CN206513648U - A kind of adjust automatically cylinder - Google Patents
A kind of adjust automatically cylinder Download PDFInfo
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- CN206513648U CN206513648U CN201720178858.6U CN201720178858U CN206513648U CN 206513648 U CN206513648 U CN 206513648U CN 201720178858 U CN201720178858 U CN 201720178858U CN 206513648 U CN206513648 U CN 206513648U
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- cylinder
- gas port
- adjust automatically
- pressure
- actuator
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Abstract
The utility model discloses a kind of adjust automatically cylinder, adjust automatically cylinder includes steam line, two magnetic valves and three cylinders, first cylinder is above the second cylinder, provided with two pistons in first cylinder, wherein upper piston is provided with the push rod being attached thereto, lower piston is fixedly linked with the piston in the second cylinder by rigid link, the top of 3rd cylinder is connected with the first cylinder bottom by pipeline, part filled with hydraulic oil between first cylinder and the second cylinder and the 3rd cylinder, each cylinder head and bottom are equipped with a gas port, four gas ports are connected by two magnetic valves with steam line respectively, at least four above-mentioned adjust automatically cylinder strutting bodies, top cover and bottom and controller can constitute constant force output actuator, automatically adjusted by each adjust automatically output pressure and realize that actuator exports constant pressure.The utility model is used cooperatively with robot can make emery wheel and irregular workpiece remain constant-force contact.
Description
Technical field
The utility model is related to the technical field of robot, and in particular to a kind of adjust automatically cylinder.
Background technology
In machinery industry manufacture field, automation technology application is more and more extensive, and robot is to realize automatic metaplasia
The key of production, thus applied in increasing field, develop to deeper wider array of direction with robot and
Its intelligent constantly raising, the application of robot also will be increasing, and other manufacturing industry will be extended to from automobile industry
Field.People for robot requirement also by more and more higher, it is necessary to which there are higher sensitiveness and flexibility, Cai Nengcong in robot
The more accurate automatically working of thing, makes the quality of processing be guaranteed.Make so as to need one kind to be engaged with robot
With can compensate gravity automatically influences, and remains the actuator of constant force output, and the work for requiring higher can be realized certainly
Dynamicization.
Utility model content
The purpose of this utility model is that design one kind can freely stretch and remain and contact with workpiece, can be compensated automatically
The influence of gravity, can measure and feed back the value of actual forces, and preserve all data in 20 seconds before reproduction any time point, begin
The adjust automatically cylinder of the actuator of constant force output is kept eventually.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：
A kind of adjust automatically cylinder that actuator is exported for constant force, it is characterised in that：Including steam line, the first electromagnetism
Valve, the second magnetic valve, the first cylinder, the second cylinder and the 3rd cylinder, first cylinder are located above the second cylinder, the
Provided with two pistons in one cylinder, wherein upper piston is provided with can stretch out the push rod of the first cylinder head, lower piston and the
Piston in two cylinders is fixedly linked by rigid link, and the top of the 3rd cylinder passes through communicating pipe with the first cylinder lower side
Road is connected, and the piston above section of part and the 3rd cylinder is each filled with hydraulic oil between two pistons of the first cylinder, and first
Cylinder head and the 3rd cylinder bottom are respectively equipped with gas port one and gas port four, and the second cylinder head and bottom are respectively equipped with gas port two
With gas port three, the gas port one and gas port four-way are crossed the first magnetic valve and are connected with steam line, the first solenoid valve control gas port one
Steam line or row's air are connected respectively with gas port four, and the second magnetic valve and steam line are crossed in the gas port two and gas port threeway
It is connected or row's air, the second solenoid valve control gas port two and gas port three connect steam line or row's air respectively.
As an improvement, the first cylinder side is provided with the pressure sensor for being used for detecting hydraulic oil pressure.
As an improvement, the steam line is provided with the air filter for being filtered and being depressurized to compressed air.
