CN206374858U - Five sufficient bionic machine robot mechanisms - Google Patents
Five sufficient bionic machine robot mechanisms Download PDFInfo
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- CN206374858U CN206374858U CN201720037100.0U CN201720037100U CN206374858U CN 206374858 U CN206374858 U CN 206374858U CN 201720037100 U CN201720037100 U CN 201720037100U CN 206374858 U CN206374858 U CN 206374858U
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- digital rudder
- supporting plate
- rudder controller
- terminal pad
- support frame
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Abstract
The utility model discloses the sufficient bionic machine robot mechanism of one kind five, including trunk, pedipulator and control device, torso portion is fixed by the supporting plate of two pieces of regular pentagons up and down by support bar；Control device includes control board, driver and power supply, and control device is installed on inside torso space；Identical pedipulator is separately installed with five apexes of trunk, every pedipulator is all the serial mechanism of a four-degree-of-freedom, three digital rudder controllers are installed on every pedipulator, three revolute pairs are controlled respectively, connected between revolute pair by oscillating rod, there is a support plate in leg end, increase the contact area on pedipulator and ground；The coordinated movement of various economic factors in parallel between each joint series connection in the five sufficient bio-robot list leg, polypody, when changing the direction of motion, robot trunk can reach the purpose of steering without rotation, light with fuselage, and stability is high, and bearing capacity is strong, the features such as turning to quick during walking.
Description
Technical field
The utility model belongs to robot mechanism technical field, particularly the sufficient bionic machine robot mechanism of one kind five.
Background technology
In recent years, developing rapidly along with science and technology, robotics has progressively become an independent subject.Section
Research of the scholars to robot is increasingly deep, and achieves and greatly achieve in robotics theory.In numerous types
In robot, the robot of sufficient formula move mode can be relatively relatively easily across than larger obstacle (Ru Gou, bank etc.), Er Qieji
The multiple degrees of freedom that the pin of device people possesses can make the activity of robot extraordinarily strong and vigorous, for the adaptation energy of rough landform
Power is also stronger.The characteristics of possessing just because of legged type robot different from mobile robots such as wheeled, belts, by extremely strong ground
Shape adaptability and stabilizing power, it is increasingly widely applied.
Rodney A.Brooks.A robot that walks；emergent behaviors from a
carefully evolved network.IEEE International Conference on Robotics and
Automation,1989,1(2):253-262. has delivered a kind of Hexapod Robot Genghis for planet surface exploration, this
There are 2 frees degree the leg of individual robot, is driven by servomotor, contains Whisker Sensor, accelerometer and power inside it
Square sensor, can walk in complicated landform, but the robot free degree is very few, and leg exercise is not particularly flexible, and
And it is excessively near apart from ground, it is impossible to across higher barrier.Seat builds the planning of four-leg bionics robot gait and walking stability is ground
Study carefully the National Universities of Defense Technology, 2013. have delivered a kind of entitled MiniQuad quadruped robot, and whole robot has mould
The feature of block, fault-tolerance is preferable, but the quadruped robot stability is general, when robot carries out rotational motion, can show
Obtain very heavy.
The content of the invention
The technical problem that the utility model is solved is to provide one kind five sufficient bionic machine robot mechanism, of the present utility model
Robot mechanism fuselage is light, and stability is high, and bearing capacity is strong, is turned to during walking without rotation, it is convenient to turn to.
