CN206510042U - Children education both legs walking robot - Google Patents
Children education both legs walking robot Download PDFInfo
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- CN206510042U CN206510042U CN201621186910.4U CN201621186910U CN206510042U CN 206510042 U CN206510042 U CN 206510042U CN 201621186910 U CN201621186910 U CN 201621186910U CN 206510042 U CN206510042 U CN 206510042U
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- thigh
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- leg
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Abstract
The utility model discloses a kind of children education both legs walking robot, including upper body structure, back and lower body structure；Upper body structure is tower structure, includes the main frame of epimorph plan upper half of human body shape, and main frame includes head, shoulder and thorax abdomen, and back is horizontally disposed with, and the thorax abdomen in upper body structure connects the back；The lower body structure is symmetrical set, including thigh structure, shank structure and foot structure；The utility model can realize that apery is walked, the action of people's knee bends is simulated during walking, and it is further able to simulate the action that the leg of knee bends side is walked forward, the leg of opposite side is not walked forward temporarily, realize two legs alternately forward movement, apery degree had obtained the raising of matter more in the past, can stronger, more permanently attract the notice of child, be more convenient for carrying out related explanation to child, interest of the child for science and technology is improved, strengthens the scientific literacy of child.
Description
Technical field
The utility model is related to robotic technology field, more particularly to the assiatant child robot that a kind of apery is walked.
Background technology
With the development of economy and society, robot has obtained increasingly extensive application.Although current China is also in machine
The starting stage of people's application, but the application of robot can bring huge economic interests for all trades and professions.
In preschool education, robot or a fangle.Some kindergartens apply robot model, attract
The notice of child.Because robot model is that profile is anthropomorphic, ability to act is not had, therefore child will soon lose
Attention to robot model.In the market occur some robots that can advance, or it is complicated, involve great expense, or
Person does not possess the ability of apery walking.
After two tire policies are decontroled, annual ewborn infant can reach more than 20,000,000, and many father and mother are also increasingly ready for child
The growth and education of son are spent, but also lack a kind of children education robot for being capable of apery walking in the market.
Utility model content
The purpose of this utility model is that a kind of simple in construction, cost of offer is relatively low and is capable of the children education machine of apery walking
Device people, can relatively rotate between its thigh structure and shank structure, connect again reliable and stable.
To achieve the above object, children education of the present utility model with both legs walking robot include upper body structure, back and under
Body structure；
Upper body structure is tower structure, includes the main frame of epimorph plan upper half of human body shape, and main frame includes head
It is connected with the left of portion, shoulder and thorax abdomen, shoulder on the right side of left back armed lever, shoulder and is connected with armed lever behind the right side, the bottom of left back armed lever
The bottom for being connected with armed lever behind left front armed lever, the right side is connected with right forearm bar, and left and right preceding armed lever is forward extended out and connected therebetween
There is main supporting plate；
The back is horizontally disposed with, and the bottom of the thorax abdomen in upper body structure connects the back；The lower body structure is left
The right side is symmetrical arranged, including thigh structure, shank structure and foot structure；
Thigh structure includes left thigh structure and right thigh structure, and shank structure includes left leg structure and right leg knot
Structure, foot structure includes left foot structure and right foot part structure；Left thigh structure is symmetrical set with right thigh structure, left small
Leg structure and right leg structure are symmetrical set, and left foot structure and right foot part structure are symmetrical set；Left thigh structure,
Right thigh structure, left leg structure and right leg structure are tower structure；
The top of left thigh structure is connected with the left part of the back, the top of right thigh structure and the back
Right part is connected；
The bottom of the left thigh structure is rotated with the top of left leg structure by left bearing pin and is connected, right thigh structure
Bottom is rotated with the top of right leg structure by right bearing pin and is connected；The left bearing pin is fixedly connected and left pin with left leg structure
Axle is rotated with left thigh structure and is connected, and the right bearing pin is fixedly connected with right leg structure and right bearing pin is rotated with right thigh structure
Connection；
The left thigh structure is provided with left knee motor, left bearing pin described in left knee motor connection；The right thigh knot
Structure is provided with right knee motor, right bearing pin described in right knee motor connection；
The foot structure includes left foot structure and the right foot part structure being symmetrical set；Left foot structure includes a left side
Left fixed plate is provided with foot frame, left foot framework, the left foot framework of left fixed plate front and back is separately installed with left road wheel,
Left driven pulley is separately installed with the wheel shaft of each left road wheel；Left movable motor, the left lateral leakage of electricity are installed in left fixed plate
Left drive pulley is installed on the output shaft of machine；Passed between left drive pulley and left driven pulley by Left Drive belt
Dynamic connection；The bottom of left road wheel extends downwardly from left foot framework and supported on the ground；
Right foot part structure includes being provided with right fixed plate, the right side of right fixed plate front and back in right crus of diaphragm framework, right crus of diaphragm framework
Foot frame is separately installed with right road wheel, the wheel shaft of each right road wheel and is separately installed with right driven pulley；In right fixed plate
It is provided with right movable motor, the output shaft of right movable motor and right drive pulley is installed；Right drive pulley and the right side are driven
It is connected between belt pulley by right driving belt；The bottom of right road wheel extends downwardly from right crus of diaphragm framework and is supported on ground
On；
The left part of the back is connected with downwards left contiguous block, and the right part of back is connected with downwards right contiguous block；Greatly
Two sets of linkages for being used for stablizing thigh structure and shank structure are provided between leg structure and shank structure；Two sets of linkages
For left connecting rod mechanism and right connecting rod mechanism, left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes upper left connecting rod and left lower link, and the top of upper left connecting rod and the rearward end of left contiguous block are mutually cut with scissors
Connect, bottom and the left lower link of upper left connecting rod are hinged；The top of left leg structure is connected with protrusion left leg structure backward
Left connecting seat, the bottom of left lower link is hinged with left connecting seat；
Right connecting rod mechanism includes upper right connecting rod and bottom right connecting rod, and the top of upper right connecting rod and the rearward end of right contiguous block are mutually cut with scissors
Connect, bottom and the bottom right connecting rod of upper right connecting rod are hinged；The top of right leg structure is connected with protrusion right leg structure backward
Right connecting seat, the bottom of bottom right connecting rod is hinged with right connecting seat.
It is low after height before the top surface of the main supporting plate to be provided with the gradient, and the gradient is less than or equal to 3 degree；The water of the primary tank
Plane section is rounded, and the vertical cross-section of the primary tank center is in minor arc arch.
The top of the left thigh structure is fixedly connected with the left part of the back.
It is provided with the left leg structure for monitoring the relative angle between left thigh structure and left leg structure
Left comer displacement transducer, the bottom of the left thigh structure is hinged with downwards the first left hinge bar, the bottom of the first left hinge bar
The second left hinge bar is hinged with, the bottom of the second left hinge bar connects the left comer displacement transducer；
It is provided with the right leg structure for monitoring the relative angle between right thigh structure and right leg structure
Right corner displacement transducer, the bottom of the right thigh structure is hinged with downwards the first right hinge bar, the bottom of the first right hinge bar
The second right hinge bar is hinged with, the bottom of the second right hinge bar connects the right corner displacement transducer.
The utility model has the following advantages：
The utility model can realize that apery is walked, and people's knee bends are simulated during walking（Lift leg）Action,
And it is further able to simulate the action that the leg of knee bends side is walked forward, the leg of opposite side is not walked forward temporarily, it is real
Existing two legs are alternately moved forward, and apery degree had obtained the raising of matter more in the past, can it is stronger, more permanently attract child
Notice, be more convenient for carrying out related explanation to child, improve interest of the child for science and technology, strengthen the science element of child
Support.
Upper connecting rod, lower link, left thigh structure one parallel four sides row drag link mechanism with left leg structure composition, so that
Make the connection between thigh structure and shank structure more reliable and stable.
By angular displacement sensor and its dependency structure, the utility model can be accurately to thigh structure and shank structure
Between relative rotation angle be monitored and control.
