CN206465085U - A kind of line clogging manipulator fixture control system - Google Patents
A kind of line clogging manipulator fixture control system Download PDFInfo
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- CN206465085U CN206465085U CN201621414596.0U CN201621414596U CN206465085U CN 206465085 U CN206465085 U CN 206465085U CN 201621414596 U CN201621414596 U CN 201621414596U CN 206465085 U CN206465085 U CN 206465085U
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- magnechuck
- manipulator fixture
- disk
- master controller
- rotating disk
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Abstract
The utility model is related to fluid line on-line production choked technique field, especially a kind of line clogging manipulator fixture control system, lower stifled control unit is carried out including manipulator fixture and control machinery hand fixture, manipulator fixture includes lower stifled even case and the driving module in the lower stifled even cavity of case, control unit includes information acquisition module, master controller and remote monitoring terminal, information acquisition module is arranged on inside lower stifled even case, master controller is arranged on the outside of lower stifled even case, the information that information acquisition module is collected is sent to master controller, master controller is set up with remote monitoring terminal by communication module and communicated, outer shroud magnechuck, inner ring magnechuck, motor, drive cylinder is by main controller controls.Control system of the present utility model can capture type of tamper evidence with the outer shroud magnechuck of control machinery hand fixture, then realize that block disk blocks blocking seat from inside to outside, realizes and work is blocked up under mechanization by inner ring magnechuck driving rotating disk.
Description
Technical field
The utility model is related to fluid line on-line production choked technique field, especially a kind of line clogging manipulator fixture
Control system.
Background technology
In order to convey the combustion gas such as natural gas, coal gas, it is often necessary on gas pipeline having laid, using
Bypass duct is set up, in order to not influence the normal gas transmission of gas pipeline, it is necessary to set up branch pipe(tube) under conditions of gas transmission is not stopped.Mesh
The preceding method for not stopping setting up branch pipe under the conditions of gas transmission is one wiring pipe fitting of welding, pipe fitting upper port on present gas pipeline
There is a blocking seat, blocking a sandwich valve for playing buffer action is installed above seat, the top installation of sandwich valve connects tangent line and set
Standby, new adapter line is connected with pipe fitting side wall, then using wire cutting device perforate on gas pipeline is connect, after perforate is finished, tears open
Except wire cutting device is connect, blocking operation is carried out using means for placing plug, blocking operation of the prior art generally has following technical problem：
1st, blocking operation of the prior art is typically by technical staff completes by means for placing plug, and combustion gas belongs to inflammable explosive article,
There is potential safety hazard in operating personnel, especially in high temperature environments；2nd, manipulator fixture of the prior art can not be applied to down
Stifled work, the plugging operations that formula from inside to outside is carried out to blocking disk can be also realized without a kind of fixture, are not also controlled accordingly
System processed is controlled to manipulator fixture；3rd, means for placing plug is heavier in itself, will many personal compounding practices, work during lower block up
Intensity is big and efficiency is low；4th, when carrying out blocking fixed, operator can not be intuitive to see the position for blocking disk and leak stopping situation,
It can only by rule of thumb fix, there is fixed not in place, the problem of pipeline internal gas is leaked of blocking；5th, when blocking progress leak stopping,
The position of blocking, which is likely to occur the impurity such as iron filings of presence in skew, or means for placing plug, can also hinder to block motion, now block
It can be stuck, operating personnel can not judge specifically which kind of reason, wherein break down, and operator can only handle this by rule of thumb
The situation of kind.
Utility model content
The purpose of this utility model be overcome prior art exist defect there is provided a kind of line clogging manipulator fixture control
System processed, control machinery hand fixture realizes the plugging operations of formula from inside to outside.
