 and spring guide A11, shank connecting shaft are installed in shank connecting shaft A9
A9 two ends are arranged in sliding bearing A10, and bevel pinion A7 and driving steering wheel A6 axle connect, and solid with screw and axle head catch
Fixed.Steering wheel A6 and sliding bearing A10 is driven to be arranged on thigh housing.
It is illustrated in figure 4 the thigh driver composition of robot, described thigh drive mechanism and driving steering wheel thereof by thigh
Wobble drive steering wheel B1, thigh side-sway drive steering wheel B2, Hooke's joint B3, swing span B7, sliding bearing B8, swing span to prop up
The compositions such as support axle B5, plain bearing housing B4, thigh connecting shaft B9.Wherein thigh swing steering engine B1 axle and Hooke's joint B3 mono-
The hex hole of end connects, and fixes with jackscrew, and the other end of universal joint B3 connects thigh connecting shaft B9, collectively constitutes thigh pendulum
Dynamic power train, it is achieved the oscillating function of thigh.Leg side-sway drives one end that steering wheel B2 axle head connects swing span B8, swing span B8
The other end connects swing span support shaft B5, B4 and B6 is respectively plain bearing housing and sliding bearing, collectively constitutes side-sway power train.
B8 is sliding bearing, is arranged in thigh swing span B7 interstitial hole, and the other end of universal joint B3 can turn in sliding bearing B8
Dynamic, drive swing span B7 to swing up and down when side-sway electric machine rotation, it is achieved side-sway function.
Being illustrated in figure 5 the housing figure of quadruped robot, described quadruped robot housing is by left shell C2, right shell body
C1, photographic head sight glass C3 tri-part is formed, is connected by bolt and nut, transparent part for front sight glass between right shell body C1 and left shell C2
Glass C3 is embedded between right shell body C1 and left shell C2.Right shell body C1 and left shell C2 is arranged on upper lower bearing bracket 1,2 by screw.
Operation principle of the present utility model and process be: each parts of four leg structures of this quadruped robot are basic
Identical, but during assembling, each bar leg is specular；The parts that thigh swings the transmission mechanism dynamic with leg side swing are identical,
Installation direction is different.As a example by the power of left front leg transmits, the power transmitting movement of leg is illustrated, when robot straight line
During walking, thigh swing steering engine B1 accepts control system instruction and rotates certain angle, and power connects through universal joint B3 and thigh
Spindle B9 is delivered on thigh case inside plate A1, thus drives thigh to swing.Shank driving steering wheel A6 accepts control system and refers to
Order turns an angle, and drives the bevel pinion A7 of axle head to rotate, and bevel gear wheel A8 and bevel pinion A7 engagement, power is from conelet
Gear A 7 is transferred to bevel gear wheel A8, bevel gear wheel A8 and drives shank connecting shaft A9 to rotate, thus realizes the rotating function of shank.
When robot to be kept balance by side disturbance, or during the motion of robot leg side-sway to be carried out, leg side-sway drives rudder
Machine rotates certain angle according to the instruction of control system, drives connected swing span B8 to swing, and B8 installs in driving it
Universal joint B3 one end swing, thus drive thigh connecting shaft B9 and leg realize side-sway motion, owing to universal joint B3 has change
The function of axis transmission power, so will not hinder the power of thigh swing steering engine B1 to transmit, i.e. when robot leg side-sway
Leg swings do not affect leg when doing side-sway motion before and after.
Four legs of quadruped robot are moved to instructions coordinate by control system institute, it is possible to achieve walking, trot, run quickly
Running, jump, the multiple gait such as creep, leg coordination exercise is adapted to various complicated landform and multi obstacles environment, completes pre-
Fixed scouting, security, the various tasks such as rescue.
Claims (9)
1. a four-footed reconnaissance robot, it is characterised in that: include frame, photographic head and guiding mechanism (3) thereof and four legs
(6、7、8、9)；
Described frame includes relatively-stationary upper spider (1) and lower bearing bracket (2)；
Described photographic head and guiding mechanism (3) thereof are arranged on upper spider (1)；
Described four legs (6,7,8,9) structure is identical, respectively by four thigh drive mechanisms (10,11,12,13) with under
Frame (2) connects；Every leg includes shank and damping and thigh housing, and thigh housing drives little by bevel gear mechanism
Lower limb and damping swing；Each thigh drive mechanism includes thigh swing mechanism and leg side pendulum drive mechanism, and thigh swings
Mechanism drives thigh housing to swing by axle construction, and leg side pendulum drive mechanism drives the lower limb of thigh housing by cating nipple
Portion's side-sway.
