CN207420451U - A kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism - Google Patents
A kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism Download PDFInfo
- Publication number
- CN207420451U CN207420451U CN201721240845.3U CN201721240845U CN207420451U CN 207420451 U CN207420451 U CN 207420451U CN 201721240845 U CN201721240845 U CN 201721240845U CN 207420451 U CN207420451 U CN 207420451U
- Authority
- CN
- China
- Prior art keywords
- leveling
- hexagon
- drilling machine
- branch
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Earth Drilling (AREA)
Abstract
The utility model provides a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism, equipped with leveling seat, parallel institution and drilling machine mechanism.Leveling seat is as preliminary adjustment mechanism, the balance of first successive step deep sea drill, drilling machine mechanism is the working portion of seabed drilling machine, parallel institution realizes the fast accurate leveling of traveling table by six leveling branches, the support branch of parallel institution starts work under maximum conditions, additional support force is provided for traveling table as spare branch, ensure that traveling table can bear larger load, improve the reliability of whole system.Leveling system is divided into just successive step and accurate adjustment two-stage adjustment by the utility model, is improved the Adjustment precision and speed of traveling table, while is realized the instant adjustment of seabed drilling machine at work.The utility model is simple in structure, fast response time, and load is big, can be widely used in oil/gas drilling and geological drilling neck.
Description
Technical field
It is free based on six the utility model is related to belong to oil/gas drilling and geological drilling equipment technical field more particularly to one kind
Spend the seabed drilling machine automatic horizontal control system of parallel institution.
Background technology
Seabed drilling machine is research seabottom geology structure, finds mineral resources, carries out continental shelf engineering geological investigation and completion
One of most important equipment during other sea-freight capital construction tasks.For the drilling machine of seabed, drilling machine is shadow in the gradient of working face
One of an important factor for sample is bored in seabed is rung, determines the integrality of drill sampling, the service life of drilling tool and drilling machine in itself
Safety and service life.
It needs to carry out real-time leveling during the drilling machine work of seabed, and leveling system used in traditional seabed drilling machine uses
Three common legs or four leg hydraulic leg systems realize, there is such as that bearing capacity is low, and response speed is slow, the low grade one of leveling precision
A little row problems.The work efficiency of seabed drilling machine on the one hand can be so influenced, on the other hand can generate load capacity deficiency cannot expire
The problem of sufficient demand.Since the limitation of leveling system has become a problem of restriction deep sea drilling, it is therefore desirable to seabed
The leveling system of drilling machine optimizes.
The content of the invention
In view of this, the embodiment of the utility model provides a kind of for a kind of sea based on six-degree-of-freedom parallel connection mechanism
Subdrilling machine automatic horizontal control system.
The embodiment of the utility model provides a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism,
Including leveling seat, drilling machine mechanism and the parallel institution between the leveling seat and the drilling machine mechanism, the parallel institution
Including traveling table, pedestal and six leveling branches, the upper end of six leveling branches is articulated with the following table of the traveling table
Face, the lower ends of six leveling branches are articulated with the pedestal, six sides that the upper ends of six leveling branches is arranged in
Shape is upper hexagon, and the hexagon that the lower end of six leveling branches is arranged in is lower hexagon, the upper hexagon and institute
Lower hexagon is stated as similar hexagon, and the area of the upper hexagon is less than the area of the lower hexagon, upper six side
A support branch is connected between the midpoint of the corresponding sides of the midpoint on shape wherein one side and the lower hexagon.
Further, the upper hexagon and the lower hexagon have three isometric long sides and three isometric short
Side, and the long side and short side that are located on same hexagon are interspersed, the long side of the upper hexagon and the lower hexagon are long
Side corresponds, and the short side of the short side of the upper hexagon and the lower hexagon corresponds, the upper end of the support branch
The midpoint of one long side of upper hexagon is articulated with, the lower end of the support branch is articulated with the lower corresponding long side of six deformations
Midpoint.
Further, the lower end of six leveling branches and the support branch is articulated with the base by Hooke's hinge
Seat.
Further, the Hooke's hinge includes U-shaped bottom seat and rotation section, and the U-shaped base bilateral wall is equipped with opposite
Location hole, the rotation section include the main shaft positioned at outer ring and the auxiliary spindle positioned at inner ring, the opposite end of the main shaft
Two location holes are rotatably limited in by the first positioning pin respectively, the main shaft is perpendicular to the two location hole institutes
Direction on set there are two opposite limit hole, the opposite end of the auxiliary spindle is rotatable by the second positioning pin respectively
Be limited in two limit holes, the lower end of each leveling branch and the support branch respectively with the corresponding auxiliary spindle
Connection.