A kind of constant force output actuator using above-mentioned adjust automatically cylinder, it is characterised in that：Including cylindric cylinder
With at least four adjust automatically cylinders, the cylinder includes top cover, bottom and shaft, and the bottom is fixedly linked with shaft, institute
Top cover is stated for removable cover；The cylinder body of each adjust automatically cylinder is fixedly linked with bottom, each adjust automatically gas
The push rod of retractable is fixedly linked with top cover loose joint at the top of cylinder, and one of adjust automatically cylinder is located at bottom center
Place, other adjust automatically cylinders are symmetrical centered on bottom center.
As an improvement, the bottom is provided with controller and gravity sensor, compensation top cover self gravitation is automatic to each
Adjust the influence of cylinder output pressure.The gravity sensor is described by the bottom angle of inclination data access controller measured
Controller controls the first magnetic valve of each adjust automatically cylinder and aperture size and the valve position of the second magnetic valve.
Constant force output actuator operation principle described in the utility model is as follows：Needed for being produced using adjust automatically cylinder
Constant output power, because gas has compressibility and the power output scope of cylinder less, therefore use cylinder to control hydraulic cylinder
Adjust automatically cylinder, to produce constant power output, pressure sensing is installed in the side of the hydraulic cylinder of each adjust automatically cylinder
The pressure value of device, in real time detection hydraulic cylinder, and feed back to controller, and by the data storage in 20 seconds controller database
It is interior, while the first magnetic valve of adjustment and the second magnetic valve difference are logical in real time by the different control signal of I/O mouthfuls of outputs of controller
The folding in road, to change the flow direction of compressed gas, so as to ensure that constant force is exported.Because constant force exports the influence meeting of actuator gravity
The pressure that the push rod of each adjust automatically cylinder is exported and the pressure value generation deviation set are caused, in constant force output actuator
Portion is provided with gravity sensor, detects the angle of deviation under different positions and pose state by gravity sensor, and calculated by controller
Due to needing to compensate the pressure that top cover self gravitation influences and needed additionally to export, and by different by I/O mouthfuls of outputs of controller
Control signal adjusts the folding of the different passages of magnetic valve in real time, to change the output pressure of cylinder, realizes that actuator constant force is exported
Purpose.
One kind of constant force control section is illustrated as the utility model, the actuator can for guarantee for described controller
Communication that can be accessible with the robot control system of the nearly all brand of in the market, the controller should have Ethernet
TCP/IP, Profibus, CANopen, Analog I/O, XML, DeviceNet, ProfiNet, Modbus TCP and double combinations
Communication protocol.
Described database, which can record any time point, to be illustrated to one kind of constant force control section as the utility model
All data in 20 seconds before, so that the pressure output for analyzing actuator in 20 seconds changes.
One kind of constant force executable portion is illustrated as the utility model, pacified altogether in the cylinder of the constant force output actuator
Equipped with four cylinders, a cylinder is installed on the center of the cylinder bottom, and the other three is uniformly divided around it with 120 degree of angles
Cloth.The hydraulic cylinder is fixedly installed in the side of each adjust automatically cylinder respectively, uses cooperatively, passes through with adjust automatically cylinder
Cylinder drives hydraulic oil to produce stable pressure.
The beneficial effects of the utility model are：
Actuator is exported by the utility model constant force to use cooperatively with robot, constant force output actuator can be effective
Guarantee remain and contact with workpiece, the influence of gravity can be compensated automatically, the value of actual forces is measured and feed back, and protect with
All data in 20 seconds before reproduction any time point, the constant force output needed for remaining.
Brief description of the drawings
Fig. 1 is that constant force exports actuator overall structure diagram.
Fig. 2 is that adjust automatically cylinder push-rod extends schematic diagram.
Fig. 3 is that adjust automatically cylinder push-rod is pressurized schematic diagram.
Fig. 4 is that adjust automatically cylinder push-rod shortens schematic diagram.
Fig. 5 is the utility model control system block diagram.
Fig. 6 is gravity sensor compensation calculation schematic diagram.
