CN207771412U - The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling - Google Patents
The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling Download PDFInfo
- Publication number
- CN207771412U CN207771412U CN201820156240.4U CN201820156240U CN207771412U CN 207771412 U CN207771412 U CN 207771412U CN 201820156240 U CN201820156240 U CN 201820156240U CN 207771412 U CN207771412 U CN 207771412U
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- China
- Prior art keywords
- cursor
- drive shaft
- connecting seat
- mounting base
- gripper jaw
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Abstract
The utility model discloses a kind of rotation arm configurations of workpiece transhipment robot device in machine tooling, including having, there are one the cursors that outer half section is in horizontal segment, it is characterized in that, the outer end of cursor is provided with gripper jaw mounting base, the vertical rotation control mechanism of gripper jaw mounting base that control gripper jaw mounting base vertically rotates is provided between gripper jaw mounting base and cursor；It is equipped with two mounting surfaces in "eight" shape distribution in gripper jaw mounting base, two mounting surfaces are vertically being symmetrical set and the side that closes up of two mounting surfaces is in be arranged away from cursor, and clamping device is equipped with correspondingly on two mounting surfaces.The utility model has the advantages of simple in structure, operation is more convenient, working efficiency higher.
Description
Technical field
The present invention relates to machine tooling technical fields；It is filled with manipulator more particularly to workpiece transhipment in a kind of machine tooling
The rotation arm configuration set.
Background technology
Machining is the abbreviation of mechanical processing, refers to the processing technology by mechanical accurate processing material removal.Machinery adds
Work mainly has manual processing and digital control processing two major classes.Manual processing refers to by mechanic's manual operations milling machine, lathe, brill
Bed and the mechanical equipments such as sawing machine realize the method being processed to a variety of materials.Manual processing is appropriate for small lot, simple
Part production.Digital control processing (CNC) refers to that mechanic is processed with numerical control device, these numerical control devices include adding
Work center, turning milling center, Wire EDM equipment, screw chasing machine etc..
But manual processing or digital control processing are either used, can all have during to work pieces process and turn workpiece
It is transported to and the step of placing station is clamped and dismantles the workpiece of completion of processing and be transported on the fixture of lathe, in this work
Cheng Zhong, the transhipment to workpiece are all to go to complete using manpower.It is this that the work of worker can be made to work by the way of manpower
Intensity is big, and there are security risks, and that there is also efficiency is low, and the lathe normal process working time is reduced, and influences the continuous of processing
Property and processing efficiency.
To solve the above-mentioned problems, applicant has developed workpiece transhipment robot device in a kind of machine tooling, including
Vertically arranged support column, feature are, are equipped with connecting seat in the side of support column, are equipped between connecting seat and support column
Control the connecting seat translation control mechanism of connecting seat translation；It is in horizontally disposed rotation to be equipped in the side of connecting seat horizontal direction
Arm is equipped with the cursor that control cursor rotates horizontally between cursor and connecting seat and horizontally rotates control mechanism；It is rotating
The outer end of arm is provided with gripper jaw mounting base；Clamping device, the clamping device packet are installed in the gripper jaw mounting base
Gripper jaw is included, the front end of gripper jaw forms the bare terminal end for sandwiching workpiece.
In this way, transporting work pieces robot device is simple in structure in entire machine tooling, the labour that can reduce worker is strong
Degree reduces security risk, improves processing efficiency.
But entire tool arm device is when in use, needs first to extend into above the fixture of lathe from outside, it will be machined good
Workpiece take out lathe, then blank will be gripped, be sent in lathe；Needing disengaging, lathe could complete taking-up to workpiece twice
With the feeding to blank.This has resulted in the waste of machining period, and step is more, and processing efficiency is not high.
Therefore, it is simple in structure that one kind how can just be provided, operation is more convenient, enables to the higher machine of working efficiency
Bed processing in workpiece transhipment robot device rotation arm configuration, become need those skilled in the art consider the problems of solution.
