CN208409898U - A kind of Industrial robots Mechanical's handgrip more piece grabbing device - Google Patents
A kind of Industrial robots Mechanical's handgrip more piece grabbing device Download PDFInfo
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- CN208409898U CN208409898U CN201821097410.2U CN201821097410U CN208409898U CN 208409898 U CN208409898 U CN 208409898U CN 201821097410 U CN201821097410 U CN 201821097410U CN 208409898 U CN208409898 U CN 208409898U
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- pulling plate
- pin shaft
- plate
- clamp system
- connecting plate
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Abstract
The utility model provides a kind of Industrial robots Mechanical's handgrip more piece grabbing device, includes: clamp system, gripping block, ontology；The nock of clamp system and the second clamp system is arranged in gripping block and the second gripping block, and gripping block and the second gripping block are connected with clamp system and the second clamp system by built-in screw；The lower part inner end of second clamp system has been provided with pin shaft, and the second clamp system is connected with pin shaft by interference mode；The outside of pin shaft is provided with connecting plate and pulling plate, and pin shaft with connecting plate and pulling plate by being connected through mode；Connecting plate and pulling plate are arranged in the both ends top of ontology, and connecting plate and pulling plate and ontology by pin shaft through being connected；The utility model combines the prior art by the improvement in structure, has structure superior, and practicability is high, and stability good advantage when grabbing, and solves the problem and deficiency in existing apparatus technology, is allowed to purpose more with practicability.
Description
Technical field
The utility model relates to robotic technology fields, more specifically, more particularly to a kind of Industrial robots Mechanical grab
Hand more piece grabbing device.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology；Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
It makes discovery from observation, the existing generally existing structure of mechanical gripper more piece grabbing device is single, and practicability is low, and grabs
The problem of stability difference brings certain limitation in the actual use process when taking, and then, how to provide a kind of knot
Structure is superior, and practicability is high, and stability good Industrial robots Mechanical's handgrip more piece grabbing device when crawl, becomes current need
The important topic to be solved.
In view of this, studied improvement for existing problem, a kind of Industrial robots Mechanical's handgrip more piece is provided and is grabbed
It is single to solve the structure occurred in existing apparatus technology to take device, and practicability is low, and grab when stability difference problem, it is intended to
By the technology, achievees the purpose that solve the problems, such as and improve practical value.
Utility model content
It is above-mentioned to solve the purpose of this utility model is to provide a kind of Industrial robots Mechanical's handgrip more piece grabbing device
The structure proposed in background technique is single, and practicability is low, and grab when stability difference problem and deficiency.
To achieve the above object, the utility model provides a kind of Industrial robots Mechanical's handgrip more piece grabbing device, by
Technological means is reached in detail below:
A kind of Industrial robots Mechanical's handgrip more piece grabbing device, comprising: clamp system, gripping block, the second gripping block,
Two clamp systems, pin shaft, connecting plate, pulling plate, ontology, gas bar, cylinder, cylinder block, bindiny mechanism, the second pin shaft, the second connection
Plate, the second pulling plate tighten nut, spring, backing plate, third pulling plate, third pin shaft, the 4th pulling plate and limit base；The gripping block
And second gripping block the nock of clamp system and the second clamp system is set, and gripping block and the second gripping block and clamp
Mechanism and the second clamp system are connected by built-in screw；The lower part inner end of second clamp system has been provided with pin shaft,
And second clamp system be connected with pin shaft by interference mode；The outside of the pin shaft is provided with connecting plate and pulling plate, and sells
Axis is with connecting plate and pulling plate by being connected through mode；The both ends top of ontology is arranged in the connecting plate and pulling plate, and even
Fishplate bar and pulling plate, which are run through with ontology by pin shaft, to be connected；The lower part inner end of the clamp system is provided with the second pin shaft, and presss from both sides
Tight mechanism is connected with the second pin shaft by interference mode；The outside of second pin shaft is provided with the second connecting plate and the second drawing
Plate, and the second pin shaft with the second connecting plate and the second pulling plate by being connected through mode；Second connecting plate and the second drawing
Plate is arranged in the both ends top of ontology, and the second connecting plate and the second pulling plate and ontology by pin shaft through being connected；The drawing
The bosom of plate and the second pulling plate is provided with third pin shaft, and pulling plate and the second pulling plate pass through interference mode phase with third pin shaft
Connection；The outside of the third pin shaft is provided with third pulling plate and the 4th pulling plate, and third pin shaft and third pulling plate and the 4th drawing
Plate is connected by fitting mode；The third pulling plate and the 4th pulling plate are arranged on the inside of the both ends of limit base, and third pulling plate
And the 4th pulling plate and limit base by pin shaft through being connected；The limit base is mounted on the outer upper ends of gas bar, and limit base
It is connected with gas bar by the mode of being screwed on；The upper outer end of the gas bar is provided with spring, and gas bar and spring pass through fitting side
Formula is connected；The upper outer end of gas bar is arranged in the backing plate, and backing plate is connected with gas bar by the mode of being screwed on；The gas bar
Top outer end be provided with and tighten nut, and gas bar with tighten nut and be connected by the mode of being screwed on；The gas bar is arranged in gas
The bosom of cylinder, and gas bar is connected with cylinder by embedded mode；The cylinder is mounted on the bosom of cylinder block, and
Cylinder is fastened by bolts with cylinder block to be connected；The lower part of ontology is arranged in the cylinder block, and cylinder block passes through with ontology
Bolt fastening is connected；Bindiny mechanism is provided among the bottom of the cylinder block, and cylinder block and bindiny mechanism pass through welding
Mode is connected.
As advanced optimizing for the technical program, a kind of Industrial robots Mechanical's handgrip more piece crawl dress of the utility model
The clamp system and the second C-shape structure setting of clamp system forward sight are set, and before clamp system and the second clamp system
Portion inner end offers the internal thread hole that multiple groups are connected with gripping block and the second gripping block.
As advanced optimizing for the technical program, a kind of Industrial robots Mechanical's handgrip more piece crawl dress of the utility model
Set the oblong structure that the connecting plate, pulling plate, the second connecting plate and the second pulling plate forward sight are in both ends aperture, and connecting plate, drawing
Plate, the second connecting plate and the second pulling plate are respectively arranged with two groups in symmetry shape.
As advanced optimizing for the technical program, a kind of Industrial robots Mechanical's handgrip more piece crawl dress of the utility model
It sets the limit base to overlook in H shape structure setting, and limit base bosom offers the internal thread hole being connected with gas bar.
As advanced optimizing for the technical program, a kind of Industrial robots Mechanical's handgrip more piece crawl dress of the utility model
Set the ontology forward sight in butterfly shape be arranged, and the inside of ontology offer at one with the mutually perforative through-hole of gas bar.
As advanced optimizing for the technical program, a kind of Industrial robots Mechanical's handgrip more piece crawl dress of the utility model
The upper outer end for setting the gas bar offers the external screw thread being connected at two with backing plate and limit base.
Due to the application of the above technical scheme, the utility model has the advantage that compared with prior art
1, the utility model passes through clamp system and the second C-shape structure setting of clamp system forward sight, and clamp system
And second the inner front end of clamp system offer the internal thread hole that multiple groups are connected with gripping block and the second gripping block, C-shape
The clamp system of structure and the second clamp system can effectively hold clipped object material tightly in closure, realize structure practicability
Strong advantage.
2, the utility model is by connecting plate, pulling plate, the second connecting plate and the second pulling plate forward sight in the oval of both ends aperture
Shape structure, and connecting plate, pulling plate, the second connecting plate and the second pulling plate are respectively arranged with two groups in symmetry shape, connecting plate, pulling plate,
Second connecting plate and the second pulling plate can guarantee longitudinal stability when clamp system and the second clamp system clamp, and realization finishes
The superior advantage of structure.
3, it is in H shape structure setting that the utility model is overlooked by limit base, and limit base bosom offers and gas bar
The limit base of the internal thread hole being connected, H shape structure is being clamped clamp system and second by third pulling plate and the 4th pulling plate
When mechanism opening and closure, have the advantages that stability is good when grabbing material.
4, the utility model has structure superior by the improvement to Industrial robots Mechanical's handgrip more piece grabbing device,
Practicability is high, and stability good advantage when grabbing, so that effective solution the utility model mentions in background technique one
Out the problem of and deficiency.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide a further understanding of the present invention, the utility model
Illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.In attached drawing
In:
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the side structure schematic view of the utility model；
Fig. 3 is the Unclosing structure schematic diagram of the utility model；
Fig. 4 is the decomposition texture schematic diagram of the utility model；
Fig. 5 is the vertical view enlarged structure schematic diagram of the utility model limit base.
In figure: clamp system 1, gripping block 2, the second gripping block 3, the second clamp system 4, pin shaft 5, connecting plate 6, pulling plate 7,
Ontology 8, cylinder 10, cylinder block 11, bindiny mechanism 12, the second pin shaft 13, the second connecting plate 14, the second pulling plate 15, is twisted at gas bar 9
Tight nut 16, spring 17, backing plate 18, third pulling plate 19, third pin shaft 20, the 4th pulling plate 21, limit base 22.
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.
It should be noted that in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than a；The instructions such as term " on ", "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion "
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second ", " third " etc. are used for description purposes only, it is not understood to indicate or imply
Relative importance.
Meanwhile in the description of the present invention, unless otherwise clearly defined and limited, term " connected ", " connection "
It shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For the general of this field
For logical technical staff, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Referring to Figure 1 to Fig. 5, the utility model provides a kind of the specific of Industrial robots Mechanical's handgrip more piece grabbing device
Implementer's case:
A kind of Industrial robots Mechanical's handgrip more piece grabbing device, comprising: clamp system 1, gripping block 2, the second gripping block
3, the second clamp system 4, pin shaft 5, connecting plate 6, pulling plate 7, ontology 8, gas bar 9, cylinder 10, cylinder block 11, bindiny mechanism 12,
Two pin shafts 13, the second pulling plate 15, tighten nut 16, spring 17, backing plate 18, third pulling plate 19, third pin shaft at second connecting plate 14
20, the 4th pulling plate 21 and limit base 22；Clamp system 1 and the second clamp system 4 is arranged in gripping block 2 and the second gripping block 3
Nock, and gripping block 2 and the second gripping block 3 are connected with clamp system 1 and the second clamp system 4 by built-in screw；
The lower part inner end of second clamp system 4 has been provided with pin shaft 5, and the second clamp system 4 is connected with pin shaft 5 by interference mode
It connects；The outside of pin shaft 5 is provided with connecting plate 6 and pulling plate 7, and pin shaft 5 with connecting plate 6 and pulling plate 7 by being connected through mode；
Connecting plate 6 and pulling plate 7 are arranged in the both ends top of ontology 8, and connecting plate 6 and pulling plate 7 and ontology 8 by pin shaft through being connected
It connects；The lower part inner end of clamp system 1 is provided with the second pin shaft 13, and clamp system 1 passes through interference mode phase with the second pin shaft 13
Connection；The outside of second pin shaft 13 is provided with the second connecting plate 14 and the second pulling plate 15, and the second pin shaft 13 and the second connecting plate
14 and second pulling plate 15 by being connected through mode；Second connecting plate 14 and the second pulling plate 15 are arranged on the both ends of ontology 8
Portion, and the second connecting plate 14 and the second pulling plate 15 and ontology 8 by pin shaft through being connected；Pulling plate 7 and the second pulling plate 15 it is interior
Third pin shaft 20 is provided among portion, and pulling plate 7 and the second pulling plate 15 are connected with third pin shaft 20 by interference mode；Third
The outside of pin shaft 20 is provided with third pulling plate 19 and the 4th pulling plate 21, and third pin shaft 20 and third pulling plate 19 and the 4th pulling plate 21
It is connected by fitting mode；Third pulling plate 19 and the 4th pulling plate 21 are arranged on the inside of the both ends of limit base 22, and third pulling plate
19 and the 4th pulling plate 21 and limit base 22 by pin shaft through being connected；Limit base 22 is mounted on the outer upper ends of gas bar 9, and limits
Position seat 22 is connected with gas bar 9 by the mode of being screwed on；The upper outer end of gas bar 9 is provided with spring 17, and gas bar 9 and spring 17 are logical
Fitting mode is crossed to be connected；The upper outer end of gas bar 9 is arranged in backing plate 18, and backing plate 18 is connected with gas bar 9 by the mode of being screwed on
It connects；The top outer end of gas bar 9, which is provided with, tightens nut 16, and gas bar 9 is connected with nut 16 is tightened by the mode of being screwed on；Gas bar
9 are arranged in the bosom of cylinder 10, and gas bar 9 is connected with cylinder 10 by embedded mode；Cylinder 10 is mounted on cylinder block
11 bosom, and cylinder 10 is fastened by bolts with cylinder block 11 and is connected；The lower part of ontology 8 is arranged in cylinder block 11,
And cylinder block 11 is fastened by bolts with ontology 8 and is connected；Bindiny mechanism 12, and cylinder are provided among the bottom of cylinder block 11
Seat 11 is connected with bindiny mechanism 12 by welding manner.
Specifically, clamp system 1 and the C-shape structure setting of 4 forward sight of the second clamp system, and clamp system 1 and second
The inner front end of clamp system 4 offers the internal thread hole that multiple groups are connected with gripping block 2 and the second gripping block 3, C-shape structure
Clamp system and the second clamp system closure when effectively clipped object material can be held tightly, it is practical to realize structure
Advantage.
Specifically, connecting plate 6, pulling plate 7, the second connecting plate 14 and 15 forward sight of the second pulling plate are in the oblong knot of both ends aperture
Structure, and connecting plate 6, pulling plate 7, the second connecting plate 14 and the second pulling plate 15 are respectively arranged with two groups in symmetry shape, connecting plate, drawing
Plate, the second connecting plate and the second pulling plate can guarantee longitudinal stability when clamp system and the second clamp system clamp, and realize
Structure superior advantage.
Specifically, it is in H shape structure setting that limit base 22, which is overlooked, and 22 bosom of limit base offers and is connected with gas bar 9
The limit base of the internal thread hole connect, H shape structure is passing through third pulling plate and the 4th pulling plate for clamp system and the second clamp system
When opening and closing, have the advantages that stability is good when grabbing material.
Specifically, 8 forward sight of ontology is arranged in butterfly shape, and the inside of ontology 8 offer at one with gas bar 9 is mutually perforative leads to
The butterfly shape solid setting in hole, ontology 8 has the advantages that stability is good.
Specifically, the upper outer end of gas bar 9 offers the external screw thread being connected at two with backing plate 18 and limit base 22, it is subsequent
It dismounts simple and fast.
Specific implementation step:
Firstly, cylinder 10 makes gas bar 9 boost by external air pressure when crawl material, gas bar 9 drives limit base 22
And third pulling plate 19 and the 4th pulling plate 21 act on power on pulling plate 7 and the second pulling plate 15, at this point, clamp system 1 and the second folder
Tight mechanism 4 drives gripping block 2 and the second gripping block 3 to open to both ends to the centre bit of V-shape, gripping block 2 and the second gripping block 3
It sets slowly close to material, at this point, contraction of the cylinder 10 by external pressure, gas bar 9 is slowly retracted downwards, and drives limit base 22
And third pulling plate 19 and the 4th pulling plate 21 act on power on pulling plate 7 and the second pulling plate 15, make clamp system 1 and the second clamping machine
Structure 4 drives gripping block 2 and the second gripping block 3 inwardly does closing motion, realizes the clamping to material；Note: bindiny mechanism 12 is machine
The connection structure of tool arm, and by being connect with the bindiny mechanism consistent pin shaft of 12 internal orifice dimension.
In summary: a kind of Industrial robots Mechanical's handgrip more piece grabbing device is clamped by clamp system and second
The C-shape structure setting of mechanism forward sight, and the inner front end of clamp system and the second clamp system offers multiple groups and gripping block
And second internal thread hole that is connected of gripping block, the clamp system of C-shape structure and the second clamp system can have in closure
The holding clipped object material tightly of effect, realizes the practical advantage of structure；Pass through connecting plate, pulling plate, the second connecting plate and second
Pulling plate forward sight is in the oblong structure of both ends aperture, and connecting plate, pulling plate, the second connecting plate and the second pulling plate are distinguished in symmetry shape
Two groups are provided with, connecting plate, pulling plate, the second connecting plate and the second pulling plate can guarantee that clamp system and the second clamp system clamp
When longitudinal stability, realize the superior advantage of structure；Being overlooked by limit base is in H shape structure setting, and inside limit base
Centre offers the internal thread hole being connected with gas bar, and the limit base of H shape structure will be pressed from both sides by third pulling plate and the 4th pulling plate
When tight mechanism and the second clamp system opening and closing, have the advantages that stability is good when grabbing material；It solves and goes out among the above
Existing structure is single, and practicability is low, and grab when stability difference problem.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of Industrial robots Mechanical's handgrip more piece grabbing device, comprising: clamp system (1), gripping block (2), second clamp
Block (3), the second clamp system (4), pin shaft (5), connecting plate (6), pulling plate (7), ontology (8), gas bar (9), cylinder (10), cylinder
Seat (11), the second pin shaft (13), the second connecting plate (14), the second pulling plate (15), tightens nut (16), bullet at bindiny mechanism (12)
Spring (17), backing plate (18), third pulling plate (19), third pin shaft (20), the 4th pulling plate (21) and limit base (22)；Its feature exists
In: the gripping block (2) and the second gripping block (3) are arranged in clamp system (1) and the nock of the second clamp system (4),
And gripping block (2) and the second gripping block (3) are connected with clamp system (1) and the second clamp system (4) by built-in screw；Institute
The lower part inner end for stating the second clamp system (4) has been provided with pin shaft (5), and the second clamp system (4) and pin shaft (5) pass through interference
Mode is connected；The outside of the pin shaft (5) is provided with connecting plate (6) and pulling plate (7), and pin shaft (5) and connecting plate (6) and drawing
Plate (7) through mode by being connected；The connecting plate (6) and pulling plate (7) setting connect on the both ends top of ontology (8)
Plate (6) and pulling plate (7), which are run through with ontology (8) by pin shaft, to be connected；The lower part inner end of the clamp system (1) is provided with second
Pin shaft (13), and clamp system (1) is connected with the second pin shaft (13) by interference mode；The outside of second pin shaft (13)
It is provided with the second connecting plate (14) and the second pulling plate (15), and the second pin shaft (13) and the second connecting plate (14) and the second pulling plate
(15) by being connected through mode；Second connecting plate (14) and the second pulling plate (15) are arranged on the both ends of ontology (8)
Portion, and the second connecting plate (14) and the second pulling plate (15) and ontology (8) by pin shaft through being connected；The pulling plate (7) and
The bosom of two pulling plates (15) is provided with third pin shaft (20), and pulling plate (7) and the second pulling plate (15) and third pin shaft (20)
It is connected by interference mode；The outside of the third pin shaft (20) is provided with third pulling plate (19) and the 4th pulling plate (21), and
Third pin shaft (20) is connected with third pulling plate (19) and the 4th pulling plate (21) by fitting mode；The third pulling plate (19) and
4th pulling plate (21) is arranged on the inside of the both ends of limit base (22), and third pulling plate (19) and the 4th pulling plate (21) and limit base
(22) run through by pin shaft and be connected；The limit base (22) is mounted on the outer upper ends of gas bar (9), and limit base (22) and gas
Bar (9) is connected by the mode of being screwed on；The upper outer end of the gas bar (9) is provided with spring (17), and gas bar (9) and spring
(17) it is connected by fitting mode；The upper outer end in gas bar (9), and backing plate (18) and gas bar is arranged in the backing plate (18)
(9) it is connected by the mode of being screwed on；The top outer end of the gas bar (9), which is provided with, tightens nut (16), and gas bar (9) with tighten
Nut (16) is connected by the mode of being screwed on；The bosom in cylinder (10), and gas bar (9) and gas is arranged in the gas bar (9)
Cylinder (10) is connected by embedded mode；The cylinder (10) is mounted on the bosom of cylinder block (11), and cylinder (10) with
Cylinder block (11), which is fastened by bolts, to be connected；The cylinder block (11) setting in the lower part of ontology (8), and cylinder block (11) with
Ontology (8), which is fastened by bolts, to be connected；It is provided with bindiny mechanism (12) among the bottom of the cylinder block (11), and cylinder block
(11) it is connected with bindiny mechanism (12) by welding manner.
2. a kind of Industrial robots Mechanical's handgrip more piece grabbing device according to claim 1, it is characterised in that: the folder
Tight mechanism (1) and the C-shape structure setting of the second clamp system (4) forward sight, and clamp system (1) and the second clamp system (4)
Inner front end offer the internal thread hole that multiple groups are connected with gripping block (2) and the second gripping block (3).
3. a kind of Industrial robots Mechanical's handgrip more piece grabbing device according to claim 1, it is characterised in that: the company
Fishplate bar (6), pulling plate (7), the second connecting plate (14) and the second pulling plate (15) forward sight are in the oblong structure of both ends aperture, and are connected
Plate (6), pulling plate (7), the second connecting plate (14) and the second pulling plate (15) are respectively arranged with two groups in symmetry shape.
4. a kind of Industrial robots Mechanical's handgrip more piece grabbing device according to claim 1, it is characterised in that: the limit
It is in H shape structure setting that position seat (22), which is overlooked, and limit base (22) bosom offers the internal screw thread being connected with gas bar (9)
Hole.
5. a kind of Industrial robots Mechanical's handgrip more piece grabbing device according to claim 1, it is characterised in that: described
Body (8) forward sight in butterfly shape be arranged, and the inside of ontology (8) offer at one with gas bar (9) mutually perforative through-hole.
6. a kind of Industrial robots Mechanical's handgrip more piece grabbing device according to claim 1, it is characterised in that: the gas
The upper outer end of bar (9) offers the external screw thread being connected at two with backing plate (18) and limit base (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821097410.2U CN208409898U (en) | 2018-07-12 | 2018-07-12 | A kind of Industrial robots Mechanical's handgrip more piece grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821097410.2U CN208409898U (en) | 2018-07-12 | 2018-07-12 | A kind of Industrial robots Mechanical's handgrip more piece grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208409898U true CN208409898U (en) | 2019-01-22 |
Family
ID=65125698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821097410.2U Expired - Fee Related CN208409898U (en) | 2018-07-12 | 2018-07-12 | A kind of Industrial robots Mechanical's handgrip more piece grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208409898U (en) |
-
2018
- 2018-07-12 CN CN201821097410.2U patent/CN208409898U/en not_active Expired - Fee Related
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|---|---|---|---|
| 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: 20190122 Termination date: 20210712 |