Symbol description in figure：
1- shafts；2- controllers；3- gravity sensors, 41- cylinders A, 42- cylinder O, 43- cylinder B, 44- cylinder C, 51-
Hydraulic cylinder A, 52- hydraulic cylinder O, 53- hydraulic cylinder B, 54- hydraulic cylinder C, 61- pressure sensor A, 62- pressure sensor O, 63- pressure
Force snesor B, 64- pressure sensor C, 7- power supply and communication interface, 8- compressed air interfaces, 91- cylinders A impetus, 92-
Cylinder O impetus, 93- cylinders B impetus, 94- cylinders C impetus, 10- sources of the gas, the magnetic valves of 11- first, 12- second
Magnetic valve, the cylinders of 13- first, the cylinders of 14- second, the cylinders of 15- the 3rd, 16- push rods, 17- gas ports one, 18- gas ports two, 19- gas
Three, 20- of mouth gas ports four, 21- rigid links, 22- air filters, 23- top covers, 24- bottoms, 25- pressure sensors.
Embodiment
The utility model is illustrated below in conjunction with the accompanying drawings.
As shown in Fig. 2 a kind of constant force exports the adjust automatically cylinder of actuator, including source of the gas 10, steam line, the first electricity
Magnet valve 11, the second magnetic valve 12, the first cylinder 13, the second cylinder 14 and the 3rd cylinder 15, first cylinder 13 is located at the
Provided with two pistons in the top of two cylinder 14, the first cylinder 13, wherein upper piston, which is provided with, can stretch out the top of the first cylinder 13
Push rod 16, lower piston is fixedly linked with the piston in the second cylinder 14 by rigid link 21, the top of the 3rd cylinder 15
It is connected with the lower side of the first cylinder 13 by connecting pipe, part and the 3rd cylinder between two pistons of the first cylinder 13
15 piston above section is each filled with hydraulic oil, and the top of the first cylinder 13 and the bottom of the 3rd cylinder 15 are respectively equipped with the He of gas port 1
Gas port 4 20, the top and bottom of the second cylinder 14 are respectively equipped with gas port 2 18 and gas port 3 19, the gas port 1 and gas port four
20 are connected by steam line with the output channel of the first magnetic valve 11, and the input of the first magnetic valve 11 connects gas by admission line
Source 10 or row's air, the first magnetic valve 11 control the steam line and admission line being connected respectively with gas port 1 and gas port 4 20
It is connected or row's air, the gas port 2 18 and gas port 3 19 are connected by steam line with the output channel of the second magnetic valve 12,
The input of second magnetic valve 12 is connected or arranged air by admission line with source of the gas 10, the second magnetic valve 12 control respectively with gas
Mouthfuls 2 18 and the connected steam line of gas port 3 19 be connected with admission line or arrange air.
The side of first cylinder 13 is provided with the pressure sensor 25 for being used for detecting hydraulic oil pressure.Will pass through controller
Whether the pressure of 2 detection hydraulic oil pressure meets setting definite value, if be unsatisfactory for, the control He of the first magnetic valve 11 of controller 2
Second magnetic valve 12 is controlled.
The steam line is provided with the air filter 22 for being filtered and being depressurized to compressed air.
The adjust automatically cylinder detects that hydraulic oil pressure is powerful according to pressure sensor 25 and small controls the power output of push rod 16
Size, when pressure sensor 25 detects hydraulic oil pressure less than arranges value, gas port is increased by the control of the first magnetic valve 11
4 20 air inflow improves hydraulic oil pressure；When the push rod 16 of adjust automatically cylinder needs elongation, pass through the first magnetic valve
11 controls increase the air inflow of gas port 4 20, while increasing the exhaust of gas port 1, to cause the piston of the 3rd cylinder 15 to rise, lead to
Cross hydraulic oil transmission and realize that the piston of the first cylinder 13 rises, so as to drive push rod 16 to extend, when push rod 16 needs further to stretch
When long, the air inlet of gas port 3 19 is controlled by the second magnetic valve 12, gas port 2 18 is vented so that the piston of the second cylinder 14 rises,
Drive the piston of the bottom of the first cylinder 13 further up by rigid link 21, so that push rod 16 continues to extend；It is on the contrary
When needing push rod 16 to shorten, the control air inlet of gas port 2 18 of the second magnetic valve 12 is first passed through, gas port 3 19 is vented, and drives the first gas
The piston of the bottom of cylinder 13 declines, and the push rod 16 being connected with the upper piston of the first cylinder 13 just and then declines, if necessary to further
Shorten push rod 16, the air inlet of gas port 1 is controlled by the first magnetic valve 11, gas port 4 20 is vented, and can further shorten push rod 16.
A kind of constant force output actuator using above-mentioned adjust automatically cylinder, including cylindric cylinder and four automatic tune
Whole cylinder, the cylinder includes top cover 23, bottom 24 and shaft 1, and the bottom 24 is fixedly linked with shaft 1, the top cover 23
For removable cover；The cylinder body of four adjust automatically cylinders is fixedly linked with bottom 24, and four adjust automatically cylinder heads can
The push rod 16 freely stretched is fixedly linked with the loose joint of top cover 23, four adjust automatically cylinders be respectively cylinder A41, cylinder B43,
Cylinder C44 and cylinder O42, wherein cylinder O42 are located at the center of bottom 24, and cylinder A41, cylinder B43 and cylinder C44 are with cylinder
Symmetrical centered on O42, the bottom 24 is provided with controller 2 and gravity sensor 3, what the gravity sensor 3 was measured
The angle of inclination data access controller 2 of bottom 24, the controller 2 controls the first magnetic valve 11 of each adjust automatically cylinder
With the aperture size of the second magnetic valve 12 and valve position, the angle that the gravity sensor 3 is measured is the normal of bottom 24 and horizontal plane
Angle, obtain each adjust automatically cylinder by a series of calculating actual set hydraulic oil needed because being influenceed by gravity
The offset of pressure, the hydraulic oil pressure settings of each adjust automatically cylinder are corrected by the offset, so that
Pressure of each adjust automatically cylinder practical function on top cover 23 is balanced the same.
Power supply and communication interface 7 and compressed air interface 8 are additionally provided with the shaft 11.The controller 2 passes through power supply
And communication interface 7 is communicated with external robots.
The utility model constant force output actuator is mainly used on robot arm, and constant force is exported to the bottom 24 of actuator
It is fixedly linked with robot arm, the emery wheel installed on the top cover 23 of actuator to grinding workpieces is exported in constant force, if workpiece
It is in irregular shape, then in bruting process, want to keep emery wheel to contact and balance in power with workpiece, it is necessary to can adjust automatically
The direction of whole emery wheel and contact, and the purpose of this utility model just there is provided a kind of holding for energy adjust automatically pressure angle
Row device so that emery wheel during irregular grinding workpieces with remaining constant-force contact.
When emery wheel and workpiece are in parastate, bottom 24, top cover 23 and the emery wheel of constant force output actuator are in
Parastate, then each adjust automatically cylinder output dynamics of constant force output actuator is the same, when emery wheel and workpiece not
When parallel, there is an angle in emery wheel with workpiece, while certain angle inclination also occurs for the top cover 23 being fixedly linked with emery wheel, it is permanent
Power exports actuator in addition to the adjust automatically cylinder positioned at center, and some adjust automatically cylinders are because between top cover 23 and bottom 24
Distance diminishes and causes the pressure of push rod 16 to increase by compression, has another part adjust automatically cylinder because of top cover 23 and bottom 24
Between distance become big and the pressure of push rod 16 diminishes, now the pressure of each adjust automatically cylinder push-rod 16 suffered by top cover 23 is just
It is unbalanced so that it is also unbalanced that emery wheel often locates contact with workpiece, therefore be accomplished by adjusting each adjust automatically cylinder output
Pressure makes up to the same.Illustrate its operating principle by taking some adjust automatically cylinder that constant force exports actuator as an example below.
First, the stroke of push rod 16 elongation of adjust automatically cylinder, in order to ensure entrained by constant force output actuator top cover 23
Emery wheel all the time with workpiece with constant pressure contact, need to make when constant force exports actuator and performs process task along curve surface work pieces
During the stroke of push rod 16 elongation of adjust automatically cylinder, due to the elongation of the stroke of push rod 16 of adjust automatically cylinder, the first cylinder 13
Inner volume increases, and pressure reduces.When the output pressure set by constant force output actuator is smaller, i.e. P0＜ Pmin, wherein, P0For
The hydraulic oil pressure of adjust automatically cylinder corresponding to the output pressure of constant force output actuator setting, PminTo drive the second gas
The minimum pressure when rigid link 21 of cylinder 14 works.Hydraulic oil pressure in adjust automatically cylinder is detected by pressure sensor 25
Strong P, as P ＜ P0When, controller 2 controls the first magnetic valve 11 to act, and gas port 4 20 is inputted compressed air and the row of gas port 1
Go out air, so that piston promotes push rod 16 to rise.
Second, the stroke of push rod 16 of adjust automatically cylinder shortens, in order to ensure that the top cover 23 of constant force output actuator is carried
Emery wheel all the time with workpiece with constant pressure contact, need to make when constant force exports actuator and performs process task along curve surface work pieces
When the stroke of push rod 16 of adjust automatically cylinder shortens, due to the shortening of the stroke of push rod 16 of adjust automatically cylinder, the first cylinder 13
Inner volume reduces, pressure increase.Hydraulic oil pressure P in adjust automatically cylinder is detected by pressure sensor 25, as P ＞ P0
When, controller 2 controls the first magnetic valve 11 and the second magnetic valve 12 respectively, makes the gas port 1 and gas port two of adjust automatically cylinder
18 input compressed airs, gas port 3 19 and the discharge compressed air of gas port 4 20, decline push rod 16 and rigid link 21.
3rd, the stroke of push rod 16 of adjust automatically cylinder is constant and needs supercharging, when the push rod 16 of adjust automatically cylinder needs to increase
Pressure, and constant force output actuator set by output pressure it is larger when, i.e. P0＞ Pmin, detected automatically by pressure sensor 25
Hydraulic oil pressure P in cylinder is adjusted, as P ＜ P0When, controller 2 controls the second magnetic valve 12, makes the input compression of gas port 3 19 empty
Gas and the discharge air of gas port 2 18, rise rigid link 21, hydraulic oil pressure in increase adjust automatically cylinder, so that automatically
Adjustment cylinder push-rod 16 exports larger pressure；When cylinder piston push rod 16 need supercharging, but constant force output actuator set by it is defeated
Go out pressure it is smaller when, i.e. P0＜ Pmin, hydraulic oil pressure P in adjust automatically cylinder is detected by pressure sensor 25, as P ＜ P0
When, controller 2 controls the first magnetic valve 11, the gas port 4 20 of cylinder is inputted liquid in compressed air, increase adjust automatically cylinder
Pressure is pressed oil, so that the push rod 16 of adjust automatically cylinder exports larger pressure.
4th, the stroke of push rod 16 of adjust automatically cylinder is constant and needs decompression, when the push rod 16 of adjust automatically cylinder need to subtract
During pressure, hydraulic oil pressure P in adjust automatically cylinder is detected by pressure sensor 25, as P ＞ P0When, controller 2 is controlled respectively
First magnetic valve 11 and the second magnetic valve 12, reduce gas port 1 and the capacity of gas port 2 18, while it is gentle to reduce gas port 3 19
4 20 air inflows of mouth, so as to reduce the output pressure of actuator piston push rod 16.
In Fig. 1,51,52,53 and 54 respectively represent cylinder A41, cylinder O42, tetra- cylinders of cylinder B43 and cylinder C44
Hydraulic cylinder, hydraulic cylinder refers to the hydraulic oil part on each cylinder, and 61,62,63 and 64 refer respectively on four cylinders
Determine the pressure sensor of hydraulic oil pressure.
Illustrate as the bright one kind to constant force control section of cylinder of originally getting angry, the constant force output based on gravity sensor 3 is performed
Think highly of the specific implementation of force compensating scheme as follows：Installation center point using constant force output actuator cylinder O42 sets up space as the center of circle
Coordinate system O-xyz, plane xoy are horizontal plane, and α is the angle value between the normal of bottom 24 and horizontal plane of constant force output actuator.
Below figure is that constant force exports actuator under gravity G effects, four adjust automatically cylinder balancing weights in constant force output actuator
The schematic diagram that power is acted on adjust automatically cylinder axial direction, as seen from the figure, actuator is exported to constant force along adjust automatically cylinder
The statics Analysis of axial direction is understood：
ΔFA+ΔFB+ΔFC+ΔFO=Gsin α (1)
Wherein, Δ FA、ΔFB、ΔFCWith Δ FORespectively cylinder A41, cylinder B43, cylinder C44 and cylinder O42 compensation weights
The pressure value of output needed for power G, to ensure that the output pressure of actuator end face everywhere is equal, 4 compensation cylinder weights in actuator
The output of power should be equal, i.e.,
ΔFA=Δ FB=Δ FC=Δ FO (2)
(2 understand, actuator inside cylinder compensation gravity is to the output pressure of actuator axial effect for convolution (1) and formula
Δ F=Δs FA=Δ FB=Δ FC=Δ FO=1/4G sin α
By installing the angle α between the detection actuator of gravity sensor 3 and horizontal plane xoy, controller 2 inside actuator
Solve the output needed for active force of the actuator inside cylinder compensation gravity along cylinder axial direction (i.e. the normal direction of bottom 24)
Pressure Δ F, when the output pressure for setting actuator is F, the reality output pressure of each cylinder in actuator should be Δ F+
F, the pressure P in hydraulic cylinder is detected by corresponding pressure sensor 25, whenWhen, solved by controller 2
Actual pressure value in hydraulic cylinder and the difference between the pressure values of setting, to control the first magnetic valve 11 and the second electromagnetism of cylinder
The folding of the different passages of valve 12, realizes that the output pressure of hydraulic cylinder in actuator reaches the purpose of required pressure value.
Claims (3)
1. a kind of adjust automatically cylinder that actuator is exported for constant force, it is characterised in that：Including steam line, the first electromagnetism
Valve, the second magnetic valve, the first cylinder, the second cylinder and the 3rd cylinder, first cylinder are located above the second cylinder, the
Provided with two pistons in one cylinder, wherein upper piston is provided with can stretch out the push rod of the first cylinder head, lower piston and the
Piston in two cylinders is fixedly linked by rigid link, and the top of the 3rd cylinder passes through communicating pipe with the first cylinder lower side
Road is connected, and the piston above section of part and the 3rd cylinder is each filled with hydraulic oil between two pistons of the first cylinder, and first
Cylinder head and the 3rd cylinder bottom are respectively equipped with gas port one and gas port four, and the second cylinder head and bottom are respectively equipped with gas port two
With gas port three, the gas port one and gas port four-way are crossed the first magnetic valve and are connected with steam line, the first solenoid valve control gas port one
Steam line or row's air are connected respectively with gas port four, and the second magnetic valve and steam line are crossed in the gas port two and gas port threeway
It is connected or row's air, the second solenoid valve control gas port two and gas port three connect steam line or row's air respectively.
2. a kind of adjust automatically cylinder as claimed in claim 1, it is characterised in that：The first cylinder side, which is provided with, to be used to detect
The pressure sensor of hydraulic oil pressure.
3. a kind of adjust automatically cylinder as claimed in claim 2, it is characterised in that：The steam line is provided with to compressed air
The air filter for being filtered and being depressurized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720178858.6U CN206513648U (en) | 2017-02-27 | 2017-02-27 | A kind of adjust automatically cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720178858.6U CN206513648U (en) | 2017-02-27 | 2017-02-27 | A kind of adjust automatically cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206513648U true CN206513648U (en) | 2017-09-22 |
Family
ID=59869000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720178858.6U Expired - Fee Related CN206513648U (en) | 2017-02-27 | 2017-02-27 | A kind of adjust automatically cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206513648U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278247A (en) * | 2018-03-27 | 2018-07-13 | 迈克医疗电子有限公司 | Air pressure driving equipment and its air supply system |
-
2017
- 2017-02-27 CN CN201720178858.6U patent/CN206513648U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278247A (en) * | 2018-03-27 | 2018-07-13 | 迈克医疗电子有限公司 | Air pressure driving equipment and its air supply system |
| CN108278247B (en) * | 2018-03-27 | 2024-05-14 | 迈克医疗电子有限公司 | Pneumatic driving device and air supply system thereof |
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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: 20170922 Termination date: 20200227 |
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| CF01 | Termination of patent right due to non-payment of annual fee |