Further, each leveling branch includes cylinder body, leveling motor and telescopic rod with hollow cavity, described
Leveling motor is located in the hollow cavity, and one end of the telescopic rod is connected with the leveling motor, during other end stretching is described
Cavity is hinged with the traveling table, the leveling motor start by make the telescopic rod along the hollow cavity do stretching motion come
Lift the traveling table.
Further, the support branch has identical structure feature with the leveling branch.
Further, the leveling seat includes fixed seat and four adjustment bearings, and four adjustment bearings are square
It is distributed and positioned at the lower surface of the leveling seat to support the leveling seat, each adjustment bearing includes the branch with inner cavity
Seat body, adjustment motor and connecting rod, the inner cavity are equipped with the adjustment motor, one end of the connecting rod and the leveling
Motor connects, and the other end stretches out the inner cavity and is fixedly connected on the fixed seat lower surface, the adjustment electric motor starting driving institute
Connecting rod stretching motion is stated to complete the movement of the adjustment bearing.
Further, the fixed seat is equipped with the groove to match with the base shape, and the pedestal is installed on institute
State groove.
Further, the middle part of the groove is equipped with first through hole, and the middle part of the traveling table has the second through hole, described
The middle part of pedestal is equipped with third through-hole, and the aperture of second through hole is less than the aperture of the third through-hole.
The beneficial effects of the utility model are：To have the leveling seat of four adjustment bearings can as primary leveling system
Realize leveling of the deep sea drill compared with large working area；Using the parallel institution with six leveling branches as accurate leveling system,
Adjusting range is larger, fast response time, and precision is high；Support branch is additionally provided on parallel institution, the support branch is as spare
Branch starts work under the traveling table limit stress or the adjacent leveling branch deterioration extent of the support branch, provides volume
Outer support force, improves reliability, improves the bearing capacity of deep sea drill.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of the seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism；
Fig. 2 is the structure diagram of leveling seat shown in Fig. 1；
Fig. 3 is the structure diagram of parallel institution shown in Fig. 1；
Fig. 4 is the structure diagram of leveling branch shown in Fig. 3；
Fig. 5 is the structure diagram of Hooke's hinge shown in Fig. 4.
In figure：1- drilling machines mechanism, 2- parallel institutions, 21- the first leveling branches, 22- the second leveling branches, 23- the 3rd are adjusted
Flat branch, the 4th leveling branches of 24-, the 5th leveling branches of 25-, the 6th leveling branches of 26-, 27- support branches, 28- traveling tables,
29- pedestals, 20- Hooke's hinges, 201-U shape pedestals, 202- rotation sections, 203- the first side walls, 204- second sidewalls, 205- master turn
Axis, 206- auxiliary spindles, the first rotation axis of 207-, the second rotation axis of 208-, the first positioning pins of 209-, the second positioning pins of 210-,
211- cylinder bodies, 212- leveling motors, 213- telescopic rods, 3- leveling seats, 31- adjustment bearings, 32- fixed seats, 33- grooves, 34- the
One through hole, the second through holes of 4-, 5- third through-holes.
Specific embodiment
It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer
Type embodiment is further described.
It please refers to Fig.1, the embodiment of the utility model provides a kind of seabed drilling machine based on six-degree-of-freedom parallel connection mechanism certainly
Dynamic leveling system, including leveling seat 3, drilling machine mechanism 1 and the parallel institution between the leveling seat and the drilling machine mechanism
2,3 top of leveling seat is fixedly connected the parallel institution, and the drilling machine mechanism 1 is fixed on the upper table of the parallel institution
Face.
It please refers to Fig.1 and Fig. 2, the leveling seat 3 includes fixed seat 32, and 32 top of fixed seat sets that there are one hexagons
Groove 33, the middle part of the groove 33 are equipped with first through hole 34, and the leveling seat 3 further includes four adjustment bearings 31, and described four
The square distribution of a adjustment bearing 31 and upper end is both connected in the fixed seat 32, the adjustment bearing 31 includes having interior
The support body of chamber, adjustment motor and connecting rod, the inner cavity are equipped with the adjustment motor, one end of the connecting rod and institute
Leveling motor connection is stated, the other end stretches out the inner cavity and is fixedly connected on 32 lower surface of fixed seat, and the adjustment motor opens
It is dynamic to drive the connecting rod stretching motion to complete the movement of the adjustment bearing 31.