Utility model content
In view of the above shortcomings of the prior art, technical problem to be solved in the utility model is：How a kind of knot is provided
Structure is simple, and operation is more convenient, enables to turn of workpiece transhipment robot device in the higher machine tooling of working efficiency
Boom structure.
In order to solve the above-mentioned technical problem, the utility model uses the following technical solution：
The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling, including tool are in water there are one outer half section
The cursor of flat section, feature are, the outer end of cursor is provided with gripper jaw mounting base, in gripper jaw mounting base and rotation
The vertical rotation control mechanism of gripper jaw mounting base that control gripper jaw mounting base vertically rotates is provided between arm；Pacify in gripper jaw
It fills seat and is equipped with two mounting surfaces in "eight" shape distribution, two mounting surfaces are vertically being symmetrical set and two mounting surfaces
It is in be arranged away from cursor to close up side, and clamping device is equipped with correspondingly on two mounting surfaces.
The technical program, the vertical rotation control mechanism of gripper jaw mounting base can drive two clamping devices at vertical upper turn
It is dynamic；Process requirements select corresponding clamping device according to demand；Each clamping device it is corresponding to finished work and
The gripping of blank, the division of labor definitely, use enhanced convenience.It can realize that blank is clamped in a clamping device, and send
Entering lathe, by vertically rotating gripper jaw mounting base so that another clamping device grips manufactured workpiece, it
Afterwards again by vertically rotating gripper jaw mounting base, the fixture that blank is put into lathe is clamped；By manufactured workpiece
It transports out except lathe.And it using two mounting surfaces in "eight" shape distribution, is set to relative to by two clamping devices
On the same mounting surface, have compact-sized, arrangement is more convenient, and can facilitate to the workpiece with certain angle of inclination
Or blank is gripped, and achievees the purpose that improve working efficiency.
As an optimization, cursor inner end is mounted on connecting seat, and control cursor is equipped between cursor and connecting seat
The cursor of horizontal rotation horizontally rotates control mechanism；Cursor horizontally rotates the first driving that control mechanism includes vertically arranged
The upper end of axis, the first drive shaft can be fixedly connected on along the connecting seat that is connected to of itself axial-rotation, the lower end of the first drive shaft
Cursor is also fixedly connected with first servo motor, the power output shaft of the first servo motor and first on connecting seat
It is driven and is connected by the first transmission mechanism between drive shaft.
In this way, driving the first drive shaft to rotate horizontally by first servo motor, the first drive shaft drives cursor water again
Flat rotation；It is simple in structure that entire cursor horizontally rotates control mechanism, and by first servo motor carries out driving and have to turn
The more accurate advantage of dynamic control.
As an optimization, first transmission mechanism includes the driving gear and driven gear of engaged transmission, and driving gear is solid
Surely it is socketed on the power output shaft of first servo motor, driven gear is fixedly attached in the first drive shaft.
In this way, the first driver is simple in structure, passing power it is more efficient.
As an optimization, the connecting seat includes two blocks of vertically arranged side plates, and connecting seat is in integrally that opening upwards design
"u"-shaped；Driving gear and driven gear are the bevel gear of one group of engaged transmission between connecting seat both side plate；Institute
It states first servo motor to be fixedly mounted on the side plate of connecting seat, the power output shaft of first servo motor passes through the side plate
On relief hole and be connected with driving gear；The upper end of first drive shaft pass through connecting seat bottom and with driven gear phase
Even.
In this way, the bevel gear of one group of engaged transmission by setting, can convert the vertical rotating of first servo motor
For horizontally rotating for the first drive shaft, first servo motor can horizontal direction installation, facilitate the installation of first servo motor.And
Connecting seat is designed into " U "-shaped structure, bevel gear is set between " u "-shaped opening, enables to total compacter, saves
About space, total smaller, facilitates staff to operate.