The vertical cross-section of primary tank center is in minor arc arch, has more preferable stability during compared in major arc arch.
It is low after height before the top surface of main supporting plate to be provided with the gradient, so as to prevent when walking forward on main supporting plate the article that carries to advancing slip
Fall, it is ensured that transport safety.When the article carried on main supporting plate is slided backward, it can be blocked, further protect after running into gear eaves
Transport safety is demonstrate,proved.In addition, the utility model structure is relatively simple, it is easy to manufacture, cost is relatively low, suitable for popularization and application.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is Fig. 1 right view；
Fig. 3 is the enlarged drawing at B in Fig. 1；
Fig. 4 is the enlarged drawing at C in Fig. 1；
Fig. 5 is the enlarged drawing at D in Fig. 2；
Fig. 6 is the schematic diagram of right foot part structure.
Embodiment
As shown in Figures 1 to 6, children education of the present utility model with both legs walking robot include upper body structure, back 1 and under
Body structure；
Upper body structure is tower structure, includes the main frame of epimorph plan upper half of human body shape, and main frame includes head
Portion 2, shoulder 3 and thorax abdomen 4, the left side of shoulder 3 are connected with left back armed lever 5, and the right side of shoulder 3 is connected with armed lever 6 behind the right side, left back armed lever
The bottom that 5 bottom is connected with armed lever 6 behind left front armed lever 7, the right side is connected with right forearm bar 8, and left and right preceding armed lever 7,8 is forward extended out
And main supporting plate 9 is connected with therebetween；
The back 1 is horizontally disposed with, and the bottom of the thorax abdomen 4 in upper body structure connects the back 1；The lower body structure
It is symmetrical set, including thigh structure, shank structure and foot structure；
Thigh structure includes left thigh structure 23 and right thigh structure 24, and shank structure includes left leg structure 25 and the right side is small
Leg structure 26, foot structure includes left foot structure and right foot part structure；24 or so pairs of left thigh structure 23 and right thigh structure
Claim to set, left leg structure 25 and right leg structure 26 are symmetrical set, and left foot structure and right foot part structure are symmetrical
Set；Left thigh structure 23, right thigh structure 24, left leg structure 25 and right leg structure 26 are tower structure；
The top of left thigh structure 23 is connected with the left part of the back 1, the top of right thigh structure 24 with it is described
The right part of back 1 is connected；
The bottom of the left thigh structure 23 is rotated with the top of left leg structure 25 by left bearing pin 27 and is connected, right thigh
The bottom of structure 24 is rotated with the top of right leg structure 26 by right bearing pin 28 and is connected；The left bearing pin 27 and left leg structure
25 are fixedly connected and left bearing pin 27 and left thigh structure 23 are rotated and be connected, and the right bearing pin 28 is fixedly connected with right leg structure 26
And right bearing pin 28 is rotated with right thigh structure 24 and is connected；
The left thigh structure 23 is provided with left knee motor, left bearing pin 27 described in left knee motor connection；It is described right big
Leg structure 24 is provided with right knee motor, right bearing pin 28 described in right knee motor connection；
The foot structure includes left foot structure and the right foot part structure being symmetrical set；Left foot structure includes a left side
Left fixed plate 30 is provided with foot frame 29, left foot framework 29, the left foot framework 29 of the left front and back of fixed plate 30 is respectively mounted
Have and be separately installed with left driven pulley 32 on left road wheel 31, the wheel shaft of each left road wheel 31；It is provided with left fixed plate 30
Left drive pulley 34 is installed on left movable motor, the output shaft of left movable motor；Left drive pulley 34 and left driven skin
It is connected between belt wheel 32 by Left Drive belt 33.The bottom of left road wheel 31 extends downwardly from left foot framework 29 and is supported on
On ground, provided with the left battery being connected with left movable motor in left foot framework 29；
Right foot part structure includes right crus of diaphragm framework 35, is provided with right fixed plate 36 in right crus of diaphragm framework 35, the right front of fixed plate 36 and
The right crus of diaphragm framework 35 at rear is separately installed with right road wheel 37, the wheel shaft of each right road wheel 37 and is separately installed with right follower belt
Wheel 38；It is provided with right fixed plate 36 on right movable motor, the output shaft of right movable motor and right drive pulley 39 is installed；It is right
It is connected between drive pulley 39 and right driven pulley 38 by right driving belt 40；The bottom of right road wheel 37 is downward
Stretch out right crus of diaphragm framework 35 and support on the ground, provided with the right battery being connected with right movable motor in right crus of diaphragm framework 35, left,
Right battery provides electric energy for left and right movable motor.Motor and battery are conventional components, the not shown left and right knee
Motor, left and right movable motor and left and right battery.
It is low after height before the top surface of the main supporting plate 9 to be provided with the gradient, and the gradient is less than or equal to 3 degree, the main supporting plate 9
Rear end raises up provided with gear eaves 41.
The horizontal cross-section of the primary tank 13 is rounded, and the vertical cross-section of the center of primary tank 13 is in minor arc arch.
Through experiment, the vertical cross-section of the center of primary tank 13 is in minor arc arch, has more preferable stability during compared in major arc arch.
It is low after height before the top surface of main supporting plate 9 to be provided with the gradient, so as to prevent what is carried when walking forward on main supporting plate 9
Article slides forward, it is ensured that transport safety.When the article carried on main supporting plate 9 is slided backward, it can be hindered after running into gear eaves 41
Block, further ensure transport safety.
The top of the left thigh structure 23 is fixedly connected with the left part of the back 1.
It is provided with the left leg structure 25 relative between left thigh structure 23 and left leg structure 25 for monitoring
The left comer displacement transducer 42 of angle, the bottom of the left thigh structure 23 is hinged with downwards the first left hinge bar 43, and first is left
The bottom of hinge bar 43 is hinged with the second left hinge bar 44, and the bottom of the second left hinge bar 44 connects the left comer displacement transducer
42；
It is provided with the right leg structure 26 relative between right thigh structure 24 and right leg structure 26 for monitoring
The right corner displacement transducer 47 of angle, the bottom of the right thigh structure 24 is hinged with downwards the first right hinge bar 45, and first is right
The bottom of hinge bar 45 is hinged with the second right hinge bar 46, and the bottom of the second right hinge bar 46 connects the right corner displacement transducer
47.Angular displacement sensor is conventional equipment, and concrete structure is no longer described in detail.
The left part of the back 1 is connected with downwards left contiguous block 48, and the right part of back 1 is connected with downwards right contiguous block
49；Two sets of linkages for being used for stablizing thigh structure and shank structure are provided between thigh structure and shank structure；Two sets of companies
Linkage is left connecting rod mechanism and right connecting rod mechanism, and left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism is included behind upper left connecting rod 50 and left lower link 51, the top of upper left connecting rod 50 and left contiguous block 48
End bottom is hinged, and the lower left connecting rod 51 of upper left connecting rod 50 is hinged；The top of left leg structure 25 is connected with convex backward
Go out the left connecting seat 52 of left leg structure 25, the bottom of left lower link 51 is hinged with left connecting seat 52.
So, upper left connecting rod 50, left lower link 51, left thigh structure 23 and left leg structure 25 just constitute one it is parallel
Four side row drag link mechanisms, so that can be relatively rotated between thigh structure and shank structure, can reliablely and stablely be connected to again
Together.
Right connecting rod mechanism is included behind upper right connecting rod 53 and bottom right connecting rod 54, the top of upper right connecting rod 53 and right contiguous block 49
End bottom is hinged, and bottom and the bottom right connecting rod 54 of upper right connecting rod 53 are hinged；The top of right leg structure 26 is connected with backward
The right connecting seat of right leg structure 26 is protruded, the bottom of bottom right connecting rod 54 is hinged with right connecting seat.In Fig. 1 and Fig. 2, right connection
Seat is blocked, not shown.
In use, the only front and rear walking of robot can be allowed without conveying articles, it can also be put into and be demonstrated with defeated in main supporting plate 9
Article is sent, then alternately starts left and right movable motor, and alternately start left and right knee motor.
The left and right left and right shank structure 25,26 of knee motor driven rotates relative to thigh structure, so as to simulate people's lift
The action of leg walking.Left and right movable motor drives left and right driven pulley 32,38 to rotate by belt transmission structure, so that band
Dynamic left and right road wheel 31,37 rotates, left and right road wheel 31,37 drive children education of the present utility model with both legs walking robot to
Preceding walking, demonstration is delivered to conveying article the position specified.
When left and right knee motor is rotated, occurs phase between left and right thigh structure 23,24 and left and right shank structure 25,26
To rotation, relative rotary motion is converted into the pressure of diagonal displacement sensor by the first hinge bar and the second hinge bar, so that
Angular displacement sensor monitors the relative rotation angle between thigh structure and shank structure.
Specifically, rotated against when between left thigh structure 23 and left leg structure 25（Knee bends）When, the left lateral leakage of electricity
Machine drives left road wheel 31 to move forward a segment distance；Rotated against when between left thigh structure 23 and left leg structure 25（Knee
Lid bending）During to set angle, left knee motor and left movable motor stopping action starting right knee motor and the right lateral leakage of electricity
Machine.
Rotated against when between right thigh structure 24 and right leg structure 26（Knee bends）When, right movable motor driving is right
Road wheel 37 moves forward a segment distance；Rotated against when between right thigh structure 24 and right leg structure 26（Knee bends）Extremely
During set angle, right knee motor and right movable motor stopping are acted, during this period left thigh structure 23 and left leg structure 25
Recover upright state.
While left and right knee motor action, left and right movable motor interoperation, in thigh structure and shank structure
Between rotate against（That is knee bends）While, left and right road wheel 31,37 is also and then moved, and is taken a step so as to simulate people
The action of walking.Certainly, the action that action of the present utility model is walked with people still has difference, walking of mainly taking a step
When, left and right road wheel 31,37 is without departing from ground.Nonetheless, action of the present utility model is compared with the past, closer to
The walking motion of people, apery degree is higher.
Above example is only used to illustrative and not limiting the technical solution of the utility model, although with reference to above-described embodiment pair
The utility model is described in detail, it will be understood by those within the art that：The utility model can still be entered
Row modification or equivalent substitution, without departing from any modification or partial replacement of spirit and scope of the present utility model, it all should
Cover among right of the present utility model.
Claims (2)
1. children education both legs walking robot, it is characterised in that：Including upper body structure, back and lower body structure；
Upper body structure is tower structure, includes the main frame of epimorph plan upper half of human body shape, and main frame includes head, shoulder
It is connected with the left of portion and thorax abdomen, shoulder on the right side of left back armed lever, shoulder and is connected with armed lever behind the right side, the bottom of left back armed lever is connected with
The bottom of armed lever is connected with right forearm bar behind left front armed lever, the right side, and left and right preceding armed lever forward extends out and is connected with main support therebetween
Plate；
The back is horizontally disposed with, and the bottom of the thorax abdomen in upper body structure connects the back；Described lower body structure or so pair
Claim to set, including thigh structure, shank structure and foot structure；
Thigh structure includes left thigh structure and right thigh structure, and shank structure includes left leg structure and right leg structure, pin
Portion's structure includes left foot structure and right foot part structure；Left thigh structure is symmetrical set with right thigh structure, left leg knot
Structure and right leg structure are symmetrical set, and left foot structure and right foot part structure are symmetrical set；Left thigh structure, the right side are big
Leg structure, left leg structure and right leg structure are tower structure；
The top of left thigh structure is connected with the left part of the back, the top of right thigh structure and the right-hand member of the back
Portion is connected；
The bottom of the left thigh structure is rotated with the top of left leg structure by left bearing pin and is connected, the bottom of right thigh structure
Rotated and be connected with the top of right leg structure by right bearing pin；The left bearing pin be fixedly connected with left leg structure and left bearing pin with
Left thigh structure rotates connection, and the right bearing pin is fixedly connected with right leg structure and right bearing pin is rotated with right thigh structure and connected
Connect；
The left thigh structure is provided with left knee motor, left bearing pin described in left knee motor connection；In the right thigh structure
Provided with right knee motor, right bearing pin described in right knee motor connection；
The foot structure includes left foot structure and the right foot part structure being symmetrical set；Left foot structure includes left foot frame
Left fixed plate is provided with frame, left foot framework, the left foot framework of left fixed plate front and back is separately installed with left road wheel, each left side
Left driven pulley is separately installed with the wheel shaft of road wheel；Left movable motor is installed in left fixed plate, left movable motor
Left drive pulley is installed on output shaft；Connected between left drive pulley and left driven pulley by Left Drive belt transmission
Connect；The bottom of left road wheel extends downwardly from left foot framework and supported on the ground；
Right foot part structure includes being provided with right fixed plate, the right crus of diaphragm frame of right fixed plate front and back in right crus of diaphragm framework, right crus of diaphragm framework
Frame is separately installed with right road wheel, the wheel shaft of each right road wheel and is separately installed with right driven pulley；Installed in right fixed plate
Have and right drive pulley is installed on right movable motor, the output shaft of right movable motor；Right drive pulley and right follower belt
It is connected between wheel by right driving belt；The bottom of right road wheel extends downwardly from right crus of diaphragm framework and supported on the ground；
The left part of the back is connected with downwards left contiguous block, and the right part of back is connected with downwards right contiguous block；Thigh knot
Two sets of linkages for being used for stablizing thigh structure and shank structure are provided between structure and shank structure；Two sets of linkages are a left side
Linkage and right connecting rod mechanism, left connecting rod mechanism and right connecting rod mechanism are symmetrical arranged；
Left connecting rod mechanism includes upper left connecting rod and left lower link, and the top of upper left connecting rod and the rearward end of left contiguous block are hinged,
The bottom of upper left connecting rod is hinged with left lower link；The top of left leg structure is connected with the left company of protrusion left leg structure backward
Joint chair, the bottom of left lower link is hinged with left connecting seat；
Right connecting rod mechanism includes upper right connecting rod and bottom right connecting rod, and the top of upper right connecting rod and the rearward end of right contiguous block are hinged,
The bottom of upper right connecting rod is hinged with bottom right connecting rod；The top of right leg structure is connected with the right company of protrusion right leg structure backward
Joint chair, the bottom of bottom right connecting rod is hinged with right connecting seat.
2. children education according to claim 1 both legs walking robot, it is characterised in that：The top of the left thigh structure
It is fixedly connected with the left part of the back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621186910.4U CN206510042U (en) | 2016-10-26 | 2016-10-26 | Children education both legs walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621186910.4U CN206510042U (en) | 2016-10-26 | 2016-10-26 | Children education both legs walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206510042U true CN206510042U (en) | 2017-09-22 |
Family
ID=59860296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621186910.4U Expired - Fee Related CN206510042U (en) | 2016-10-26 | 2016-10-26 | Children education both legs walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206510042U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493738A (en) * | 2016-10-26 | 2017-03-15 | 河南工业大学 | A kind of assiatant child with both legs walk apery educational robot |
| CN107963146A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the waist structure of climbing robot |
-
2016
- 2016-10-26 CN CN201621186910.4U patent/CN206510042U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493738A (en) * | 2016-10-26 | 2017-03-15 | 河南工业大学 | A kind of assiatant child with both legs walk apery educational robot |
| CN107963146A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the waist structure of climbing robot |
| CN107963146B (en) * | 2017-12-22 | 2023-12-08 | 华南理工大学广州学院 | Waist structure of clean wall climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180711 Address after: 454000 No. 4, No. 4, 22 Dong Qing Street, hi tech Zone, Zhengzhou, Henan Patentee after: Zhengzhou Yingborui Electronic Technology Co., Ltd. Address before: No. 100, Lianhua street, Zhengzhou high tech Zone, Henan Province Patentee before: Zhang Yongyu |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170922 Termination date: 20191026 |
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| CF01 | Termination of patent right due to non-payment of annual fee |