The technical solution for realizing the utility model purpose is：
The sufficient bionic machine robot mechanism of one kind five, including trunk, pedipulator, control device；The trunk includes the first support
Plate, the second supporting plate, first support bar；The pedipulator include the first axle end baffle plate, the first terminal pad, the first digital rudder controller,
First support frame, the second axle end baffle plate, the second terminal pad, the second digital rudder controller, the second support frame, the first oscillating rod, the 3rd axle
End-stopping plate, the 3rd terminal pad, the 3rd digital rudder controller, the second oscillating rod, support plate, stop sleeve；
First supporting plate and the second supporting plate are located at the upper and lower side at robot mechanism center respectively；First support
It is connected between plate and the second supporting plate by first support bar；The second supporting plate upper end is provided with control device；
The upper end on five summits of first supporting plate is connected with the first terminal pad, turn of first digital rudder controller
Moving axis is that spline shaft structure is arranged in the spline keyway at the center of the first terminal pad, is installed outside the first terminal pad spline keyway
There is the first axle end baffle plate；First digital rudder controller is located between the first supporting plate and the corresponding summit up and down of the second supporting plate；Institute
The first digital rudder controller is stated in the first support frame, the first support frame lower end is provided with stop sleeve；Outside first support frame
End is affixed with the second support frame；Second digital rudder controller is arranged in the second support frame, the rotation of second digital rudder controller
Axle is arranged in the spline keyway of the second terminal pad；Described second terminal pad one end and the first oscillating rod are affixed, the first oscillating rod
The other end and the 3rd terminal pad it is affixed, the rotary shaft of the 3rd digital rudder controller and the center spline keyway of the 3rd terminal pad
It is interior；The first swing rod two ends are equipped with circular hole, and the spline key slot center with the second terminal pad and the 3rd terminal pad is coaxial respectively,
The rotary shaft of second digital rudder controller and the 3rd digital rudder controller is each passed through the circular hole at the first swing rod two ends；First circular hole of swing rod two
Outside is separately installed with the second axle end baffle plate and the 3rd axle end baffle plate；3rd digital rudder controller and the second oscillating rod are affixed, institute
The bottom and support plate for stating the second oscillating rod are hinged；The support plate as whole mechanism the strong point.
The utility model compared with prior art, its remarkable advantage：
(1) wheeled, the caterpillar type robot of the utility model compared with prior art have more preferable in intricately condition
Travelling performance, because each pedipulator is respectively provided with 4 frees degree, i.e., with four rotation subjoints so that robot being capable of spirit
Motion living, the terrestrial range that can be walked is also bigger.
(2) torso portion of the present utility model is made up of the supporting plate of two pieces of regular pentagons up and down, and five pedipulators are in five
The symmetrical support robot in angle is overall, and compared to quadruped robot at this stage, pedipulator number is more, and being distributed symmetrically property is more
Height, the ability with more preferable weight capacity, stability and stronger adaptation environment.
(3) the utility model has more flexible mobility compared with the Hexapod Robot of prior art, and motion turns
To more convenient, due to overall symmetrical in five jiaos of center, robot mechanism need to only lift correspondence in itself without turning to
The pedipulator in direction can complete divertical motion, with efficient locomotor activity and flexible steering capability, can meet more
Use demand.
(4) the utility model is simple in construction, fuselage is light, and symmetrical configuration, highly versatile, processing and maintenance cost are low.
The utility model is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the sufficient bionic machine robot mechanism overall structure diagram of the utility model five；
Fig. 2 is the sufficient bionic robot control device structural representation of the utility model five；
Fig. 3 is the pedipulator structure axonometric drawing of the sufficient bio-robot of the utility model five；
Fig. 4 is the pedipulator top view of the sufficient bio-robot of the utility model five；
Fig. 5 is the leg front view of the sufficient bio-robot of the utility model five.
Embodiment
With reference to Fig. 1-Fig. 5, the utility model is related to the sufficient bionic machine robot mechanism of one kind five, including trunk, pedipulator, control
Device；The trunk includes the first supporting plate 1, the second supporting plate 2, first support bar 3；The control device includes the second support
Bar 4, driver 5, control board 6, system power supply 7；The pedipulator includes the first axle end baffle plate 8, the first terminal pad 9, the
One digital rudder controller 10, the first support frame 11, the second axle end baffle plate 12, the second terminal pad 13, the support of the second digital rudder controller 14, second
Frame 15, the first oscillating rod 16, the 3rd axle end baffle plate 17, the 3rd terminal pad 18, the 3rd digital rudder controller 19, the second oscillating rod 20, branch
Support plate 21, stop sleeve 22；
The supporting plate 2 of first supporting plate 1 and second is located at the upper and lower side at robot mechanism center, symmetrical above and below point respectively
Cloth, and the place plane of the first supporting plate 1 and the second supporting plate 2 is parallel to each other；The supporting plate 2 of first supporting plate 1 and second
Between be connected by first support bar 3, first support bar 3 is used to fix the first supporting plate 1 and the second supporting plate 2, and to first
The distance between supporting plate 2 of supporting plate 1 and second is defined so that five sufficient bio-robots have that fuselage is light, bearing capacity
Strong the characteristics of.The upper end center of second supporting plate 2 is provided with control device, and the control device is used to control each digital rudder
The motion of machine.The pedipulator is symmetrical in five jiaos on trunk center.