It please refers to Fig.1 and Fig. 3, the parallel institution 2 includes traveling table 28 and pedestal 29, the middle part of the traveling table 28 has
There is the second through hole 4, the middle part of the pedestal 29 is equipped with third through-hole 5, and the aperture of second through hole 4 is less than the third through-hole
5 aperture, and the axis of second through hole 4 and the third through-hole 5 is located on same vertical curve, second through hole 4 is just
To the first through hole 33, the shape of the pedestal 29 matches with the groove 33 and in the groove 33, described
Traveling table 28 and the pedestal 29 are similar hexagon, and the area of the traveling table 28 is less than the area of pedestal 29, Mei Geliu
Respectively there are three isometric long sides and three isometric short sides in the shape of side, and long side and short side are interspersed, the traveling table 28
Three long sides are corresponding with three long sides of the pedestal 29, and three short sides of the traveling table 28 are three short with the pedestal 29
Side corresponds to, and the parallel institution 2 further includes six leveling branches with identical structure feature, i.e. the first leveling branch 21, the
Two leveling branches 22, the 3rd leveling branch 23, the 4th leveling branch 24, the first leveling branch 25 and the first leveling branch 26, often
The upper end of leveling branch described in item is articulated at the lower surface hexagon long side endpoint of the traveling table 28, and lower end passes through Hooke's hinge
20, which are articulated with the 29 upper surface hexagon of pedestal, corresponds to long side and corresponds at endpoint, and the parallel institution 2 further includes support branch
27, the upper end of the support branch 27 is articulated with the midpoint of 28 1 long side of traveling table, the lower end of the support branch 27
The pedestal 29 is articulated with by the Hooke's hinge 20 and corresponds to long side midpoint.
3 and Fig. 4 are refer to, every leveling branch includes the cylinder body 211 with hollow cavity, leveling motor 212 and stretches
Contracting bar 213, the leveling motor 212 are located in the hollow cavity, one end of the telescopic rod 213 and the leveling motor 212
Connection, the other end stretch out the hollow cavity and are hinged with the traveling table 28, and the leveling motor 212 starts described flexible by making
Bar 213 does stretching motion lift the traveling table 28 along the hollow cavity.
The support branch 27 has identical structure feature with every leveling branch, and the support branch 27 is at this
When utility model works normally, motor internal remains static, and reaches capacity or the support in 28 stress of traveling table
When the adjacent any leveling branch of branch 27 damages, 27 motor internal of the support branch starts work, and the support branch 27 is
Traveling table 28 provides a larger support force.
Fig. 4 and Fig. 5 are refer to, the Hooke's hinge 20 includes U-shaped bottom seat 201 and rotation section 202, the U-shaped pedestal 201
The first side wall 203 and second sidewall 204 are equipped with two opposite location holes, and the rotation section 202 includes the master positioned at outer ring
The outside of shaft 205 and the auxiliary spindle 206 positioned at inner ring, the main shaft 205 and the auxiliary spindle 206 is equipped with connecting shaft,
The connecting shaft of 205 one side of main shaft passes through a location hole, and the opposite side of the main shaft 205 connects the first rotation axis
207, first rotation axis 207 passes through another location hole, and the opposite end of the main shaft 205 is fixed by first respectively
Position pin 209 is rotatably limited in two location holes, and the main shaft 205 is perpendicular to the direction where two location holes
On set there are two opposite limit hole, the connecting shaft of 206 one side of auxiliary spindle is through a limit hole, the auxiliary spindle
206 opposite side connects the second rotation axis 208, and second rotation axis 208 passes through another limit hole, the auxiliary spindle
206 opposite end is rotatably limited in two limit holes by the second positioning pin 210 respectively.
The drilling machine mechanism 3 is fixedly mounted on the upper surface of the traveling table 28.
The utility model is equipped with first through hole, the second through hole and third through-hole, alleviates own wt, improves system
Flexibility.When the utility model at work system first by control leveling seat 3 four adjustment bearings 31 it is flexible so that this
When entire leveling system tentatively be in equilibrium state；The subsequent leveling seat 3 is stopped, worked in the drilling machine mechanism 1
When factors cause drilling machine run-off the straight, the parallel institution 2 can control described for Cheng Zhong, load variation or ocean bottom currents variation
The movement of six leveling branches accurately adjusts so that 28 moment of traveling table remains level；In addition, the support branch 27
As spare branch, system loads increase to a certain extent or the adjacent leveling branch of the support branch 27 during the work time
When chain damages, the support branch 27 starts work and provides an additional support force to the traveling table 28, to ensure system
Larger load can be carried.