As an optimization, the cursor includes vertical section and horizontal segment, and the vertical section be connected with horizontal segment it is L-shaped
Structure, the upper end of vertical section are fixedly connected with the lower end of the first drive shaft；The vertical rotation control mechanism of gripper jaw mounting base
Including being in horizontally disposed second drive shaft, one end of the second drive shaft can be connected to the remote of horizontal segment along itself axial-rotation
End, the other end of the second drive shaft are fixedly connected with gripper jaw mounting base；The second servo electricity is also fixedly connected on cursor
Machine is connected between the power output shaft of the second servo motor and the second drive shaft by the transmission of the second transmission mechanism.
In this way, the L-shaped structure of cursor enables to one timing of height of support column, clamping device is with respect to the horizontal plane
Height reduce, the space between support column and connecting seat is easier to be utilized, and staff is facilitated to operate.
As an optimization, second transmission mechanism includes the mounting hole through horizontal segment setting, and second drive shaft can
Rotation is mounted in the mounting hole, second servo motor be fixedly mounted on horizontal segment away from the second drive shaft
One end, and the power output end of the second servo motor and passing through away from one end of gripper jaw mounting base in second drive shaft
Spline drived connects.
It is connected by the second transmission mechanism between second servo motor and the second drive shaft, the second transmission mechanism has structure
It is compact, the advantages of facilitating arrangement, entire installation space is reduced, when in use enhanced convenience.
As an optimization, the stabiliser bar being inclined to set is connected at the both ends of cursor.
The stabiliser bar of the both ends connection of cursor enables to the cursor of " L " shape structure to be unlikely to deform, and can bear more
It is big capable.
Description of the drawings
Fig. 1 is the specific embodiment party of workpiece transhipment robot device in the machine tooling for used the utility model structure
Front view in formula,（Driving gear and driven gear are not shown in figure）.
Fig. 2 is that Fig. 1 rotates the view after an angle.
Specific implementation mode
With reference to a kind of tool of workpiece transhipment robot device in machine tooling having used the utility model structure
The utility model is described in further detail for body embodiment and its attached drawing.
When specific implementation：As depicted in figs. 1 and 2, workpiece transhipment robot device in a kind of machine tooling, including it is vertical
The support column 1 of setting is equipped with connecting seat 2 in the side of support column, control connecting seat is equipped between connecting seat 2 and support column 1
The connecting seat translation control mechanism of translation；It is in horizontally disposed cursor 8 to be equipped in the side of 2 horizontal direction of connecting seat, is being turned
It is equipped with the cursor that control cursor rotates horizontally between swing arm and connecting seat and horizontally rotates control mechanism；In the outer of cursor 8
End is provided with gripper jaw mounting base 3；Clamping device is installed in the gripper jaw mounting base 3, the clamping device includes folder
Pawl 4 is held, the front end of gripper jaw 4 forms the bare terminal end for sandwiching workpiece.
In the technical program, when in use, support column be it is fixed be arranged machine safety outdoors.When lathe completion pair
After the procedure of processing of workpiece, the safety door of lathe is opened, cutting swarf is cleared up, unclamps again clamping of the jig to workpiece.Rotation
Arm horizontally rotate control mechanism can control gripper jaw mounting base horizontally rotate and make gripper jaw mounting base from safety door enter
And jig top position is reached, connecting seat translation control mechanism control connecting seat is in vertical translation to drive gripper jaw to install
Seat does vertically movable, and the control mechanism of connecting seat translation later control connecting seat is in vertical upper translation to drive gripper jaw mounting base to do
Workpiece is moved out fixture by vertical upward movement, and cursor horizontally rotates control mechanism and controls gripper jaw mounting base water again
Flat turn is moved and clamping device is made to transport out by workpiece from safety door.The present apparatus can substitute worker and complete workpiece being transported to
The step of placing station is clamped and the workpiece of completion of processing dismantled and is transported on the fixture of lathe, there can be drop
The advantages of labor intensity of low worker reduces security risk, improves processing efficiency.And connecting seat translation control mechanism control connects
Joint chair is vertically movable to drive gripper jaw mounting base to do in vertical translation, and in this step, gripper jaw mounting base is translation fortune
It is dynamic, in this way, can be positioned to blank in the container outside lathe plus the angle position of man-hour requirement, recycle aid mechanism
It is gripped, blank is translation in transport process, and angle position does not change, can have when being clamped to blank
Time saving and energy saving advantage.