The upper end on five summits of first supporting plate 1 is connected with the first terminal pad 9, first digital rudder controller 10
Rotary shaft be arranged on the first terminal pad 9 center spline keyway in；First is provided with outside the spline keyway of first terminal pad 9
Axle end baffle plate 8, for carrying out axially position to the first terminal pad 9 in the rotary shaft of the first digital rudder controller 10；First numeral
Steering wheel 10 is located between the first supporting plate 1 and the corresponding summit up and down of the second supporting plate 2, and the first digital rudder controller 10 can make machine
Tool leg is rotated around the rotary shaft of the first digital rudder controller 10 in the horizontal direction of supporting plate；First digital rudder controller 10 is arranged on the
In one support frame 11, the lower end of the first support frame 11 is provided with stop sleeve 22, for the first digital rudder controller 10 to be supported on into first
In supporting plate 1, the outer end of the first support frame 11 and the second support frame 15 are affixed；Second digital rudder controller 14 is arranged on second
In support 15, the rotary shaft of second digital rudder controller 14 is arranged in the spline keyway at the center of the second terminal pad 13；Described
The one end of two terminal pad 13 and the first oscillating rod 16 are affixed, and the other end and the 3rd terminal pad 18 of the first oscillating rod 16 are affixed；It is described
The rotary shaft of 3rd digital rudder controller 19 is installed in the spline keyway at the center of the 3rd terminal pad 18 of love；The two ends of first swing rod 16
Circular hole is equipped with, the spline key slot center with the second terminal pad 13 and the 3rd terminal pad 18 is coaxial respectively, the second digital rudder controller 14
The circular hole at the first swing rod two ends is each passed through with the rotary shaft of the 3rd digital rudder controller 19；Outside first circular hole of swing rod 16 two respectively
Second axle end baffle plate 12 and the 3rd axle end baffle plate 17 are installed, are respectively used to connect second in the rotary shaft of the second digital rudder controller 14
The 3rd terminal pad 18 connect on disk 13 and the rotary shaft of the 3rd digital rudder controller 19 carries out axially position；3rd digital rudder controller 19 with
Second oscillating rod 20 is affixed, and bottom and the support plate 21 of second oscillating rod 20 are hinged；The support plate 21 is used as whole machine
The strong point of structure.
Plane of the axis of the rotary shaft of first digital rudder controller 10 perpendicular to the first supporting plate 1；Described second digital rudder
The axis of the rotary shaft of machine 14 and the axis of the rotary shaft of the first digital rudder controller 10 are mutually perpendicular to, the rotary shaft of the 3rd digital rudder controller 19
Axis and the axis of the rotary shaft of the second digital rudder controller 14 be parallel to each other；
In further embodiment, the control device includes second support bar 4, driver 5, control board 6, is
System power supply 7；The second support bar 4, driver 5, control board 6, system power supply 7 are respectively positioned on the first supporting plate 1 and second
The upper end of supporting plate 2；The driver 5 is arranged on the center of the second supporting plate 2, and driver 5 is used to drive each digital rudder controller；
The upper end of the second support bar 4 is fixed in the lower end of the first supporting plate 1, and the lower end of second support bar 4 is connected with control circuit
Plate 6；The control board 6 is located at the upper end of driver 5, and control board 6 is used for the running for controlling driver 5；The system
Power supply 7 of uniting is arranged on one end of driver 5, and system power supply 7 is driver 5, control board 6, each digital rudder controller provide electricity
Source.
As preferred embodiment, the digital rudder controller 19 of the second digital rudder controller 14 and the 3rd is located at the first swing rod 16
The same side；The digital rudder controller 19 of the second digital rudder controller 14 and the 3rd is located at the two of the first swing rod 16 in some embodiments
Side.
In further embodiment, first terminal pad 9, the second terminal pad 13, the 3rd terminal pad 18 are disk
Structure, disc centre is provided with the spline keyway of digital rudder controller rotary shaft, and the outer symmetrical of spline keyway is provided with four through holes, through hole
Fixation for terminal pad.In some embodiments, first terminal pad 9, the second terminal pad 13, the 3rd terminal pad 18 are equal
For square plate structure.
In further embodiment, the second support bar 4 is cylindrical structure, and quantity is 3-6；It is used as preferred reality
Mode is applied, the quantity of the second support bar 4 is 4, and second support bar 4 is installed on the Central Symmetry of the first supporting plate 1, the
Two support bars 4 fix four ends of control board 6.
As preferred embodiment, first supporting plate 1 is identical with the structure of the second supporting plate 2, is regular pentagon
Structure, five sides use aduncate arc-shaped edges structure；
In other embodiment, the supporting plate 2 of the first supporting plate 1 and second is Circular plate structure.
In further embodiment, the first support bar 3 is cylindrical structure, and quantity is 3-6；It is used as preferred reality
Mode is applied, the quantity of the first support bar 3 is 5, and first support bar 3 is installed on the Central Symmetry of the first supporting plate 1.
As preferred embodiment, first digital rudder controller 10, the second digital rudder controller 14, the type of the 3rd digital rudder controller 19
Number all same, the rotary shaft of digital rudder controller is spline shaft structure；First terminal pad 9, the second terminal pad 13, the 3rd terminal pad 18
Structure all same；First axle end baffle plate 8, the second axle end baffle plate 12, the structure all same of the 3rd axle end baffle plate 17；First support frame 11
It is identical with the structure of the second support frame 15；Identical model or structure is used to reduce manufacturing cost.
As preferred embodiment, first support frame 11 is U-shape structure, an outer side edges of the first support frame 11
The two ends of frame are respectively provided with 2 through holes, for installing the first digital rudder controller 10；The support frame 15 of first support frame 11 and second
Opening direction is opposite and installation direction is mutually perpendicular to.
In further embodiment, first oscillating rod 16 is the semicircular slab construction in two ends；Second pendulum
Lever 20 is provided with four through holes in the middle part of the slab construction of crescent, the Inner arc of the second oscillating rod 20, for installing the 3rd numeral
Steering wheel 19.
As preferred embodiment, the support plate 21 is disc structure；In other embodiment, the branch
Support plate 21 is Rectangular Plate Structure, parallelogram plate texture.
First terminal pad 9 and the first support frame 11 are closed by rotary shaft the first revolute pair of formation of the first digital rudder controller 10
Section；Second terminal pad 13 and the second support frame 15 rotate subjoint by the rotary shaft formation second of the second digital rudder controller 14；The
Three terminal pads 18 and the second oscillating rod 20 rotate subjoint by the rotary shaft formation the 3rd of the 3rd digital rudder controller 19；Second swings
The bottom of bar 20 is hinged with support plate 21, is formed the 4th and is rotated subjoint；By the use of support plate 21 as the strong point of whole mechanism,
The contact area on pedipulator and ground is increased, makes five sufficient bio-robots that there is the characteristics of stability is high.Every pedipulator is all
It is a serial mechanism, each pedipulator has the coordinated movement of various economic factors in parallel between four rotation subjoints, a plurality of pedipulator.
Determine the direction of sports-like first before setting in motion, then lift the pedipulator on correspondence direction；In control dress
Under the control put, the rotary shaft rotation of the 3rd digital rudder controller 19 lifts the second oscillating rod 20 and support plate 21, in the work of gravity
Under, the lower end plane of support plate 21 all the time with plane-parallel；The rotary shaft rotation of subsequent second digital rudder controller 14, makes first
Oscillating rod 16 is lifted, and then increases the raising height of the second oscillating rod 20 and support plate 21 so that five sufficient bio-robots can be across
Cross higher barrier；Using the rotation of the rotary shaft of the first digital rudder controller 10, pedipulator can be in the plane of the first supporting plate 1
Rotate so that remaining four pedipulators can be moved by the way of four-footed diagonal motion.When five sufficient bio-robots
When needing to turn, only the pedipulator lifted before need to be fallen；Under control of the control means, the rotary shaft of the second digital rudder controller 14
Rotation, makes to fall under the first oscillating rod 16, the rotary shaft rotation of subsequent 3rd digital rudder controller 19, the second oscillating rod 20 and support plate
21 fall, and support plate 21 is contacted with ground, and five pedipulators support five sufficient bionic machine robot mechanisms jointly；Required it will turn
Lift, moved according still further to aforesaid way to the pedipulator on direction, the mechanism has the characteristics of turning to quick, improve
The mobility of robot.
Claims (10)
1. the sufficient bionic machine robot mechanism of one kind five, including trunk, pedipulator and control device；It is characterized in that：The trunk bag
Include the first supporting plate (1), the second supporting plate (2), first support bar (3)；The pedipulator includes the first axle end baffle plate (8), the
One terminal pad (9), the first digital rudder controller (10), the first support frame (11), the second axle end baffle plate (12), the second terminal pad (13),
Second digital rudder controller (14), the second support frame (15), the first oscillating rod (16), the 3rd axle end baffle plate (17), the 3rd terminal pad
(18), the 3rd digital rudder controller (19), the second oscillating rod (20), support plate (21), stop sleeve (22)；
First supporting plate (1) and the second supporting plate (2) are located at the upper and lower side at robot mechanism center respectively；Described first
It is connected between fagging (1) and the second supporting plate (2) by first support bar (3)；Second supporting plate (2) upper end is provided with control
Device processed；
The upper end on five summits of first supporting plate (1) is connected with the first terminal pad (9), first digital rudder controller
(10) rotary shaft is arranged in the spline keyway at the center of the first terminal pad (9), is pacified outside the first terminal pad (9) spline keyway
Equipped with the first axle end baffle plate (8)；First digital rudder controller (10) be located at the first supporting plate (1) and the second supporting plate (2) above and below it is right
Between the summit answered；First digital rudder controller (10) is arranged in the first support frame (11), the first support frame (11) lower end peace
Equipped with stop sleeve (22)；The outer end of first support frame (11) and the second support frame (15) are affixed；Second digital rudder controller
(14) it is arranged in the second support frame (15), the rotary shaft of second digital rudder controller (14) is arranged in the second terminal pad (13)
In the spline keyway of the heart；Described second terminal pad (13) one end and the first oscillating rod (16) are affixed, the first oscillating rod (16) it is another
One end and the 3rd terminal pad (18) are affixed, and the rotary shaft of the 3rd digital rudder controller (19) is arranged in the 3rd terminal pad (18)
In the spline keyway of the heart；First swing rod (16) two ends are equipped with circular hole, are connected respectively with the second terminal pad (13) and the 3rd
The spline key slot center of disk (18) is coaxial, and the rotary shaft of the second digital rudder controller (14) and the 3rd digital rudder controller (19) is each passed through the
The circular hole at one swing rod (16) two ends；The second axle end baffle plate (12) and the 3rd are separately installed with outside first circular hole of swing rod (16) two
Axle end baffle plate (17)；3rd digital rudder controller (19) and the second oscillating rod (20) are affixed, the bottom of second oscillating rod (20)
End is hinged with support plate (21).
2. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：First digital rudder controller (10) rotates
Plane of the axis of axle perpendicular to the first supporting plate (1)；The axis of second digital rudder controller (14) rotary shaft and the first numeral
The axis of steering wheel (10) rotary shaft is mutually perpendicular to, the axis and the second digital rudder controller of the 3rd digital rudder controller (19) rotary shaft
(14) axis of rotary shaft is parallel to each other.
3. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：The control device includes the second support
Bar (4), driver (5), control board (6), system power supply (7)；The second support bar (4), driver (5), control electricity
Road plate (6), system power supply (7) are respectively positioned on the upper end of the first supporting plate (1) and the second supporting plate (2)；The driver (5) is installed
Center in the second supporting plate (2)；The upper end of the second support bar (4) is fixed in the lower end of the first supporting plate (1), second
The lower end of strut (4) is connected with control board (6)；The control board (6) is located at the upper end of driver (5)；The system
Power supply (7) of uniting is arranged on one end of driver (5).
4. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：Second digital rudder controller (14) and
Three digital rudder controllers (19) are located at the same side of the first swing rod (16).
5. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：First terminal pad (9), second connect
It is disc structure to connect disk (13), the 3rd terminal pad (18), and disc centre is provided with the spline keyway of digital rudder controller rotary shaft, spline
The outer symmetrical of keyway is used for the fixation of terminal pad provided with four through holes, through hole.
6. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：The second support bar (4) is cylinder
Structure, quantity is 3-6；The first support bar (3) is cylindrical structure, and quantity is 3-6.
7. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：First supporting plate (1) and second
Supporting plate (2) structure is identical, is regular pentagon structure, and five sides use aduncate arc-shaped edges structure.
8. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：First digital rudder controller (10),
Two digital rudder controllers (14), the 3rd digital rudder controller (19) model all same；First terminal pad (9), the second terminal pad (13), the 3rd connect
Connect disk (18) structure all same；First axle end baffle plate (8), the second axle end baffle plate (12), the 3rd axle end baffle plate (17) structure are homogeneous
Together；First support frame (11) is identical with the second support frame (15) structure.
9. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：First support frame (11) is U-shaped
Structure, first support frame (11) is opposite with the opening direction of the second support frame (15) and installation direction is mutually perpendicular to.
10. as claimed in claim 1 five sufficient bionic machine robot mechanisms, it is characterised in that：First oscillating rod (16) is two
Hold semicircular slab construction；Second oscillating rod (20) is the slab construction of crescent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720037100.0U CN206374858U (en) | 2017-01-12 | 2017-01-12 | Five sufficient bionic machine robot mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720037100.0U CN206374858U (en) | 2017-01-12 | 2017-01-12 | Five sufficient bionic machine robot mechanisms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206374858U true CN206374858U (en) | 2017-08-04 |
Family
ID=59404946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720037100.0U Expired - Fee Related CN206374858U (en) | 2017-01-12 | 2017-01-12 | Five sufficient bionic machine robot mechanisms |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741286A (en) * | 2017-01-12 | 2017-05-31 | 南京理工大学 | Five sufficient bionic machine robot mechanisms |
| CN108001557A (en) * | 2017-11-10 | 2018-05-08 | 清华大学 | Bionic wall climbing robot based on insect triped gait |
| CN114348140A (en) * | 2021-12-31 | 2022-04-15 | 德清县浙工大莫干山研究院 | Double-mode mobile robot capable of realizing pose stable operation |
-
2017
- 2017-01-12 CN CN201720037100.0U patent/CN206374858U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741286A (en) * | 2017-01-12 | 2017-05-31 | 南京理工大学 | Five sufficient bionic machine robot mechanisms |
| CN106741286B (en) * | 2017-01-12 | 2024-04-05 | 南京理工大学 | Five-foot bionic robot mechanism |
| CN108001557A (en) * | 2017-11-10 | 2018-05-08 | 清华大学 | Bionic wall climbing robot based on insect triped gait |
| CN114348140A (en) * | 2021-12-31 | 2022-04-15 | 德清县浙工大莫干山研究院 | Double-mode mobile robot capable of realizing pose stable operation |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170804 Termination date: 20190112 |
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| CF01 | Termination of patent right due to non-payment of annual fee |