Herein, the involved nouns of locality such as forward and backward, upper and lower are to be located at parts in attached drawing in figure and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
In the case where there is no conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.More than institute
The preferred embodiment of only the utility model is stated, is not intended to limit the utility model, it is all in the spiritual and former of the utility model
Within then, any modifications, equivalent replacements and improvements are made should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism, including leveling seat, drilling machine mechanism and position
Parallel institution between the leveling seat and the drilling machine mechanism, it is characterised in that：The parallel institution includes traveling table, base
Seat and six leveling branches, the upper end of six leveling branches are articulated with the lower surface of the traveling table, six tune
The lower end of flat branch is articulated with the pedestal, and the hexagon that the upper end of six leveling branches is arranged in is upper hexagon,
The hexagon that the lower end of six leveling branches is arranged in is lower hexagon, and the upper hexagon and the lower hexagon are phase
Like hexagon, and the area of the upper hexagon is less than the area of the lower hexagon, in the upper hexagon wherein one side
A support branch is connected between the midpoint of the corresponding sides of point and the lower hexagon.
2. the seabed drilling machine automatic horizontal control system of six-degree-of-freedom parallel connection mechanism as described in claim 1, it is characterised in that：On described
Hexagon and the lower hexagon have three isometric long sides and three isometric short sides, and the length on same hexagon
Side and short side are interspersed, and the long side of the upper hexagon and the lower hexagon long side correspond, the upper hexagon
The short side of short side and the lower hexagon corresponds, and the upper end of the support branch is articulated with one long side of upper hexagon
Midpoint, the lower end of the support branch are articulated with the midpoint of the lower corresponding long side of six deformations.
3. the seabed drilling machine automatic horizontal control system of six-degree-of-freedom parallel connection mechanism as claimed in claim 2, it is characterised in that：Described six
The lower end of leveling branch and the support branch is articulated with the pedestal by Hooke's hinge.
4. the seabed drilling machine automatic horizontal control system of six-degree-of-freedom parallel connection mechanism as claimed in claim 3, it is characterised in that：The tiger
Gram hinge includes U-shaped bottom seat and rotation section, and the U-shaped base bilateral wall is equipped with opposite location hole, and the rotation section includes position
Main shaft in outer ring and the auxiliary spindle positioned at inner ring, the opposite end of the main shaft are rotatable by the first positioning pin respectively
Be limited in two location holes, the main shaft sets that there are two opposite on the direction where two location holes
Limit hole, the opposite end of the auxiliary spindle is rotatably limited in two limit holes by the second positioning pin respectively, each
The lower end of the leveling branch and the support branch connects respectively with the corresponding auxiliary spindle.
5. a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism as described in claim 1, feature exist
In：Each leveling branch includes cylinder body, leveling motor and telescopic rod with hollow cavity, and the leveling motor is located at institute
It states in hollow cavity, one end of the telescopic rod is connected with the leveling motor, and the other end stretches out the hollow cavity and the activity
Table-hinges connects, and the leveling motor startup makes the traveling table liter by the way that the telescopic rod is made to do stretching motion along the hollow cavity
Drop.
6. a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism as described in claim 1, feature exist
In：The support branch has identical structure feature with the leveling branch.
7. a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism as described in claim 1, feature exist
In：The leveling seat includes fixed seat and four adjustment bearings, and four adjustment bearings are square to be distributed and positioned at described
To support the leveling seat, each adjustment bearing includes the support body with inner cavity, adjustment electricity for the lower surface of leveling seat
Machine and connecting rod, the inner cavity are equipped with the adjustment motor, and one end of the connecting rod is connected with the leveling motor, another
End stretches out the inner cavity and is fixedly connected on the fixed seat lower surface, and the adjustment electric motor starting drives the connecting rod to stretch fortune
It moves to complete the movement for adjusting bearing.
8. a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism as claimed in claim 7, feature exist
In：The fixed seat is equipped with the groove to match with the base shape, and the pedestal is installed on the groove.
