CN207596395U - A kind of piler for automatic stereowarehouse - Google Patents
A kind of piler for automatic stereowarehouse Download PDFInfo
- Publication number
- CN207596395U CN207596395U CN201721503803.4U CN201721503803U CN207596395U CN 207596395 U CN207596395 U CN 207596395U CN 201721503803 U CN201721503803 U CN 201721503803U CN 207596395 U CN207596395 U CN 207596395U
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- loading platform
- rail
- pallet fork
- piler
- bottom end
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Abstract
The utility model provides a kind of piler for automatic stereowarehouse, it includes upper lower railway, lower and upper cross-member, walking mechanism, left and right pillar, hoisting mechanism, loading platform, pallet fork and electrical control equipment, upper rail, lower railway, upper beam, bottom end rail is horizontally disposed, walking mechanism includes driving wheel, driven wheel and movable motor, upper beam is mounted on by upper directive wheel in upper rail, bottom end rail is mounted on by driving wheel and driven wheel in lower railway, left and right pillar is used to connect upper beam and bottom end rail, mating lift rail is installed on left column and right column, loading platform is mounted in lift rail, pallet fork is mounted on loading platform, hoisting mechanism driving loading platform is lifted along lift rail, electrical control equipment connects movable motor, the pallet fork driving motor for promoting decelerating motor and pallet fork of hoisting mechanism.The piler for automatic stereowarehouse has the advantages that simple in structure, security reliability is good, design science, can realize and be accurately positioned.
Description
Technical field
The utility model is related to a kind of pilers, specifically, relate to a kind of stacking for automatic stereowarehouse
Machine.
Background technology
In tiered warehouse facility, piler is most important Work machine equipment, is the core equipment of transport system, decides
Entirely go out storage whether can smooth operation key, its rational speed control, accurate Position Design and excellent event
Barrier diagnostic system is an important factor for realizing piler high efficiency, high accuracy, tight security operation.And it is current, it is traditional
For piler still there is complicated, lifting is unstable, can not realize the problem of being accurately positioned.
In order to solve the problems, such as present on, people are seeking a kind of ideal technical solution always.
Invention content
The purpose of this utility model is in view of the deficiencies of the prior art, so as to provide a kind of simple in structure, security reliability
Well, design science, the pinpoint piler for automatic stereowarehouse can be realized.
To achieve these goals, technical solution is used by the utility model：One kind is used for automatic stereowarehouse
Piler, including upper rail, lower railway, upper beam, bottom end rail, walking mechanism, left column, right column, hoisting mechanism, loading
Platform, pallet fork and electrical control equipment.Upper rail, lower railway, upper beam, bottom end rail are horizontally disposed；Walking mechanism is included actively
The movable motor of wheel, driven wheel and driving driving wheel rotation；Upper beam is mounted on by upper directive wheel in upper rail, and bottom end rail leads to
It crosses driving wheel and driven wheel is mounted in lower railway；Left column and right column for connecting upper beam and bottom end rail, left column and
Mating lift rail is installed on right column；Loading platform is mounted in lift rail, and pallet fork is mounted on loading platform, hoisting mechanism
Driving loading platform is lifted along lift rail；The promotion decelerating motor and goods of electrical control equipment connection movable motor, hoisting mechanism
The pallet fork driving motor of fork.
It is described on base, hoisting mechanism include promotion decelerating motor mounted on left column or on right column and hoisting drum with
And the pulley blocks on upper beam, steel wire rope around being fixed on loading platform after hoisting drum and pulley blocks, are promoted successively
Decelerating motor driving hoisting drum rotates and then drives the lifting of loading platform.
Described on base, installation promotion directive wheel on loading platform promotes the wheel face clamping left column of directive wheel and right column limit
The horizontal movement of loading platform processed.
Described on base, lower railway is that I shape track, driving wheel and driven wheel are walked along the upper edge of I shape track, lower horizontal stroke
The lower horizontal guide sheave of beam both sides installation, the wheel face of lower horizontal guide sheave are clamped in the horizontal stroke of the waist limitation bottom end rail of I shape track
To shaking.
Described on base, it further includes PLC, and the both ends of bottom end rail are respectively mounted laser range sensor, the output of movable motor
The first rotary encoder of end installation, two laser range sensors of PLC connections and the first rotary encoder, it is current to obtain bottom end rail
Horizontal coordinate location information.
It is described on base, it sets one group to recognize location piece on left column or right column, three photoelectricity is evenly distributed with from top to bottom on loading platform
Switch, PLC connections optoelectronic switch realize that high-order positioning, low level are positioned and counted, the output terminal installation for promoting decelerating motor
There is second turn of encoder.
Described on base, the both ends of upper beam and bottom end rail are mounted on hydraulic damping device.
Described on base, pallet fork stretches structure for either simplex pair.
Described on base, the pallet fork driving motor of movable motor, promotion decelerating motor and pallet fork is respectively provided with band-type brake self-locking module.
It is described on base, several reinforcing ribs are arranged in upper beam, bottom end rail, left column and right column.
The utility model compared with the prior art have substantive distinguishing features and progress, specifically, the utility model have with
Lower advantage：
1st, using rail roadway formula structure, simple in structure, lateral dimension is compact, and span length is small, effectively raises sky
Between utilization rate.
2nd, piler avoids existing single pillar construction since what crank caused to topple over shows using double pillar constructions
As.Meanwhile be equipped at intervals with multiple reinforcing ribs in upper and lower crossbeam and left and right column, improve the intensity of crossbeam and column with just
Degree, reduces stress concentration.
3rd, the advantages of hoisting mechanism selection steel wire rope of piler, steel wire rope is light weight, safe to use, work noise
It is low, convenient for maintaining.
4th, laser range sensor combine the first rotary encoder, realize piler in the horizontal direction be accurately positioned and
It inverts back.
5th, optoelectronic switch, which combines, recognizes location piece, senses the upright position of piler, and the second rotary encoder of cooperation accurately controls
The lifting of piler.
Description of the drawings
Fig. 1 is for the structure diagram of the piler of automatic stereowarehouse in the utility model.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is for the use state reference chart of the piler of automatic stereowarehouse in the utility model.
Fig. 4 is that location and sensor distribution map are recognized in vertical-lift.
In figure：1. upper rail；2. lower railway；3. upper beam；4. bottom end rail；5. left column；6. right column；7. loading platform；
8. pallet fork；9. driving wheel；10. driven wheel；11. movable motor；Directive wheel on 12.；13. lift rail；14. promote the electricity that slows down
Machine；15. hoisting drum；16. pulley blocks；17. hydraulic damping device；18. electrical control equipment；19. pallet fork driving motor；20.
Shelf；21. lower horizontal guide sheave.
Specific embodiment
Below by specific embodiment, the technical solution of the utility model is described in further detail.
As shown in Figure 1-Figure 3, a kind of piler for automatic stereowarehouse, including upper rail 1, lower railway 2, upper horizontal stroke
Beam 3, bottom end rail 4, walking mechanism, left column 5, right column 6, hoisting mechanism, loading platform 7, pallet fork 8 and electrical control equipment, on
Track 1, lower railway 2, upper beam 3, bottom end rail 4 are horizontally disposed, and walking mechanism includes driving wheel 9, driven wheel 10 and driving master
The movable motor 11 that driving wheel 9 rotates, upper beam 3 are mounted on by upper directive wheel 12 in upper rail 1, and bottom end rail 4 passes through driving wheel 9
It is mounted in lower railway 2 with driven wheel 10, left column 5 and right column 6 are used to connect upper beam 3 and bottom end rail 4,5 He of left column
Mating lift rail 13 is installed on right column 6, loading platform 7 is mounted in lift rail 13, and pallet fork 8 is mounted on loading platform 7,
Hoisting mechanism driving loading platform 7 is lifted along lift rail 13, and electrical control equipment 18 connects movable motor 11, hoisting mechanism carries
Rise the pallet fork driving motor 19 of decelerating motor 14 and pallet fork 8.
Hoisting mechanism include mounted on left column 5 or promotion decelerating motor 14 on right column 6 and hoisting drum 15 and
Pulley blocks 16 on upper beam 4, steel wire rope are fixed on after bypassing hoisting drum 15, pulley blocks 16 and loading platform 7 successively
On upper beam, the pulley bypassed for steel wire rope is installed, while as the support portion for promoting loading platform, carry on the loading platform 7
Decelerating motor driving hoisting drum 15 is risen to rotate and then drive the lifting of loading platform 7.
Movable motor 11 drives driving wheel 9 to rotate, and driven wheel is driven to rotate synchronously, and driving wheel and driven wheel drive bottom end rail
3 move horizontally along lower guideway, realize the displacement of horizontal cross；Promoting decelerating motor 14 drives hoisting drum 15 to rotate, around coil
Cord, steel wire rope bypass the end connection loading platform after pulley blocks 16, drive the lifting of loading platform, realize the position of vertical direction
It moves.By the displacement of horizontal cross and the displacement of vertical direction, the Bit andits control to piler is realized.
Installation promotes directive wheel 16 on loading platform 7, and the wheel face clamping left column 5 and right column 6 for promoting directive wheel 16 limit
The horizontal movement of loading platform 7, it is therefore an objective to ensure that loading platform will not shake, all-the-time stable is run in lift rail 13.
Lower railway 2 is walked for I shape track, driving wheel 9 and driven wheel 10 along the upper edge of I shape track, 4 liang of bottom end rail
The lower horizontal guide sheave 21 of side installation, the wheel face of lower horizontal guide sheave 21 are clamped in the waist limitation bottom end rail 4 of I shape track
Transverse shakiness, all-the-time stable are run along lower railway 2.
Horizontal guide sheave and promotion directive wheel 16 are made of the structure of one layer of polyurethane rubber-covered of outsourcing, and such directive wheel exists
When walking, noise can be reduced, improves service life, greatly improves the speed of travel of piler, directive wheel is using resistance to
Fire elastomeric polyurethane rubber-covered processing, lower railway 2 are made of the die sinking of high-strength abrasion-proof aluminum alloy materials, be achieved compared with
The high speed of travel, service life also greatly promote.
Control section is controlled using PLC, and the both ends of bottom end rail 5 are respectively mounted laser range sensor, realizes that horizontal displacement is surveyed
Away from and positioning, the output terminal of movable motor the first rotary encoder is installed, the first rotary encoder is mainly used for accurately controlling heap
The displacement of stack machine and residing coordinate information, two laser range sensors of PLC connections and the first rotary encoder, the two phase
It mutually combines, realizes that coarse adjustment and fine tuning be combined with each other, obtain piler currently accurate horizontal coordinate location information and accurate control
System output, improves the reliability for recognizing location precision and operating system of piler, realizes being accurately positioned for piler.
Specifically, laser range sensor reads shelf tray level side in plc data block by Profibus-DP buses
To target location distance and emit laser, then the laser beam by returning through baffle reflection determines that piler is currently running
Absolute coordinate position.When specifically used, after PLC receives the job instruction that host computer or touch screen are assigned, laser ranging is controlled
Sensor reads the current location of piler, and PLC carries out difference counting to the current location of piler and target location, and then obtains
Go out the relative distance of piler horizontal direction distance target location.Laser range sensor is by piler real time kinematics position feedback
To PLC, PLC controls frequency converter to carry out reasonable acceleration and deceleration to motor.Meanwhile the first rotary encoder of motor end can be real
When the motor speed detected fed back into PLC and frequency converter.The data that PLC control system feeds back the first rotary encoder
It is compared with the measurement data of laser range sensor, forms a closed loop location detection feedback system, it is ensured that piler water
Square to be accurately positioned.
It sets one group to recognize location piece on left column or right column, is evenly distributed with three optoelectronic switches on loading platform from top to bottom, PLC connects
It connects optoelectronic switch and realizes high-order positioning, low level positioning and count that the output terminal for promoting decelerating motor is equipped with second turn of volume
Code device.
During picking, pallet fork first in low level, then stretches fork, and micro- lift cargo to high-order then pallet fork is retracted, and realizes taking for pallet fork
Goods operates；And during stock, pallet fork first positions a high position, then stretches fork, slightly falls to low level, is pitched with retraction, realizes the stock behaviour of cargo
Make.Apparent such control program has a very big difference with horizontal direction, horizontal direction without a high position, the control of low level,
And vertical direction has, so three U-shaped sensors of vertical direction have the different division of labor：Intermediate sensor is shared, is risen
To the effect of counting, the sensor of top and intermediate sensor coordinate the positioning for realizing low level, following sensor and centre
Sensor cooperation realize high-order positioning.
Specifically, with reference to attached drawing 4 and following table：
Location is recognized in vertical-lift and sensor recognizes location state table
After piler receives the pick-up instruction of host computer or touch screen, if target goods yard is higher than source goods yard, and
Difference is more than 1, then loading platform will first accelerate to be promoted, and when B sensors often recognize location piece by 1, PLC counters carry out
Add 1 operation, when difference becomes 1, loading platform D promotes speed and promotes deceleration, when B sensors detect recognize location piece again,
Loading platform D can then slow down according to the time set, and in B, C recognizes location piece and is detected simultaneously by when recognizing location piece, and motor internal contracting brake stops
Vehicle.Then pallet fork stretches out, and loading platform D lifts cargo, work as B, and two sensors of A are detected simultaneously by when recognizing location piece, illustrate pallet fork oneself
High-order through reaching, pallet fork is withdrawn at this time, completes operation of the cargo from shelf to loading platform, the effect of the second rotary encoder and the
One rotary encoder is identical, the accurate lifting process for controlling piler.
The both ends of upper beam and bottom end rail are mounted on hydraulic damping device 17, can absorb piler and run to tunnel two
Collide the energy of generation during end.Simultaneously because the cushioning effect of hydraulic damping device 17, it can pre- anticollision and high speed fortune
Tumbling under row.
Pallet fork stretches structure for either simplex pair, and upper extension board and lower extension board can be stretched relative to loading platform along channel transverse direction left and right
Contracting movement, without turning around, you can stacked to the shelf of channel both sides, the scope of application is wider, and upper extension board also has phase
Relative displacement for lower extension board, has the characteristics that preferable compact-sized, and the two can move in the same direction simultaneously, be not required to timesharing
It is operated alone, reduces number of operations, save the operating time, greatly improve work efficiency.
The control of pallet fork telescopic location is controlled using software delay and travel switch, when stretching fork in pallet fork leaves position
Afterwards, timer starts timing, and motor reduces speed now after the time that delay reaches pre-set, when pallet fork is pressed onto travel switch
That time, motor stalling band-type brake realize pallet fork accurate positionin.When returning fork, travel switch that time, timing are detached from pallet fork
Device starts timing, and motor reduces speed now after the time that delay reaches pre-set, and position detects pallet fork close to switch in the middle
After Hui Zhongwei, motor internal contracting brake is shut down, and realizes the middle position control of pallet fork.
The pallet fork driving motor of movable motor, promotion decelerating motor and pallet fork is respectively provided with band-type brake self-locking module, in piler
When power supply circuit powers off suddenly, three motors can realize power down self-locking, and state when remaining powered off piler prevents from anticipating
Outer generation.
Several reinforcing ribs are arranged in upper beam, bottom end rail, left column and right column, are integrally tied for enhancing piler
Structure.
Electrical control equipment has programmable controller, frequency converter, intermediate relay, contactor, air switch, fan etc..
Programmable controller uses siemens PLC PLC, cheap powerful because the sexual valence of S7-200 is higher, structure
It is compact, reliability is high, and its programming is simple and convenient, there are powerful a variety of integrated functionalities and real-time, the energy of S7-200 expires
Our control function of foot, which selects its core as automatic control system, and selects the SIEMENS PLC of CPU226
Hardware as control system.
Finally it should be noted that:The preferable specific embodiment of the above, only the utility model, is not pair
The limitation of technical solutions of the utility model, as long as any one skilled in the art should be understood that without wound
The technical solution that the property made labour is realized on the basis of the above, should be covered within the scope of the utility model.
Claims (10)
1. a kind of piler for automatic stereowarehouse, it is characterised in that：It include upper rail, lower railway, upper beam, under
Crossbeam, walking mechanism, left column, right column, hoisting mechanism, loading platform, pallet fork and electrical control equipment, the upper rail, institute
It is horizontally disposed to state lower railway, the upper beam, the bottom end rail, the walking mechanism includes driving wheel, driven wheel and driving
The movable motor of the driving wheel rotation, the upper beam are mounted on by upper directive wheel in the upper rail, the bottom end rail
It is mounted in the lower railway by the driving wheel and the driven wheel, the left column and the right column are used to connect institute
Upper beam and the bottom end rail are stated, mating lift rail, the loading platform peace are installed on the left column and the right column
In the lift rail, the pallet fork is mounted on the loading platform, and the hoisting mechanism drives the loading platform along institute
State lift rail lifting, the electrical control equipment connect the movable motor, the hoisting mechanism promotion decelerating motor and
The pallet fork driving motor of the pallet fork.
2. the piler according to claim 1 for automatic stereowarehouse, it is characterised in that：The hoisting mechanism packet
It includes mounted on the left column or promotion decelerating motor on the right column and hoisting drum and mounted on the upper beam
On pulley blocks, steel wire rope successively around being fixed on upper beam after the hoisting drum, the pulley blocks and the loading platform,
The decelerating motor that promoted drives the hoisting drum to rotate and then drives the lifting of the loading platform.
3. the piler according to claim 1 or 2 for automatic stereowarehouse, it is characterised in that：The loading platform
Upper installation promotes directive wheel, and the wheel face for promoting directive wheel clamps the left column and the right column limits the loading platform
Horizontal movement.
4. the piler according to claim 3 for automatic stereowarehouse, it is characterised in that：The lower railway is work
Font track, the driving wheel and the driven wheel are walked along the upper edge of the I shape track, the bottom end rail both sides installation
Lower horizontal guide sheave, the wheel face of the lower horizontal guide sheave are clamped in the waist limitation bottom end rail of the I shape track
Transverse shakiness.
5. according to the piler for automatic stereowarehouse described in claim 1,2 or 4, it is characterised in that：It is further included
PLC, the both ends of the bottom end rail are respectively mounted laser range sensor, and the output terminal of the movable motor installs the first rotary coding
Device, described two laser range sensors of PLC connections and first rotary encoder, obtain the current water of the bottom end rail
Flat co-ordinate position information.
6. the piler according to claim 5 for automatic stereowarehouse, it is characterised in that：The left column or institute
It states and sets to recognize a location piece on right column, be evenly distributed with three optoelectronic switches on the loading platform from top to bottom, described in the PLC connections
Optoelectronic switch realizes high-order positioning, low level positioning and counts that the output terminal for promoting decelerating motor installs the second rotary coding
Device.
7. the piler according to claim 6 for automatic stereowarehouse, it is characterised in that：The upper beam and institute
The both ends for stating bottom end rail are mounted on hydraulic damping device.
8. the piler according to claim 7 for automatic stereowarehouse, it is characterised in that：The pallet fork of the pallet fork
Driving motor connection delay switch realizes timing speed governing, and travel switch realization is installed in the running track of the pallet fork and stretches fork and returns
The positioning of fork.
9. the piler of automatic stereowarehouse to be used for according to claim 6-8 any one of them, it is characterised in that：The row
The pallet fork driving motor for walking motor, the promotion decelerating motor and the pallet fork is respectively provided with band-type brake self-locking module.
10. the piler according to claim 9 for automatic stereowarehouse, it is characterised in that：The upper beam, institute
It states in bottom end rail, the left column and the right column and is arranged with several reinforcing ribs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503803.4U CN207596395U (en) | 2017-11-13 | 2017-11-13 | A kind of piler for automatic stereowarehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503803.4U CN207596395U (en) | 2017-11-13 | 2017-11-13 | A kind of piler for automatic stereowarehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207596395U true CN207596395U (en) | 2018-07-10 |
Family
ID=62757602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721503803.4U Expired - Fee Related CN207596395U (en) | 2017-11-13 | 2017-11-13 | A kind of piler for automatic stereowarehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207596395U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109019436A (en) * | 2018-08-16 | 2018-12-18 | 江苏博睿通智能装备有限公司 | A kind of cabinet body piler with anti-tipping apparatus |
| CN109733778A (en) * | 2018-12-25 | 2019-05-10 | 盐城汇金科技信息咨询服务有限公司 | A kind of traveling control device and control method of lane stacker |
| CN110182512A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of shipment device of lane stacker and picking go out pallet piling up method |
| CN110386575A (en) * | 2019-08-20 | 2019-10-29 | 有利华建筑预制件（深圳）有限公司 | Automatic lift truck |
| CN110683268A (en) * | 2019-11-08 | 2020-01-14 | 合肥福春机械有限公司 | Sheet metal plate processing storage stacker |
| CN112408266A (en) * | 2020-11-04 | 2021-02-26 | 冯朝峰 | Stacker for workshop material treatment |
| CN112938285A (en) * | 2021-02-20 | 2021-06-11 | 南京云立特物联科技有限公司 | Multi-tunnel stereoscopic warehouse rail transfer stacker |
| CN112978193A (en) * | 2021-04-02 | 2021-06-18 | 厦门宏泰智能制造有限公司 | Automatic three-dimensional bin material taking and placing system and method |
| CN113697354A (en) * | 2021-09-26 | 2021-11-26 | 意欧斯智能科技股份有限公司 | Rotary cargo carrying platform structure for hoister and operation method |
| CN113816303A (en) * | 2021-10-25 | 2021-12-21 | 兰剑智能科技股份有限公司 | Method for safely moving goods by intelligent AGV high-position forklift |
| CN114852925A (en) * | 2021-02-04 | 2022-08-05 | 沈阳新松机器人自动化股份有限公司 | High-speed dual-drive stacker |
-
2017
- 2017-11-13 CN CN201721503803.4U patent/CN207596395U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109019436A (en) * | 2018-08-16 | 2018-12-18 | 江苏博睿通智能装备有限公司 | A kind of cabinet body piler with anti-tipping apparatus |
| CN109733778A (en) * | 2018-12-25 | 2019-05-10 | 盐城汇金科技信息咨询服务有限公司 | A kind of traveling control device and control method of lane stacker |
| CN110182512A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of shipment device of lane stacker and picking go out pallet piling up method |
| CN110386575A (en) * | 2019-08-20 | 2019-10-29 | 有利华建筑预制件（深圳）有限公司 | Automatic lift truck |
| CN110386575B (en) * | 2019-08-20 | 2024-02-23 | 有利华建筑预制件（深圳）有限公司 | Automatic lifting carrier |
| CN110683268A (en) * | 2019-11-08 | 2020-01-14 | 合肥福春机械有限公司 | Sheet metal plate processing storage stacker |
| CN112408266A (en) * | 2020-11-04 | 2021-02-26 | 冯朝峰 | Stacker for workshop material treatment |
| CN114852925A (en) * | 2021-02-04 | 2022-08-05 | 沈阳新松机器人自动化股份有限公司 | High-speed dual-drive stacker |
| CN112938285A (en) * | 2021-02-20 | 2021-06-11 | 南京云立特物联科技有限公司 | Multi-tunnel stereoscopic warehouse rail transfer stacker |
| CN112978193A (en) * | 2021-04-02 | 2021-06-18 | 厦门宏泰智能制造有限公司 | Automatic three-dimensional bin material taking and placing system and method |
| CN113697354A (en) * | 2021-09-26 | 2021-11-26 | 意欧斯智能科技股份有限公司 | Rotary cargo carrying platform structure for hoister and operation method |
| CN113816303A (en) * | 2021-10-25 | 2021-12-21 | 兰剑智能科技股份有限公司 | Method for safely moving goods by intelligent AGV high-position forklift |
| CN113816303B (en) * | 2021-10-25 | 2022-06-24 | 兰剑智能科技股份有限公司 | Method for safely moving goods by intelligent AGV high-position forklift |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180710 Termination date: 20201113 |
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| CF01 | Termination of patent right due to non-payment of annual fee |