CN208375322U - A kind of swing type gripper of industrial robot - Google Patents
A kind of swing type gripper of industrial robot Download PDFInfo
- Publication number
- CN208375322U CN208375322U CN201820959391.3U CN201820959391U CN208375322U CN 208375322 U CN208375322 U CN 208375322U CN 201820959391 U CN201820959391 U CN 201820959391U CN 208375322 U CN208375322 U CN 208375322U
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- fixedly installed
- hole
- kelly
- fixed plate
- screw pair
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- 230000008878 coupling Effects 0.000 claims abstract description 16
- 238000010168 coupling process Methods 0.000 claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 5
- 239000007787 solid Substances 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 8
- 230000003252 repetitive effect Effects 0.000 abstract description 8
- 230000009466 transformation Effects 0.000 abstract description 4
- 230000006641 stabilisation Effects 0.000 abstract 1
- 238000011105 stabilization Methods 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 4
- 238000004080 punching Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a kind of swing type gripper of industrial robot, including fixed plate, the side of the fixed plate is fixedly installed with connecting flange, fixed plate is fixedly installed with motor far from the side of connecting flange, the output shaft of motor is equipped with shaft coupling, the bottom end of shaft coupling is fixedly installed with screw pair, movable sleeve is equipped with pulling plate on screw pair, pulling plate is threadedly coupled with screw pair, there are two linear guides for side fixed installation of the fixed plate far from connecting flange, two linear guides are symmetrical arranged based on screw pair, and are slidably connected with pulling plate.The utility model being capable of continuous transformation posture in Manufacturing Automated process, improve stamping production efficiency, reduce cost of labor, it reduces labor intensity and damage will not be generated to the surface of guide rail of workpiece, repetitive positioning accuracy is high, good quality of product and stabilization, and can telescopic movable rod easily and fast, meet the use demand of people.
Description
Technical field
The utility model relates to robot accessory technical field more particularly to a kind of swing type gripper of industrial robot.
Background technique
In manufacturing industry, to guarantee production efficiency, in double guide rail end automatic punching lines, two skylights in left and right are led
Rail punching press simultaneously, but two guide rails need to convert posture in punching course, enter stamping die with different postures.It is each at present
It in a factory's actual production, is realized with artificial overturning, cannot achieve continuous automatic production, realize the overturning needs of posture
It is accomplished manually, high labor cost, production efficiency are low, surface is also easy to produce scratch, unstable product quality, so we are badly in need of one
Swing type gripper of industrial robot is planted to solve the above problems.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and a kind of swing type industry proposed
Robot gripper.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of swing type gripper of industrial robot, including fixed plate, the side of the fixed plate are fixedly installed with connection method
Orchid, fixed plate are fixedly installed with motor far from the side of connecting flange, and the output shaft of motor is equipped with shaft coupling, the bottom of shaft coupling
End is fixedly installed with screw pair, and movable sleeve is equipped with pulling plate on screw pair, and pulling plate is threadedly coupled with screw pair, Gu
Fixed board is fixedly mounted far from the side of connecting flange there are two linear guide, and two linear guides are based on screw pair and symmetrically set
It sets, and is slidably connected with pulling plate, fixed plate is set far from the side of connecting flange there are two position sensor, and fixed plate is separate even
There are two swing arm, the bottom of swing arm is fixedly installed with fixing seat, the fixed peace in the bottom of fixing seat for the side rotational installation of acting flange
Equipped with multiple vacuum chucks, the lower section of fixing seat is equipped with guide rail of workpiece, the bottom of vacuum chuck and corresponding guide rail of workpiece
Top is in contact, and the bottom of fixing seat is fixedly installed with cylinder, and the side of fixing seat is equipped with cushion block, and cushion block connects with guide rail of workpiece
Touching is fixedly installed at the top of fixing seat whether there is or not sensor, is rotatably equipped with fixed link in swing arm, the top of fixed link offers
Groove is slidably fitted with motion bar in groove, and the top of two motion bars extends respectively to outside two grooves, and is rotatablely installed
On pulling plate.
Preferably, first through hole is symmetrically offered on the two sides inner wall of the groove, is slidably fitted with cunning in first through hole
The both ends of bar, slide bar all extend to outside first through hole, and the two sides of motion bar equidistantly offer multiple first card slots, two cunnings
Bar one end close to each other is slidably mounted on respectively in corresponding first card slot, and is offered in the top inner wall of first through hole
Two through-holes are slidably fitted with kelly in the second through-hole, and the both ends of kelly all extend to outside the second through-hole, offer at the top of slide bar
Wedge groove offers the second card slot in the bottom interior wall of wedge groove, and wedge groove is run through in the bottom end of kelly, and is slidably mounted on second
In card slot.
Preferably, locating slot is offered in the bottom interior wall of the first through hole, the bottom of slide bar is fixedly installed with positioning
Block, locating piece are slidably connected with locating slot, and one end that two slide bars are located remotely from each other is fixedly installed with briquetting.
Preferably, the bottom end of the kelly is nested with ball, and ball is adapted with wedge groove.
Preferably, the top of the kelly is fixedly installed with handle, and the spring being welded on handle, bullet are arranged on kelly
The bottom end of spring is welded in fixed link.
Preferably, limiting slot is symmetrically offered on the two sides inner wall of second through-hole, the two sides of kelly are symmetrically fixed to pacify
Equipped with limited block, limited block is slidably connected with limiting slot.
Compared with prior art, the utility model has the beneficial effects that
1, pass through fixed plate, connecting flange, motor, shaft coupling, feed screw nut pair, pulling plate, linear guide, position sensing
Device, swing arm, fixing seat, vacuum chuck, guide rail of workpiece, cylinder, cushion block, whether there is or not the matchings of sensor, fixed link, groove and motion bar
It closes, control motor rotation, motor rotation drives shaft coupling rotation, so that screw pair is driven to rotate, screw pair rotation
Pulling plate can be made to move in vertical direction, pulling plate pulls swing arm by fixed link and motion bar, posture needed for realizing, position sensor
Model GUC15 using the position of two position sensors detection pulling plates, and control whether there is or not the model LWH2 of sensor
Motor start and stop, cylinder can be accurately positioned, and vacuum chuck is reliably grabbed, and guarantee accidentally to grasp whether there is or not the use of sensor
Make, overall structure possesses preferable repetitive positioning accuracy；
2, it is matched, is drawn by first through hole, slide bar, the first card slot, the second through-hole, kelly, wedge groove and the second card slot
Dynamic motion bar, is moved to suitable position for motion bar, then presses briquetting, and briquetting pushes slide bar, sticks into slide bar corresponding
The first card slot in, in the process, ball rolls in the bottom interior wall of wedge groove will push kelly, and kelly will be mobile to be stretched
Spring, when the second through-hole is aligned with the second card slot, under the action of the spring, kelly will be resetted and be sticked into the second card slot, this
When slide bar be fixed, so that motion bar be fixed；
The utility model in Manufacturing Automated process can continuous transformation posture, improve stamping production efficiency, reduce artificial
Cost reduces labor intensity and will not generate damage to the surface of guide rail of workpiece, and repetitive positioning accuracy is high, good quality of product
And stablize, and can telescopic movable rod easily and fast, meet the use demand of people.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of swing type gripper of industrial robot schematic perspective view；
Fig. 2 be the utility model proposes a kind of swing type gripper of industrial robot in cuing open of being connect with motion bar of fixed link
Depending on structural schematic diagram；
Fig. 3 is the schematic cross-sectional view of part A in Fig. 2.
In figure: 1 fixed plate, 2 connecting flanges, 3 motors, 4 shaft couplings, 5 feed screw nut pairs, 6 pulling plates, 7 linear guides, 8
Set that sensor, 9 swing arms, 10 fixing seats, 11 vacuum chucks, 12 guide rail of workpiece, 13 cylinders, 14 cushion blocks, 15 whether there is or not sensors, 16 solid
Fixed pole, 17 grooves, 18 motion bars, 19 first through hole, 20 slide bars, 21 first card slots, 22 second through-holes, 23 kellies, 24 wedge grooves,
25 second card slots.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-3, the side of a kind of swing type gripper of industrial robot, including fixed plate 1, fixed plate 1 is fixedly mounted
There is connecting flange 2, fixed plate 1 is fixedly installed with motor 3 far from the side of connecting flange 2, and the output shaft of motor 3 is equipped with shaft coupling
Device 4, the bottom end of shaft coupling 4 are fixedly installed with screw pair 5, and movable sleeve is equipped with pulling plate 6, pulling plate 6 and silk on screw pair 5
Thick stick pair of nut 5 is threadedly coupled, and there are two linear guide 7, two straight lines for side fixed installation of the fixed plate 1 far from connecting flange 2
Guide rail 7 is symmetrical arranged based on screw pair 5, and is slidably connected with pulling plate 6, and fixed plate 1 is set far from the side of connecting flange 2
There are two position sensor 8, there are two swing arm 9, the bottom of swing arm 9 is solid for side rotational installation of the fixed plate 1 far from connecting flange 2
Dingan County is equipped with fixing seat 10, and the bottom of fixing seat 10 is fixedly installed with multiple vacuum chucks 11, and the lower section of fixing seat 10 is equipped with work
Part guide rail 12, the bottom of vacuum chuck 11 are in contact with the top of corresponding guide rail of workpiece 12, and the bottom of fixing seat 10 is fixed
Cylinder 13 is installed, the side of fixing seat 10 is equipped with cushion block 14, and cushion block 14 is in contact with guide rail of workpiece 12, the top of fixing seat 10
It being fixedly installed with whether there is or not sensor 15, is rotatably equipped with fixed link 16 in swing arm 9, the top of fixed link 16 opens up fluted 17,
Motion bar 18 is slidably fitted in groove 17, the top of two motion bars 18 extends respectively to outside two grooves 17, and rotates
It is mounted on pulling plate 6, passes through fixed plate 1, connecting flange 2, motor 3, shaft coupling 4, feed screw nut pair 5, pulling plate 6, linear guide
7, position sensor 8, swing arm 9, fixing seat 10, vacuum chuck 11, guide rail of workpiece 12, cylinder 13, cushion block 14, whether there is or not sensors
15, fixed link 16, groove 17 and motion bar 18 match, and control motor 3 rotates, and the rotation of motor 3 drives shaft coupling 4 to rotate, from
And screw pair 5 is driven to rotate, the rotation of screw pair 5 can be such that pulling plate 6 moves in vertical direction, and pulling plate 6 passes through fixed link
16 pull swing arm 9 with motion bar 18, and posture needed for realizing, the model GUC15 of position sensor 8, whether there is or not the types of sensor 15
Number it is LWH2, the position of pulling plate 6 is detected using two position sensors 8, and control 3 start and stop of motor, cylinder 13 can carry out accurately
Positioning, vacuum chuck 11 reliably grabbed, whether there is or not the use of sensor 15 guarantee will not maloperation, overall structure possesses preferably
Repetitive positioning accuracy；Pass through first through hole 19, slide bar 20, the first card slot 21, the second through-hole 22, kelly 23,24 and of wedge groove
Second card slot 25 matches, and pulls motion bar 18, motion bar 18 is moved to suitable position, then presses briquetting, briquetting pushes away
Moving slide-bar 20 sticks into slide bar 20 in corresponding first card slot 21, in the process, bottom interior wall of the ball in wedge groove 24
Upper rolling will push kelly 23, and kelly 23 is mobile by extension spring, when the second through-hole 22 is aligned with the second card slot 25, in spring
Under the action of, kelly 23 will be resetted and be sticked into the second card slot 25, and slide bar 20 is fixed at this time, so that motion bar 18 is fixed；
The utility model in Manufacturing Automated process can continuous transformation posture, improve stamping production efficiency, reduce cost of labor, reduce
Labor intensity and damage will not be generated to the surface of guide rail of workpiece 12, repetitive positioning accuracy is high, good quality of product and steady
It is fixed, and can telescopic movable rod 18 easily and fast, meet the use demand of people.
In the utility model, first through hole 19, sliding in first through hole 19 are symmetrically offered on the two sides inner wall of groove 17
Slide bar 20 is installed, the both ends of slide bar 20 all extend to outside first through hole 19, and the two sides of motion bar 18 equidistantly offer more
A first card slot 21, two slide bars 20 one end close to each other are slidably mounted on respectively in corresponding first card slot 21, and first
The second through-hole 22 is offered in the top inner wall of through-hole 19, and kelly 23, the both ends of kelly 23 are slidably fitted in the second through-hole 22
It all extends to outside the second through-hole 22, the top of slide bar 20 offers wedge groove 24, and is offered in the bottom interior wall of wedge groove 24
Wedge groove 24 is run through in the bottom end of two draw-in groove 25, kelly 23, and is slidably mounted in the second card slot 25, in the bottom of first through hole 19
Locating slot is offered on wall, the bottom of slide bar 20 is fixedly installed with locating piece, and locating piece is slidably connected with locating slot, two slide bars
20 one end being located remotely from each other are fixedly installed with briquetting, and the bottom end of kelly 23 is nested with ball, and ball is adapted with wedge groove 24,
The top of kelly 23 is fixedly installed with handle, and the spring being welded on handle is arranged on kelly 23, and the bottom end of spring is welded on
In fixed link 16, limiting slot is symmetrically offered on the two sides inner wall of the second through-hole 22, the two sides of kelly 23 are symmetrically fixedly installed with
Limited block, limited block are slidably connected with limiting slot, pass through fixed plate 1, connecting flange 2, motor 3, shaft coupling 4, feed screw nut pair
5, pulling plate 6, linear guide 7, position sensor 8, swing arm 9, fixing seat 10, vacuum chuck 11, guide rail of workpiece 12, cylinder 13, pad
Block 14, whether there is or not sensor 15, fixed link 16, groove 17 and motion bars 18 to match, and control motor 3 rotates, and the rotation of motor 3 drives
Shaft coupling 4 rotates, so that screw pair 5 be driven to rotate, the rotation of screw pair 5 can be such that pulling plate 6 moves in vertical direction, draws
Plate 6 pulls swing arm 9 by fixed link 16 and motion bar 18, posture needed for realizing, the model GUC15 of position sensor 8, whether there is or not
The model LWH2 of sensor 15, the position of pulling plate 6 is detected using two position sensors 8, and controls 3 start and stop of motor, cylinder
13 can be accurately positioned, and vacuum chuck 11 is reliably grabbed, whether there is or not the use of sensor 15 guarantee will not maloperation, it is whole
Structure possesses preferable repetitive positioning accuracy；Pass through first through hole 19, slide bar 20, the first card slot 21, the second through-hole 22, kelly
23, wedge groove 24 and the second card slot 25 match, and pull motion bar 18, motion bar 18 is moved to suitable position, is then pressed
Briquetting is pressed, briquetting pushes slide bar 20, sticks into slide bar 20 in corresponding first card slot 21, in the process, ball is in wedge shape
Kelly 23 will be pushed by rolling in the bottom interior wall of slot 24, and kelly 23 is mobile by extension spring, when the second through-hole 22 and the second card slot
When 25 alignment, under the action of the spring, kelly 23 will be resetted and be sticked into the second card slot 25, and slide bar 20 is fixed at this time, thus
Motion bar 18 is fixed；The utility model in Manufacturing Automated process can continuous transformation posture, improve stamping production efficiency, subtract
Few cost of labor reduces labor intensity and will not generate damage to the surface of guide rail of workpiece 12, and repetitive positioning accuracy is high, product
It is superior in quality and stablize, and can telescopic movable rod 18 easily and fast, meet the use demand of people.
Working principle: in the utility model, control motor 3 is rotated, and the rotation of motor 3 drives shaft coupling 4 to rotate, to drive
The rotation of screw pair 5, the rotation of screw pair 5 can be such that pulling plate 6 moves in vertical direction, and pulling plate 6 is by fixed link 16 and lives
Lever 18 pulls swing arm 9, and posture needed for realizing, the model GUC15 of position sensor 8, whether there is or not the models of sensor 15
LWH2, the position of pulling plate 6 is detected using two position sensors 8, and controls 3 start and stop of motor, and cylinder 13 can be accurately positioned,
Vacuum chuck 11 is reliably grabbed, whether there is or not the use of sensor 15 guarantee will not maloperation, while being contacted with guide rail of workpiece 12
Cushion block 14, cylinder 13 and 11 hardness of vacuum chuck be respectively less than guide rail of workpiece 12, not will cause damage, overall structure possesses preferably
Repetitive positioning accuracy, in actual use, can according to actual use demand adjust motion bar 18 stretch out groove 17 length, i.e.,
Motion bar 18 is pulled, motion bar 18 is moved to suitable position, then presses briquetting, briquetting pushes slide bar 20, makes slide bar 20
It sticks into corresponding first card slot 21, in the process, ball rolls in the bottom interior wall of wedge groove 24 will push kelly
23, kelly 23 is mobile by extension spring, when the second through-hole 22 is aligned with the second card slot 25, under the action of the spring, kelly 23
It will reset and stick into the second card slot 25, slide bar 20 is fixed at this time, so that motion bar 18 is fixed.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of swing type gripper of industrial robot, including fixed plate (1), which is characterized in that the side of the fixed plate (1) is solid
Dingan County is equipped with connecting flange (2), and fixed plate (1) is fixedly installed with motor (3) far from the side of connecting flange (2), motor (3)
Output shaft is equipped with shaft coupling (4), and the bottom end of shaft coupling (4) is fixedly installed with screw pair (5), on screw pair (5)
Movable sleeve is equipped with pulling plate (6), and pulling plate (6) is threadedly coupled with screw pair (5), and the one of fixed plate (1) separate connecting flange (2)
Side is fixedly mounted there are two linear guide (7), two linear guides (7) be based on screw pair (5) it is arranged symmetrically, and with drawing
Plate (6) is slidably connected, and fixed plate (1) is set far from the side of connecting flange (2) there are two position sensor (8), and fixed plate (1) is remote
There are two swing arm (9), the bottom of swing arm (9) is fixedly installed with fixing seat (10) for side rotational installation from connecting flange (2), Gu
The bottom of reservation (10) is fixedly installed with multiple vacuum chucks (11), and the lower section of fixing seat (10) is equipped with guide rail of workpiece (12), very
It is in contact at the top of the bottom of suction disk (11) and corresponding guide rail of workpiece (12), the bottom of fixing seat (10) is fixedly installed with
The side of cylinder (13), fixing seat (10) is equipped with cushion block (14), and cushion block (14) is in contact with guide rail of workpiece (12), fixing seat (10)
Top be fixedly installed with whether there is or not sensor (15), be rotatably equipped with fixed link (16) in swing arm (9), the top of fixed link (16)
It opens up fluted (17), is slidably fitted with motion bar (18) in groove (17), the top of two motion bars (18) extends respectively to
Two grooves (17) outside, and are rotatably installed on pulling plate (6).
2. a kind of swing type gripper of industrial robot according to claim 1, which is characterized in that the two of the groove (17)
It symmetrically offers first through hole (19), is slidably fitted with slide bar (20) in first through hole (19), the two of slide bar (20) on the inner wall of side
End all extends to first through hole (19) outside, and the two sides of motion bar (18) equidistantly offer multiple first card slots (21), and two
Slide bar (20) one end close to each other is slidably mounted on respectively in corresponding first card slot (21), the top of first through hole (19)
It offers the second through-hole (22), is slidably fitted with kelly (23) in the second through-hole (22), the both ends of kelly (23) are prolonged on inner wall
It extends to the second through-hole (22) outside, is offered at the top of slide bar (20) wedge groove (24), opened up in the bottom interior wall of wedge groove (24)
Have the second card slot (25), wedge groove (24) are run through in the bottom end of kelly (23), and are slidably mounted in the second card slot (25).
3. a kind of swing type gripper of industrial robot according to claim 2, which is characterized in that the first through hole (19)
Bottom interior wall on offer locating slot, the bottom of slide bar (20) is fixedly installed with locating piece, and locating piece and locating slot sliding connect
It connects, one end that two slide bars (20) are located remotely from each other is fixedly installed with briquetting.
4. a kind of swing type gripper of industrial robot according to claim 2, which is characterized in that the bottom of the kelly (23)
End is nested with ball, and ball is adapted with wedge groove (24).
5. a kind of swing type gripper of industrial robot according to claim 2, which is characterized in that the top of the kelly (23)
End is fixedly installed with handle, the spring being welded on handle is arranged on kelly (23), the bottom end of spring is welded on fixed link
(16) on.
6. a kind of swing type gripper of industrial robot according to claim 2, which is characterized in that second through-hole (22)
Two sides inner wall on symmetrically offer limiting slot, the two sides of kelly (23) are symmetrically fixedly installed with limited block, limited block and limit
Slot is slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820959391.3U CN208375322U (en) | 2018-06-21 | 2018-06-21 | A kind of swing type gripper of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820959391.3U CN208375322U (en) | 2018-06-21 | 2018-06-21 | A kind of swing type gripper of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208375322U true CN208375322U (en) | 2019-01-15 |
Family
ID=64967588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820959391.3U Expired - Fee Related CN208375322U (en) | 2018-06-21 | 2018-06-21 | A kind of swing type gripper of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208375322U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111298244A (en) * | 2020-03-01 | 2020-06-19 | 罗德群 | Efficient traceless autologous fat breast augmentation injection positioner |
| CN114310277A (en) * | 2022-02-10 | 2022-04-12 | 芜湖弘度智能科技有限公司 | Be used for inboard sponge automatic assembly device of cylinder air conditioner panel |
-
2018
- 2018-06-21 CN CN201820959391.3U patent/CN208375322U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111298244A (en) * | 2020-03-01 | 2020-06-19 | 罗德群 | Efficient traceless autologous fat breast augmentation injection positioner |
| CN111298244B (en) * | 2020-03-01 | 2022-09-06 | 广州韩后医疗美容医院有限公司 | Traceless autologous fat breast augmentation injection positioner |
| CN114310277A (en) * | 2022-02-10 | 2022-04-12 | 芜湖弘度智能科技有限公司 | Be used for inboard sponge automatic assembly device of cylinder air conditioner panel |
| CN114310277B (en) * | 2022-02-10 | 2023-09-01 | 芜湖弘度智能科技有限公司 | Automatic sponge assembling device for inner side of cylindrical air conditioner panel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190115 |