9. a kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism as claimed in claim 8, feature exist
In：The middle part of the groove is equipped with first through hole, and the middle part of the traveling table has the second through hole, and the middle part of the pedestal is equipped with
Third through-hole, the aperture of second through hole are less than the aperture of the third through-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721240845.3U CN207420451U (en) | 2017-09-25 | 2017-09-25 | A kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721240845.3U CN207420451U (en) | 2017-09-25 | 2017-09-25 | A kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207420451U true CN207420451U (en) | 2018-05-29 |
Family
ID=62312987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721240845.3U Expired - Fee Related CN207420451U (en) | 2017-09-25 | 2017-09-25 | A kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207420451U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107420042A (en) * | 2017-09-25 | 2017-12-01 | 中国地质大学（武汉） | A kind of seabed rig automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism |
| CN109377841A (en) * | 2018-11-21 | 2019-02-22 | 大连理工大学 | Using the floating-type offshore wind power unit experimental provision and its method of stormy waves equivalent device |
| CN109406087A (en) * | 2018-11-21 | 2019-03-01 | 大连理工大学 | Floating-type offshore wind power unit mixed model experimental provision and the method being placed in wind-tunnel |
| CN111660281A (en) * | 2020-06-04 | 2020-09-15 | 中国科学院长春光学精密机械与物理研究所 | Parallel robot assembling method and auxiliary tool thereof |
| CN115637935A (en) * | 2022-10-25 | 2023-01-24 | 徐州徐工基础工程机械有限公司 | Mast verticality adjusting device and method for separable rotary drilling rig |
-
2017
- 2017-09-25 CN CN201721240845.3U patent/CN207420451U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107420042A (en) * | 2017-09-25 | 2017-12-01 | 中国地质大学（武汉） | A kind of seabed rig automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism |
| CN109377841A (en) * | 2018-11-21 | 2019-02-22 | 大连理工大学 | Using the floating-type offshore wind power unit experimental provision and its method of stormy waves equivalent device |
| CN109406087A (en) * | 2018-11-21 | 2019-03-01 | 大连理工大学 | Floating-type offshore wind power unit mixed model experimental provision and the method being placed in wind-tunnel |
| CN111660281A (en) * | 2020-06-04 | 2020-09-15 | 中国科学院长春光学精密机械与物理研究所 | Parallel robot assembling method and auxiliary tool thereof |
| CN111660281B (en) * | 2020-06-04 | 2022-03-22 | 中国科学院长春光学精密机械与物理研究所 | Parallel robot assembling method and auxiliary tool thereof |
| CN115637935A (en) * | 2022-10-25 | 2023-01-24 | 徐州徐工基础工程机械有限公司 | Mast verticality adjusting device and method for separable rotary drilling rig |
| CN115637935B (en) * | 2022-10-25 | 2024-04-05 | 徐州徐工基础工程机械有限公司 | Separable rotary drilling rig mast verticality adjusting device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207420451U (en) | A kind of seabed drilling machine automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism | |
| CN107420042A (en) | A kind of seabed rig automatic horizontal control system based on six-degree-of-freedom parallel connection mechanism | |
| CN201033373Y (en) | Multiple-spindle drilling machine | |
| CN101555774A (en) | Seabed deep hole coring drilling machine | |
| CN109436238B (en) | Height-adjustable's adjustable loose dock block | |
| CN201871792U (en) | Nitrogen balancing system of numerical-control planer type milling machine | |
| CN106185641A (en) | Multiple degrees of freedom lifting manipulator | |
| CN105540447A (en) | Trackless portal crane | |
| CN103569864A (en) | Crane and counterweight device thereof | |
| CN206653001U (en) | The punch device of acrylic bathtub processing | |
| CN213673374U (en) | Part fixing mechanism for machining tool of planet carrier of wind power engineering part | |
| CN107838689A (en) | A kind of shaft coupling drilling equipment | |
| CN103523682A (en) | Movable arm tower crane | |
| CN209682016U (en) | A kind of telescoping mechanism of Mobile tool | |
| CN220376229U (en) | Lifting device for steel structure processing | |
| CN201558975U (en) | Drilling machine | |
| CN215356263U (en) | Boring device for press hinge beam | |
| CN212837607U (en) | Super deep well rig base that stability is strong | |
| CN217475357U (en) | Machining center vibration damping mount | |
| CN218565019U (en) | Supporting mechanism for carton packaging printing machine | |
| CN202846250U (en) | Double-pole headstand type balancing pole system of computer numerical control (CNC) machining center | |
| CN213175529U (en) | Mining drilling machine | |
| CN211192114U (en) | Perforating device is used in bicycle frame processing | |
| CN218611763U (en) | Novel rocker arm | |
| CN217142376U (en) | Stabilizer is bored to rocking arm of spare part processing usefulness |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180529 Termination date: 20180925 |