In present embodiment, the connecting seat translation control mechanism includes the first control-rod 5, first control-rod
One end be articulated and connected in the upper end of support column 1, the other end and the connecting seat 2 of the first control-rod are hinged and connected；It further include connection
Seat translation driving structure, connecting seat translation driving structure be connected with the first control-rod 5 and drive the first control-rod with its with
The position that support column 1 is hinged is center of circle vertical rotating；The connecting seat translation control mechanism further includes the second control-rod 6, institute
It states the second control-rod to be located at below the first control-rod, and the both ends of the second control-rod 6 are respectively articulated and connected in support column 1 and connection
Seat 2, the first control-rod, the second control-rod, support column and respective be hingedly centrally formed parallel four side four of connecting seat
Vertex shape.
In this way, entire connecting seat translation control mechanism structure is simpler, and control connecting seat is facilitated to be put down in vertical
Dynamic movement；During vertical telescoping mechanism drives the rotation of the first control-rod, the first control-rod, the second control-rod, support column
The shape of the parallelogram surrounded between connecting seat is with change, but the two of parallelogram in this process
A vertical side remains state in a vertical shape, i.e. connecting seat is to do translational motion, enables to whole device in gripping workpiece
The process being transported through is more steady, advantageously reduces security risk, improves processing efficiency.
In present embodiment, drive is extended outward to form with one end that support column is hinged and connected on the first control-rod 5
Moved end；Connecting seat translation driving structure is vertically arranged telescoping mechanism, the both ends of telescoping mechanism be respectively articulated and connected in
The driving end and support column 1.
In this way, by lever principle, a bar of driving four-bar mechanism is removed using telescoping mechanism, entire translational motion is more
Add simple.
In present embodiment, the telescoping mechanism is vertically arranged cylinder 7, and the tailpiece of the piston rod of cylinder is articulated and connected
In the driving end, the cylinder body end of cylinder is articulated and connected in support column.
In this way, telescoping mechanism is simple in structure, and facilitates installation, is had compared with hydraulic cylinder using cylinder and facilitate acquisition dynamic
The advantages of power source.
In present embodiment, it is vertical that control gripper jaw mounting base is provided between gripper jaw mounting base and cursor
The vertical rotation control mechanism of gripper jaw mounting base of rotation；Two in "eight" shape distribution are equipped in gripper jaw mounting base 3
Mounting surface, two mounting surfaces are vertically being symmetrical set and the side that closes up of two mounting surfaces is in be arranged away from cursor, at two
Clamping device is installed correspondingly on mounting surface.
In such manner, it is possible to which two clamping devices is driven to be rotated up perpendicular；Process requirements select the clamping of response according to demand
Mechanism；The corresponding gripping to finished work and blank of each clamping device is divided the work definitely, using more
Convenience.It can realize that blank is clamped in a clamping device, and be sent into lathe, by vertically rotating gripper jaw mounting base, make
It obtains another clamping device to grip manufactured workpiece, later again by vertically rotating gripper jaw mounting base, by hair
The fixture that base is put into lathe is clamped；It is transported out except lathe by manufactured workpiece.And using in "eight" shape
Distribution two mounting surfaces, be set on the same mounting surface relative to by two clamping devices, have it is compact-sized, arrangement more
Add conveniently, and can facilitate to certain angle of inclination workpiece or blank grip, reach raising working efficiency
Purpose.
In present embodiment, cursor horizontally rotates the first drive shaft 9 that control mechanism includes vertically arranged, and first
The upper end of drive shaft can be fixedly connected on cursor 8 along the connecting seat that is connected to of itself axial-rotation, the lower end of the first drive shaft,
First servo motor 10, the power output shaft of the first servo motor and the first drive shaft are also fixedly connected on connecting seat
It is driven and is connected by the first transmission mechanism between 9.