A kind of four-footed reconnaissance robot the most according to claim 1, it is characterised in that: described thigh housing is by portal
(A3), interior plate (A1), outer panel (A2), front apron (A4) and backboard (A5) composition, wherein interior plate (A1) and outer panel
(A2) portal (A3) both sides, the lower end of interior plate (A1) and outer panel (A2) and front apron (A4) and backboard it are separately positioned on
(A5) connect.
A kind of four-footed reconnaissance robot the most according to claim 2, it is characterised in that: described shank and damping end
Portion is provided with shank connecting shaft (A9), and shank connecting shaft (A9) two ends are arranged on interior plate by the first sliding bearing (A10)
(A1) and on outer panel (A2)；Bevel gear wheel (A8) is installed in shank connecting shaft (A9)；
Being provided with shank in thigh housing and drive steering wheel (A6), shank drives and is provided with bevel pinion on the axle of steering wheel (A6)
(A7), bevel gear wheel (A8) and bevel pinion (A7) engagement.
A kind of four-footed reconnaissance robot the most according to claim 1, it is characterised in that: described shank and damping bag
Include rubber foot cover (A16), pressure transducer (A15), spring guide (A13) and spring guide (A11)；Cylindrical pressure sensing
The two ends of device (A15) are provided with stud, one end Stud connection spring guide (A13), and other end Stud connection has rubber foot cover
(A16)；Spring guide (A13) is provided with spring (A12), and spring guide (A11) is arranged on spring (A12) and spring guide
(A13) outside, spring guide (A11) is provided with bar-shaped trough, spring guide (A13) is fixed with backing pin (A14), backing pin
(A14) it is arranged in bar-shaped trough for the connection between spring guide (A13) and spring guide (A11) and spacing.
A kind of four-footed reconnaissance robot the most according to claim 1, it is characterised in that: described thigh drive mechanism includes
Thigh wobble drive steering wheel (B1), thigh side-sway drive steering wheel (B2), universal joint (B3), plain bearing housing (B4) and swing span
(B8), thigh wobble drive steering wheel (B1) axle head is connected with universal joint (B3) one end；Universal joint (B3) other end connects thigh
Connecting shaft (B9), thigh connecting shaft (B9) is connected with thigh housing upper, constitutes thigh swing mechanism；
Described leg side-sway drives steering wheel (B2) axle head to connect one end of swing span (B8), and swing span (B8) other end connects to be had
Swing span support shaft (B5)；Swing span support shaft (B5) is arranged on the second sliding bearing (B6) on plain bearing housing (B4),
Second plain bearing housing (B4) is fixed on lower bearing bracket (2), constitutes leg side pendulum drive mechanism；The centre of thigh swing span (B7)
Being provided with the 3rd sliding bearing (B8) in hole, the other end of universal joint (B3) is arranged on the 3rd sliding bearing (B8), and thigh
Connecting shaft (B9) is stretched out from the interstitial hole of thigh swing span (B7).
A kind of four-footed reconnaissance robot the most according to claim 1, it is characterised in that: also include housing, described housing
It is made up of right shell body (C1), left shell (C2) and photographic head sight glass (C3), logical between right shell body (C1) and left shell (C2)
Crossing bolt to connect, photographic head sight glass (C3) is embedded between right shell body (C1) and left shell (C2)；Right shell body (C1) and a left side
Housing (C2) is arranged on upper spider (1) and lower bearing bracket (2) by screw.
A kind of four-footed reconnaissance robot the most according to claim 1, it is characterised in that: also include for providing to robot
The accumulator (5) of electric energy, accumulator (5) is fixed on lower bearing bracket (2).
A kind of four-footed reconnaissance robot the most according to claim 1, it is characterised in that: described photographic head and the machine of adjustment thereof
Structure (3) by photographic head, adjust steering wheel and connecting rod and form, photographic head is arranged in connecting rod, connecting rod be arranged on upper spider
(1) the adjustment steering wheel axle head on connects.
A kind of four-footed reconnaissance robot the most according to claim 1, it is characterised in that: in described robot uses outer elbow
The topological structure of knee joint formula, its structure fore-and-aft direction is symmetrical, and left and right directions is the most symmetrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762878.3U CN205769683U (en) | 2016-07-19 | 2016-07-19 | A kind of four-footed reconnaissance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762878.3U CN205769683U (en) | 2016-07-19 | 2016-07-19 | A kind of four-footed reconnaissance robot |
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| Publication Number | Publication Date |
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| CN205769683U true CN205769683U (en) | 2016-12-07 |
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ID=58120617
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620762878.3U Expired - Fee Related CN205769683U (en) | 2016-07-19 | 2016-07-19 | A kind of four-footed reconnaissance robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741284A (en) * | 2016-12-29 | 2017-05-31 | 张可然 | A kind of Hexapod Robot and its method of work based on parallel institution |
| CN107010137A (en) * | 2017-04-18 | 2017-08-04 | 江苏信息职业技术学院 | A kind of lightweight quadruped robot |
| CN107571933A (en) * | 2017-08-15 | 2018-01-12 | 北京航空航天大学 | A kind of suspension applied to quadruped robot |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN108639180A (en) * | 2018-05-15 | 2018-10-12 | 北京理工大学 | Three leg section leg structures of one kind and quadruped robot |
| CN109018064A (en) * | 2018-08-24 | 2018-12-18 | 北京理工大学 | Leg foot type bionic machine mouse |
| CN109018063A (en) * | 2018-08-15 | 2018-12-18 | 重庆大学 | A kind of four-footed emulated robot |
| CN109381325A (en) * | 2018-10-10 | 2019-02-26 | 付华玲 | A kind of five-freedom-degree series-parallel lower limb rehabilitation robot that continuity is strong |
| CN109484511A (en) * | 2018-10-29 | 2019-03-19 | 国家电网有限公司 | A kind of Weight upstairs climbing machine |
| CN111002307A (en) * | 2019-11-20 | 2020-04-14 | 山东大学 | Leg-foot type bionic robot dog with visual navigation and control method thereof |
| CN111169556A (en) * | 2020-01-06 | 2020-05-19 | 北京理工大学 | High-trafficability wheel-leg combined bounceable ground maneuvering platform |
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2016
- 2016-07-19 CN CN201620762878.3U patent/CN205769683U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741284A (en) * | 2016-12-29 | 2017-05-31 | 张可然 | A kind of Hexapod Robot and its method of work based on parallel institution |
| CN107010137A (en) * | 2017-04-18 | 2017-08-04 | 江苏信息职业技术学院 | A kind of lightweight quadruped robot |
| CN107571933B (en) * | 2017-08-15 | 2020-08-18 | 北京航空航天大学 | Suspension system applied to quadruped robot |
| CN107571933A (en) * | 2017-08-15 | 2018-01-12 | 北京航空航天大学 | A kind of suspension applied to quadruped robot |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN107856756B (en) * | 2017-11-01 | 2020-08-18 | 北京航空航天大学 | Variable-configuration bionic quadruped robot |
| CN108639180A (en) * | 2018-05-15 | 2018-10-12 | 北京理工大学 | Three leg section leg structures of one kind and quadruped robot |
| CN109018063A (en) * | 2018-08-15 | 2018-12-18 | 重庆大学 | A kind of four-footed emulated robot |
| CN109018064A (en) * | 2018-08-24 | 2018-12-18 | 北京理工大学 | Leg foot type bionic machine mouse |
| CN109381325A (en) * | 2018-10-10 | 2019-02-26 | 付华玲 | A kind of five-freedom-degree series-parallel lower limb rehabilitation robot that continuity is strong |
| CN109484511A (en) * | 2018-10-29 | 2019-03-19 | 国家电网有限公司 | A kind of Weight upstairs climbing machine |
| CN111002307A (en) * | 2019-11-20 | 2020-04-14 | 山东大学 | Leg-foot type bionic robot dog with visual navigation and control method thereof |
| CN111169556A (en) * | 2020-01-06 | 2020-05-19 | 北京理工大学 | High-trafficability wheel-leg combined bounceable ground maneuvering platform |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161207 Termination date: 20170719 |