In order to realize the purpose of this utility model, the technical scheme used is：
Line clogging manipulator fixture control system of the present utility model, including manipulator fixture and the control manipulator
Fixture carries out lower stifled control unit, and the manipulator fixture includes lower stifled even case and in the lower stifled even cavity of case
Module is driven, the driving module includes the drive cylinder being fixed in cavity and the sliding seat being slidably mounted in cavity, institute
State sliding seat to be driven by drive cylinder, the outer end of the sliding seat, which is provided with outer shroud magnechuck, the sliding seat, to be provided with
Motor, the end of the motor main shaft is provided with inner ring magnechuck, and the inner ring magnechuck passes through shaft coupling
It is connected with the motor main shaft；Described control unit includes information acquisition module, master controller and remote monitoring terminal, institute
State information acquisition module to be arranged on inside the lower stifled even case, the master controller is arranged on the outside of lower stifled even case, the letter
The information that breath acquisition module is collected is sent to the master controller, and the master controller passes through communication module and the long-range prison
Control terminal sets up communication, and the outer shroud magnechuck, inner ring magnechuck, motor, drive cylinder are by the main control
Device is controlled.
Manipulator fixture described in the utility model is fixedly mounted on the manipulator of industrial robot, the manipulator fixture
For grip type of tamper evidence and under block sealing formed in seat, the type of tamper evidence includes blocking disk, rotating disk and to be hinged with rotating disk
Multiple limiting plates, the center position of the blocking disk is provided with rotating disk groove, and the rotating disk is installed in rotation in rotating disk groove,
The periphery of the rotating disk groove is upwards provided with multiple along the stopper slot for blocking disk radial arrangement, and the limiting plate is slidably mounted on spacing
In groove, the rotating disk is hinged by shift fork with the limiting plate, and the rotating disk drives the limiting plate in the limit by shift fork
Telescopic slide in the groove of position.
The center position of rotating disk described in the utility model is provided with groove, and the inner ring magnechuck is deep into groove simultaneously
Adhesive is lived and cover plate is further fixed on above rotating disk, the stopper slot, and the center of the cover plate, which is provided with, allows inner ring magnechuck to lead to
The through hole crossed, the cover plate and rotating disk are made up of magnetic metal material, cover plate described in the outer shroud magnechuck adhesive, described stifled
Annular groove is offered on the inner peripheral surface of obturating plug, the drive cylinder blocks disk by the driving of outer shroud magnechuck and enters blocking seat
The motor drives limiting plate to be inserted into the annular groove and formed to blocking disk by inner ring magnechuck after inside
Spacing fixation.
The artificial KUKA robots of industrial machine described in the utility model, the KUKA robots are carried out by remote monitoring terminal
Remote control.
Information acquisition module described in the utility model includes the fixed seat being arranged in the lower stifled even case, the fixed seat
Camera, temperature sensor and pressure sensor are inside installed, the information that described information acquisition module is collected is sent to described
Remote monitoring terminal.
Outer circumference surface is provided with least one sealed groove, the sealed groove on the downside of blocking disk described in the utility model
Sealing ring is installed.
Outer shroud magnechuck described in the utility model includes insulation shell and the magnet isolation tank inside insulation shell, described
Have in magnet isolation tank in interlayer insulating layer, the interlayer insulating layer and be provided with coil, the coil is electrically connected to the master controller, institute
The opening of magnet isolation tank is stated towards the blocking disk and is open by bulkhead seal.
The beneficial effect of line clogging manipulator fixture control system of the present utility model is：1. control of the present utility model
System can capture type of tamper evidence with the outer shroud magnechuck of control machinery hand fixture, then real by inner ring magnechuck driving rotating disk
Now block disk and block blocking seat from inside to outside, realize and work is blocked up under mechanization；2. manipulator fixture of the present utility model can be straight
Connect and used on the manipulator of industrial robot, highly versatile, the manipulator fixture can replace stifled work under artificial carry out
Make, operating efficiency is high and safe and reliable；3. remote monitoring personnel can observe stifled process under blocking by information acquisition module
State, finds failure and reason, stifled error rate under reduction can be by controlling industrial machine in the event of failure monitoring personnel in time
Device people carries out repositioning calibration, or re-starts lower stifled work；4. stifled work just can be with by a monitoring personnel under entirely
Complete, monitoring personnel only needs to input corresponding instruction just stifled work under remote controlled completion, reduce lower stifled work into
The dependence of cooking technique personnel, and human cost substantially reduces.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the theory diagram of the line clogging manipulator fixture control system of the present embodiment；
Fig. 2 is the structural representation of the manipulator fixture of the present embodiment；
Fig. 3 is the use state schematic diagram of the manipulator fixture of the present embodiment；
Fig. 4 is the structural representation of the type of tamper evidence of the present embodiment；
Fig. 5 is the use state schematic diagram of the industrial robot of the present embodiment；
Fig. 6 is the structural representation of the outer shroud magnechuck of the present embodiment；
Fig. 7 is the lower stifled view of the present embodiment.
Wherein：Control unit 1, master controller 11, communication module 12, remote monitoring terminal 13, information acquisition module 14；Machine
Tool hand fixture 2, lower stifled even case 21, drive cylinder 22, sliding seat 23, motor 24, outer shroud magnechuck 25, insulation shell
251, interlayer insulating layer 252, coil 253, inner ring magnechuck 26；Type of tamper evidence 3, rotating disk 31, shift fork 32, limiting plate 33 blocks disk
34；Information acquisition module 4；Industrial robot 5；Block seat 6；Gas pipeline 7；Branch pipe(tube) 8；Wiring pipe fitting 9.
Embodiment
In description of the present utility model, it is to be understood that term " radial direction ", " axial direction ", " on ", " under ", " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
Described in description the utility model with simplified, rather than indicate or imply that the device or element of meaning must be with specific sides
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In description of the present utility model
In, unless otherwise indicated, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " setting ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integrally be connected
Connect；Can be joined directly together, can also be indirectly connected to by intermediary.For the ordinary skill in the art, may be used
To understand concrete meaning of the above-mentioned term in the utility model as the case may be.
As shown in figures 1 to 6, the line clogging manipulator fixture control system of the present embodiment includes manipulator fixture 2 and control
Manipulator fixture 2 carries out lower stifled control unit 1, wherein, manipulator fixture 2 includes lower stifled even case 21 and installed in lower stifled company
Driving module in the cavity of case 21, driving module includes the drive cylinder 22 being fixed in cavity and is slidably mounted in cavity
Sliding seat 23, sliding seat 23 drives by drive cylinder 22, and the outer end of sliding seat 23 is provided with outer shroud magnechuck 25, slides
Motor 24 is provided with seat 23, the end of the main shaft of motor 24 is provided with inner ring magnechuck 26, inner ring magnechuck 26
It is connected by shaft coupling with the main shaft of motor 24.
Wherein, control unit 1 includes information acquisition module 14, master controller 11 and remote monitoring terminal 13, information gathering
Module 14 is arranged on inside lower stifled even case, and master controller 11 is arranged on the outside of lower stifled even case, and information acquisition module 14 is collected
Information be sent to master controller 11, master controller 11 is set up with remote monitoring terminal 13 by communication module 12 and communicated, outer shroud
Stifled work under magnechuck 25, inner ring magnechuck 26, motor 24, drive cylinder 22 are carried out by the control of master controller 11
Make, master controller 11 is electrically connected with power module, stifled process under user is monitored by remote monitoring terminal 13.
The information acquisition module 14 of the present embodiment includes being provided with the fixed seat being arranged in lower stifled even case 21, fixed seat
Camera, temperature sensor and pressure sensor, the information that information acquisition module 14 is collected are sent to remote monitoring terminal 13,
Information acquisition module 14 uses wired connection with master controller 11, and master controller 11 is by communication module 12 and remote monitoring terminal
13 radio communications, communication module 12 includes but is not limited to WIFI module, 3G module and 4G modules.Can be with during whole lower stifled
Whether gone wrong by the way that the monitoring of information acquisition module 144 is lower stifled, if it is lower it is stifled it is not in place need to re-start lower stifled work, in order to
Better ensure that lower stifled normal operation, lower stifled even case 21, which is communicated with blast pipe, blast pipe, is provided with magnetic valve, magnetic valve by
Master controller 11 is controlled, when the air pressure or temperature in the company's of blocking up case 21 are higher than secure threshold instantly, the control magnetic valve of master controller 11
Pressure release is opened, by camera it is observed that lower stifled lower stifled situation even in case 21, if type of tamper evidence 3 is without correct in place,
Remote monitoring terminal 13 can input the position that programming instruction control machinery hand fixture 2 readjusts type of tamper evidence 3, until type of tamper evidence
3 is accurate in place.
The outer shroud magnechuck 25 of the present embodiment includes insulation shell 251 and the magnet isolation tank inside insulation shell 251,
Have in magnet isolation tank in interlayer insulating layer 252, interlayer insulating layer 252 and be provided with coil 253, coil 253 is electrically connected to master controller 11,
The opening of magnet isolation tank is towards blocking disk 34 and being open by bulkhead seal, and the model orchid of inner ring magnechuck 26 reaches H6012.
The manipulator fixture 2 of this implementation is fixedly mounted on the manipulator of industrial robot 5, and manipulator fixture 2 is used to press from both sides
Take type of tamper evidence 3 and under block sealing formed in seat 6, type of tamper evidence 3 includes blocking disk 34, rotating disk 31 and is hinged with rotating disk 31
Multiple limiting plates 33, the center position for blocking disk 34 is provided with rotating disk groove, and rotating disk 31 is installed in rotation in rotating disk groove, rotating disk
The periphery of groove is upwards provided with multiple along the stopper slot for blocking the radial arrangement of disk 34, and limiting plate 33 is slidably mounted in stopper slot, is turned
Disk 31 is hinged by shift fork 32 with limiting plate 33, and rotating disk 31 drives the telescopic slide in stopper slot of limiting plate 33 by shift fork 32.
Wherein, the center position of rotating disk 31 is provided with groove, and inner ring magnechuck 26 is deep into groove and rotating disk 31 is lived in adhesive, spacing
It is further fixed on cover plate above groove, the center of cover plate is provided with allowing the through hole that inner ring magnechuck 26 passes through, cover plate and rotating disk 31
It is made up of magnetic metal material, the adhesive cover plate of outer shroud magnechuck 25, annular groove is offered on the inner peripheral surface for blocking seat 6, is driven
Cylinder 22 blocks motor 24 after disk 34 enters the inside of blocking seat 6 by the driving of outer shroud magnechuck 25 and passes through inner ring electricity
The driving limiting plate 33 of magnetic-disc 26 is inserted into the spacing fixation formed in annular groove to blocking disk 34.
The industrial robot 5 of the present embodiment is KUKA robots, and KUKA robots are carried out remotely by remote monitoring terminal 13
Control, its long-range control method can be found in " CN201210320368.7 " number, entitled " industrial robot remote control method
Long-range control method disclosed in the utility model patent of method ".
In order to prevent gas leakage, block the downside outer circumference surface of disk 34 and be provided with least one sealed groove, sealed groove and pacify
Equipped with sealing ring.
As shown in figs. 1-7, the control method of the line clogging manipulator fixture control system of the present embodiment includes following step
Suddenly：
S01, set up branch pipe(tube) 8：A wiring pipe fitting 9 is welded on gas pipeline 7, wiring pipe fitting 9 connects with branch pipe(tube) 8
It is logical, then installed in the upper port of wiring pipe fitting 9 and block seat 6, then a kind of sandwich valve, the model flying tiger of sandwich valve are provided
Pipeline/SV80~SV1600, installs sandwich valve 1, the top of sandwich valve 1, which is installed, connects wire cutting device, Ran Houli blocking the top of seat 6
With wire cutting device perforate on gas pipeline 7 is connect, the gas after perforate in gas pipeline 7 enters branch pipe(tube) by wiring pipe fitting 9
8, after perforate is finished, dismounting connects wire cutting device, and blocking operation is carried out using manipulator fixture；
S02, crawl type of tamper evidence 3：Industrial robot 5 moves to finger according to the lower stifled even case 21 of the programming instruction of pre-input control
Positioning is put, and then drive cylinder 22 is descending promotes outer shroud magnechuck 25 and inner ring magnechuck 26 towards the stifled of specified location
Plug member 3 is moved, and positioning is completed after in the groove that inner ring magnechuck 26 enters the center of rotating disk 31, then master controller 11 is controlled
Outer shroud magnechuck 25 and inner ring magnechuck 26 processed are turned on, the adhesive type of tamper evidence 3 of outer shroud magnechuck 25, inner ring magnechuck 26
Adhesive rotating disk 31, the then control motor 24 of master controller 11 driving rotating disk 31 rotation makes limiting plate be retracted into stopper slot；
S03, decentralization type of tamper evidence 3：Industrial robot 5 moves to folder according to the lower stifled even case 21 of the programming instruction of pre-input control
The top of plate valve 1, then the control of master controller 11 driving of drive cylinder 22 type of tamper evidence 3 is descending, and type of tamper evidence 3 enters sandwich valve 1
Valve port in and seal up valve port, then servomotor driving valve element deviate valve port open sandwich valve 1, then master controller 11 control
The driving of drive cylinder 22 type of tamper evidence 3 processed is continued traveling downwardly up to type of tamper evidence 3 is leaned at the upper port of wiring pipe fitting 9, is then driven
The driving limiting plate 33 of motor 24 is inserted into the annular groove for blocking seat 6, and the so far decentralization of type of tamper evidence 3 positioning is completed, and type of tamper evidence 3 is sealed
Firmly block seat 6；
S04, reclaimer：The control outer shroud of master controller 11 magnechuck 25 and inner ring magnechuck 26 are moved back after the completion of blocking
Magnetic, the then control of master controller 11 backhaul of drive cylinder 22, outer shroud magnechuck 25 and inner ring magnechuck 26 are retracted into lower stifled
Even in case 21, then remove lower stifled even case 21 and remove sandwich valve 1, stifled work under completion.
The sandwich valve of this implementation is driven by servomotor, specifically, and the valve element of sandwich valve is connected with drive rod, servomotor
Drive valve element closing to block seat 6 or open by drive rod and block seat 6.
It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality
With new.The obvious changes or variations extended out by spirit of the present utility model is still in protection of the present utility model
Among scope.
Claims (7)
1. a kind of line clogging manipulator fixture control system, including manipulator fixture (2) and the control manipulator fixture (2)
Carry out lower stifled control unit (1), it is characterised in that：The manipulator fixture (2) includes lower stifled even case (21) and is arranged on
Driving module in the lower stifled even cavity of case (21), the driving module includes the drive cylinder (22) being fixed in cavity and sliding
The dynamic sliding seat (23) in cavity, the sliding seat (23) is driven by drive cylinder (22), the sliding seat (23)
Outer end, which is provided with outer shroud magnechuck (25), the sliding seat (23), is provided with motor (24), the motor
(24) end of main shaft is provided with inner ring magnechuck (26), and the inner ring magnechuck (26) passes through shaft coupling and the driving
Motor (24) main shaft is connected；Described control unit (1) includes master controller (11), remote monitoring terminal and information acquisition module
(14), described information acquisition module (14) is arranged on inside the lower stifled even case, and the master controller (11) is arranged on lower stifled company
The outside of case, the information that described information acquisition module (14) is collected is sent to the master controller (11), the master controller
(11) set up and communicated with the remote monitoring terminal (13) by communication module (12), the outer shroud magnechuck (25), inner ring
Magnechuck (26), motor (24), drive cylinder (22) are controlled by the master controller (11).
2. line clogging manipulator fixture control system according to claim 1, it is characterised in that：The manipulator fixture
(2) on the manipulator for being fixedly mounted on industrial robot (5), the manipulator fixture (2) is used to grip type of tamper evidence (3) and lower stifled
Sealing is formed in seat (6) to blocking, the type of tamper evidence (3) includes what is blocked disk (34), rotating disk (31) and be hinged with rotating disk (31)
Multiple limiting plates (33), the center position for blocking disk (34) is provided with rotating disk groove, and the rotating disk (31) is rotatably mounted
In rotating disk groove, the periphery of the rotating disk groove is described spacing upwards provided with multiple along the stopper slot for blocking disk (34) radial arrangement
Plate (33) is slidably mounted in stopper slot, and the rotating disk (31) is hinged by shift fork (32) with the limiting plate (33), described turn
Disk (31) drives limiting plate (33) telescopic slide in the stopper slot by shift fork (32).
3. line clogging manipulator fixture control system according to claim 2, it is characterised in that：The rotating disk (31)
Center position is provided with groove, and the inner ring magnechuck (26) is deep into groove and rotating disk (31) is lived in adhesive, described spacing
It is further fixed on cover plate above groove, the center of the cover plate is provided with allowing the through hole that inner ring magnechuck (26) passes through, the lid
Plate and rotating disk (31) are made up of magnetic metal material, cover plate described in outer shroud magnechuck (25) adhesive, the blocking seat (6)
Inner peripheral surface on offer annular groove, the drive cylinder (22), which passes through outer shroud magnechuck (25) driving and blocks disk (34), to be entered
The motor (24) drives limiting plate (33) to be inserted into institute by inner ring magnechuck (26) after to blocking seat (6) inside
State the spacing fixation formed in annular groove to blocking disk (34).
4. line clogging manipulator fixture control system according to claim 3, it is characterised in that：The industrial robot
(5) it is KUKA robots, the KUKA robots are by remote monitoring terminal (13) progress remote control.
5. line clogging manipulator fixture control system according to claim 4, it is characterised in that：Described information gathers mould
Block (14) includes being provided with camera, TEMP in the fixed seat being arranged in the lower stifled even case (21), the fixed seat
Device and pressure sensor, the information that described information acquisition module (14) is collected are sent to the remote monitoring terminal (13).
6. line clogging manipulator fixture control system according to claim 5, it is characterised in that：The blocking disk (34)
Downside outer circumference surface is provided with least one sealed groove, the sealed groove and is provided with sealing ring.
7. line clogging manipulator fixture control system according to claim 6, it is characterised in that：The outer shroud electromagnetism is inhaled
Disk (25) include insulation shell (251) and have in the internal magnet isolation tank of insulation shell (251), the magnet isolation tank insulation every
Coil (253) is provided with layer (252), the interlayer insulating layer (252), the coil (253) is connected to the master controller
(11), the opening of the magnet isolation tank is towards the blocking disk (34) and is open by bulkhead seal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621414596.0U CN206465085U (en) | 2016-12-22 | 2016-12-22 | A kind of line clogging manipulator fixture control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621414596.0U CN206465085U (en) | 2016-12-22 | 2016-12-22 | A kind of line clogging manipulator fixture control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206465085U true CN206465085U (en) | 2017-09-05 |
Family
ID=59711111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621414596.0U Expired - Fee Related CN206465085U (en) | 2016-12-22 | 2016-12-22 | A kind of line clogging manipulator fixture control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206465085U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214484A (en) * | 2016-12-22 | 2018-06-29 | 常州轻工职业技术学院 | A kind of line clogging manipulator fixture control system |
| CN110315561A (en) * | 2019-07-28 | 2019-10-11 | 南京驭逡通信科技有限公司 | A kind of manipulator fixture and control system for line clogging robot |
-
2016
- 2016-12-22 CN CN201621414596.0U patent/CN206465085U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214484A (en) * | 2016-12-22 | 2018-06-29 | 常州轻工职业技术学院 | A kind of line clogging manipulator fixture control system |
| CN108214484B (en) * | 2016-12-22 | 2024-05-10 | 常州轻工职业技术学院 | Pipeline blocking manipulator clamp control system |
| CN110315561A (en) * | 2019-07-28 | 2019-10-11 | 南京驭逡通信科技有限公司 | A kind of manipulator fixture and control system for line clogging robot |
| WO2021017529A1 (en) * | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Manipulator clamp for robot for pipeline blockage |
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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: 20170905 Termination date: 20211222 |
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| CF01 | Termination of patent right due to non-payment of annual fee |