In this way, driving the first drive shaft to rotate horizontally by first servo motor, the first drive shaft drives cursor water again
Flat rotation；It is simple in structure that entire cursor horizontally rotates control mechanism, and by first servo motor carries out driving and have to turn
The more accurate advantage of dynamic control.
In present embodiment, first transmission mechanism includes the driving gear and driven gear of engaged transmission, main
Moving gear is fixedly attached on the power output shaft of first servo motor 10, and driven gear is fixedly attached in the first drive shaft 9.
In this way, the first driver is simple in structure, passing power it is more efficient.
In present embodiment, the connecting seat 2 includes two blocks of vertically arranged side plates, and it is in open that connecting seat 2 is whole
The "u"-shaped that mouth designs upwards；Driving gear and driven gear are one group of engaged transmission between connecting seat both side plate
Bevel gear；The first servo motor 10 is fixedly mounted on the side plate of connecting seat, and the power of first servo motor 10 is defeated
Shaft passes through the relief hole on the side plate and is connected with driving gear；The upper end of first drive shaft 9 passes through connecting seat
Bottom is simultaneously connected with driven gear.
In this way, the bevel gear of one group of engaged transmission by setting, can convert the vertical rotating of first servo motor
For horizontally rotating for the first drive shaft, first servo motor can horizontal direction installation, facilitate the installation of first servo motor.And
Connecting seat is designed into " U "-shaped structure, bevel gear is set between " u "-shaped opening, enables to total compacter, saves
About space, total smaller, facilitates staff to operate.
In present embodiment, the cursor 8 includes vertical section and horizontal segment, and the vertical section and horizontal segment phase
Even L-shaped structure, the upper end of vertical section is fixedly connected with the lower end of the first drive shaft；The gripper jaw mounting base vertically rotates
Control mechanism includes in horizontally disposed second drive shaft 11, and one end of the second drive shaft being connected to along itself axial-rotation
The other end of the distal end of horizontal segment, the second drive shaft is fixedly connected with gripper jaw mounting base；It is also fixedly connected on cursor
Second servo motor 12 is driven phase between the power output shaft of second servo motor and the second drive shaft by the second transmission mechanism
Even；
Second transmission mechanism includes the mounting hole through horizontal segment setting, and second drive shaft 11 is rotatably pacified
In the mounting hole, second servo motor 12 be fixedly mounted on horizontal segment away from one end of the second drive shaft,
And second servo motor power output end and second drive shaft on pass through spline away from one end of gripper jaw mounting base
It is sequentially connected.
In this way, the L-shaped structure of cursor enables to one timing of height of support column, clamping device is with respect to the horizontal plane
Height reduce, the space between support column and connecting seat is easier to be utilized, and staff is facilitated to operate；
It is connected by the second transmission mechanism between second servo motor and the second drive shaft, the second transmission mechanism has structure
It is compact, the advantages of facilitating arrangement, entire installation space is reduced, when in use enhanced convenience.
In present embodiment, also it is fixedly connected in horizontally disposed fixed mounting plate 13 in the lower end of support column 1；
The stabiliser bar 14 being inclined to set is connected at the both ends of cursor.
In this way, the fixed mounting plate that support column lower end is also fixedly connected have the advantages that installation when more stablize it is convenient；
The stabiliser bar of the both ends connection of cursor enables to the cursor of " L " shape structure to be unlikely to deform, and can bear more
It is big capable.
Claims (7)
1. the rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling, including tool are in level there are one outer half section
The cursor of section, which is characterized in that in cursor（8）Outer end be provided with gripper jaw mounting base（3）, gripper jaw mounting base with
The vertical rotation control mechanism of gripper jaw mounting base that control gripper jaw mounting base vertically rotates is provided between cursor；It is being clamped
Pawl mounting base（3）It is equipped with two mounting surfaces in "eight" shape distribution, two mounting surfaces are symmetrical set and two vertical
The side that closes up of mounting surface is in be arranged away from cursor, and clamping device is equipped with correspondingly on two mounting surfaces.
2. the rotation arm configuration of workpiece transhipment robot device, feature in a kind of machine tooling as described in claim 1
It is, cursor inner end is mounted on connecting seat（2）On, it is equipped with what control cursor rotated horizontally between cursor and connecting seat
Cursor horizontally rotates control mechanism；Cursor horizontally rotates the first drive shaft that control mechanism includes vertically arranged（9）, first
The upper end of drive shaft can be fixedly connected on cursor along the connecting seat that is connected to of itself axial-rotation, the lower end of the first drive shaft
（8）, first servo motor is also fixedly connected on connecting seat（10）, the power output shaft of the first servo motor and first
Drive shaft（9）Between by the first transmission mechanism be driven be connected.
3. the rotation arm configuration of workpiece transhipment robot device, feature in a kind of machine tooling as claimed in claim 2
It is, first transmission mechanism includes the driving gear and driven gear of engaged transmission, and driving gear is fixedly attached to first
Servo motor（10）Power output shaft on, driven gear is fixedly attached to the first drive shaft（9）On.
4. the rotation arm configuration of workpiece transhipment robot device, feature in a kind of machine tooling as claimed in claim 3
It is, the connecting seat（2）Including two blocks of vertically arranged side plates, and connecting seat（2）The whole " u "-shaped in opening upwards design
Structure；Driving gear and driven gear are the bevel gear of one group of engaged transmission between connecting seat both side plate；Described first
Servo motor（10）It is fixedly mounted on the side plate of connecting seat, first servo motor（10）Power output shaft pass through the side
Relief hole on plate is simultaneously connected with driving gear；First drive shaft（9）Upper end pass through connecting seat bottom and with it is driven
Gear is connected.
5. the rotation arm configuration of workpiece transhipment robot device, feature in a kind of machine tooling as claimed in claim 4
It is, the cursor（8）Including vertical section and horizontal segment, and the vertical section is connected L-shaped structure with horizontal segment, vertically
The upper end of section is fixedly connected with the lower end of the first drive shaft；The vertical rotation control mechanism of gripper jaw mounting base includes in level
The second drive shaft being arranged（11）, one end of the second drive shaft can along the distal end for being connected to horizontal segment of itself axial-rotation,
The other end of two drive shafts is fixedly connected with gripper jaw mounting base；The second servo motor is also fixedly connected on cursor
（12）, it is connected by the transmission of the second transmission mechanism between the power output shaft of the second servo motor and the second drive shaft.
6. the rotation arm configuration of workpiece transhipment robot device, feature in a kind of machine tooling as claimed in claim 5
It is, second transmission mechanism includes the mounting hole through horizontal segment setting, second drive shaft（11）Rotatable peace
In the mounting hole, second servo motor（12）Be fixedly mounted on horizontal segment away from the one of the second drive shaft
End, and the power output end of the second servo motor passes through flower in second drive shaft away from one end of gripper jaw mounting base
Key is sequentially connected.
7. the rotation arm configuration of workpiece transhipment robot device, feature in a kind of machine tooling as claimed in claim 5
It is, the stabiliser bar being inclined to set is connected at the both ends of cursor（14）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820156240.4U CN207771412U (en) | 2018-01-30 | 2018-01-30 | The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820156240.4U CN207771412U (en) | 2018-01-30 | 2018-01-30 | The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207771412U true CN207771412U (en) | 2018-08-28 |
Family
ID=63211008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820156240.4U Expired - Fee Related CN207771412U (en) | 2018-01-30 | 2018-01-30 | The rotation arm configuration of workpiece transhipment robot device in a kind of machine tooling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207771412U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN111660287A (en) * | 2020-05-20 | 2020-09-15 | 湖南科技职业学院 | Industrial robot composite clamp |
-
2018
- 2018-01-30 CN CN201820156240.4U patent/CN207771412U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN109108951B (en) * | 2018-10-23 | 2023-10-03 | 嘉兴新维液压缸有限公司 | Automatic feeding manipulator device |
| CN111660287A (en) * | 2020-05-20 | 2020-09-15 | 湖南科技职业学院 | Industrial robot composite clamp |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180828 Termination date: 20200130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |