CN208677756U - A kind of nursing robot's system accessory cart - Google Patents
A kind of nursing robot's system accessory cart Download PDFInfo
- Publication number
- CN208677756U CN208677756U CN201820798820.3U CN201820798820U CN208677756U CN 208677756 U CN208677756 U CN 208677756U CN 201820798820 U CN201820798820 U CN 201820798820U CN 208677756 U CN208677756 U CN 208677756U
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- Prior art keywords
- seat
- traversing
- accessory cart
- button
- seat plate
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- 230000000474 nursing effect Effects 0.000 title claims abstract description 43
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- 239000003381 stabilizer Substances 0.000 claims description 12
- 210000001364 upper extremity Anatomy 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 239000000203 mixture Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000013872 defecation Effects 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000017667 Chronic Disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 210000002700 urine Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Invalid Beds And Related Equipment (AREA)
Abstract
A kind of nursing robot's system accessory cart, it is related to nursing robot field.The utility model, which solves existing nursing robot's system accessory cart and exists, to be had a single function, it is difficult to the problem of meeting the daily demand of family or hospital care.A kind of nursing robot's system accessory cart of the utility model, the accessory cart includes seat, vehicle frame, fold mechanism, transverse-moving mechanism and elevating mechanism, seat is mounted on the top of vehicle frame, the backrest root of seat and vehicle frame are rotatablely connected, fold mechanism includes two folding units, and two fold the two sides that unit is symmetricly set on vehicle frame, and transverse-moving mechanism is between vehicle frame and seat, elevating mechanism includes two lifting units, and two lifting units are symmetricly set on the handrail of seat.The utility model is used to meet the daily demand of family or hospital care.
Description
Technical field
The utility model relates to nursing robot's technical fields, assist more particularly to a kind of nursing robot's system small
Vehicle.
Background technique
With the aggravation of China's aging degree and the invasion of chronic disease, so that many old men are in inconvenient walking or half
Disabled state, the elderly support and nursing problem has become the social major issue to be faced.And young man
It is generally necessary to be worked outside to support the family for a long time, old man is nursed almost without the time, the promotion of human cost is so that family
Pension load is increasingly heavier.
For by shield people for, daily daily life is limited by very large, including turn over, wear off paper diaper, stool and urine,
And shower, it requires nurse and it is nursed, this can damage its dignity for old old man.
For nurse, high-intensitive nursery work brings biggish nursing difficulty, and especially those are not only dirty but also tired
Work, be even more difficult to accept.
The generation and development of nursing robot's system provide necessary help for the patient of the elderly and long-term bed, together
When, nursing robot's system is also widely used in hospital and recovery centre.But for now, existing
The technology of nursing robot's system accessory cart is not yet mature, has a single function, and is not able to satisfy the daily of family or hospital care
Demand.What the design focal point of most nursing robot's system accessory cart considered is the needs of nurse, and especially for patient
Be not old man of self-care ability etc. design it is comprehensive not enough.
It is had a single function in conclusion existing nursing robot's system accessory cart exists, it is difficult to meet family or doctor
The problem of daily demand of institute's nursing.
Utility model content
Exist purpose of the utility model is to solve existing nursing robot's system accessory cart and have a single function,
The problem of being difficult to meet the daily demand of family or hospital care, and then a kind of nursing robot's system accessory cart is provided.
The technical solution of the utility model is:
A kind of nursing robot's system accessory cart, the accessory cart includes seat, vehicle frame, fold mechanism, traversing
Mechanism and elevating mechanism,
Seat is mounted on the top of vehicle frame, and the backrest root of seat and vehicle frame are rotatablely connected, and fold mechanism includes two foldings
Folded unit, two fold the two sides that unit is symmetricly set on vehicle frame, and transverse-moving mechanism is between vehicle frame and seat, elevating mechanism packet
Two lifting units are included, two lifting units are symmetricly set on the handrail of seat.
Further, each lifting unit of the elevating mechanism of accessory cart includes lifting motor, lifting and driving lead screw, rises
Nut, operation slideway, stabilizer drop,
Lifting motor is mounted on the handrail lower part of seat, and operation slideway is mounted on the handrail top of seat, lifting and driving silk
The inside of the output axis connection of thick stick and lifting motor, lifting nut is connect with lifting and driving threads of lead screw, the outside of lifting nut
Affixed with stabilizer lower part, both ends and the operation slideway of stabilizer are slidably matched.
Further, the transverse-moving mechanism of accessory cart includes traversing seat plate, seat plate frame, traversing motor and traversing sliding tooth
Wheel,
Seat plate frame is located at the lower part of seat, and one end of seat plate frame and the backrest of seat are affixed, seat plate frame it is another
End is affixed with the handrail of seat,
The sliding end of traversing seat plate is slidably connected with seat plate frame, the lower part side of traversing seat plate be machined with for it is traversing
The linear gear rack of gear cooperation is driven,
Traversing motor is mounted on vehicle frame top, and traversing driving gear is mounted on the output shaft of traversing motor, traversing driving
Gear is meshed with the linear gear rack on traversing seat plate.
Further, each fold unit of the fold mechanism of accessory cart includes folding driving motor, folding sliding tooth
Wheel, arc rack and positioning sliding block,
The foreleg two sides that driving motor is fixed on vehicle frame are folded, driving gear is folded and is mounted on the output for folding driving motor
On axis,
The middle part of arc rack is equipped with the arc positioning groove for cooperating with positioning sliding block, and one end of arc rack is fixed on
The two sides of seat plate frame, arc rack and the folding driving gear of seat two sides are correspondingly arranged, and fold driving gear and circle-arc tooth
Item is meshed,
One end of positioning sliding block and folding driving motor are affixed, the side wall of positioning sliding block and the arc positioning groove of arc rack
It is slidably matched.
Further, accessory cart further includes balance strut, is balanced hinged in the middle part of one end of strut and the backrest of seat.
Further, accessory cart further include seat home button, seat spin button, promote button, seat plate is traversing presses
Button, declines button and seat plate home button,
Seat home button and the control of seat spin button fold driving motor rotation, promote button and declines button control
Lifting motor rotation, the traversing button of seat plate and seat plate home button control traversing motor rotation,
Seat home button, seat spin button, promotion button, the traversing button of seat plate, declines button and seat plate playback are pressed
Button be installed in seat by back.
Further, accessory cart further includes navigation camera, and navigation camera is mounted on the front end of vehicle frame.
The utility model has the effect that compared with prior art
1, nursing robot's system of the utility model with accessory cart by fold mechanism realize seat overturning, when by
When shield people need to be transferred to accessory cart from nursing bed, seat realizes the tune that angle is rotated between seat and vehicle frame by fold mechanism
It is whole, and under the auxiliary of balance strut, so that accessory cart keeps balance；It is detached from seat by shield people by elevating mechanism support,
It is realized by transverse-moving mechanism and is carried out the service of defecation, shower in toilet by shield people；Accessory cart is realized by navigation camera
Walking function.
2, the utility model is the cleaning device that provides to solve the living needs of the elderly and bed patient and disabled person
Device people's system accessory cart.The accessory cart can assist under the cooperation of the mechanical hand of nursing robot's system by shield people
Paper diaper are taken off in toilet, under the cooperation of the mechanical hand of nursing robot's system, auxiliary is sitting on intelligent closestool by shield people and is rushed
It washes and remains after an action of the bowels and put on paper diaper again after drying；Under the cooperation of the mechanical hand of nursing robot's system, auxiliary is existed by shield people
Toilet takes off trousers, puts on trousers again after being sitting in defecation on intelligent closestool, flushing, drying by shield people；It is in nursing robot
Under the cooperation of the mechanical hand of system, auxiliary is taken a shower and is dried service in toilet by shield people
3, the utility model can enrich the life by shield people, can be sitting on accessory cart by shield people and be stopped before nursing bed
It has a rest, has some fruit as ordinary person and drink water；Accessory cart can also be sitting in get on dining in restaurant, got sun before removing window.This
Utility model can reduce the dependency burden of children, can equally safeguard the dignity of people.
Detailed description of the invention
Fig. 1 is the main view of nursing robot's system accessory cart of the utility model；
Fig. 2 is structural representation when nursing robot's system accessory cart of the utility model is in completely folded state
Figure；
Fig. 3 is structural representation when nursing robot's system accessory cart of the utility model is in folding exhibition state completely
Figure；
Fig. 4 is the state diagram being sitting on the accessory cart under folding exhibition state completely by shield people；
Fig. 5 is the state diagram being sitting on the accessory cart under completely folded state by shield people；
Fig. 6 is that the traversing seat plate of accessory cart is in schematic diagram when withdrawing from state.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of nursing robot of present embodiment in conjunction with Fig. 1 to Fig. 3
System accessory cart, it is characterised in that: the accessory cart includes seat, vehicle frame, fold mechanism, transverse-moving mechanism and elevator
Structure,
Seat is mounted on the top of vehicle frame, and the backrest root of seat and vehicle frame are rotatablely connected, and fold mechanism includes two foldings
Folded unit, two fold the two sides that unit is symmetricly set on vehicle frame, and transverse-moving mechanism is between vehicle frame and seat, elevating mechanism packet
Two lifting units are included, two lifting units are symmetricly set on the handrail of seat.
Specific embodiment 2: embodiment is described with reference to Fig. 2, the elevating mechanism of the accessory cart of present embodiment
Each lifting unit includes lifting motor 218, lifting and driving lead screw 205, lifting nut 206, operation slideway 207, stabilizer
208,
Lifting motor 218 is mounted on the handrail lower part of seat 201, and operation slideway 207 is mounted on the handrail of seat 201
Portion, the output axis connection of lifting and driving lead screw 205 and lifting motor 218, the inside of lifting nut 206 and lifting and driving lead screw
205 are threadedly coupled, and the outside and 208 lower part of stabilizer of lifting nut 206 are affixed, the both ends of stabilizer 208 and operation slideway 207
It is slidably matched.So set, the lifting motor 218 being located on two handrails of seat 201 drives lifting and driving lead screw 205 to rotate,
Lifting nut 206 drives two stabilizers 208 to move upwards along operation slideway 207 by shield people's picking-up.Other compositions and company
It is same as the specific embodiment one to connect relationship.
Specific embodiment 3: embodiment is described with reference to Fig. 1, the transverse-moving mechanism packet of the accessory cart of present embodiment
Traversing seat plate 209, seat plate frame 210, traversing motor 211 and traversing driving gear 212 are included,
Seat plate frame 210 is located at the lower part of seat 201, and one end of seat plate frame 210 and the backrest of seat 201 are affixed, sits
The other end of plate framework 210 and the handrail of seat 201 are affixed,
The sliding end of traversing seat plate 209 is slidably connected with seat plate frame 210, and the lower part side of traversing seat plate 209 is machined with
Linear gear rack for cooperating with traversing driving gear 212,
Traversing motor 211 is mounted on 202 top of vehicle frame, and traversing driving gear 212 is mounted on the output shaft of traversing motor 211
On, traversing driving gear 212 is meshed with the linear gear rack on traversing seat plate 209.So set, traversing motor 211 drives cross
Driving gear 212 is moved, drives traversing seat plate 209 to be displaced outwardly along seat plate frame 210, traversing seat plate 209 is withdrawn from；Traversing motor
The 211 traversing driving gears 212 of driving, drive traversing seat plate 209 to move inward along seat plate frame 210, traversing seat plate 209 is returned
Position.Other compositions and connection relationship are the same as one or two specific embodiments.
Specific embodiment 4: embodiment is described with reference to Fig. 2, the fold mechanism of the accessory cart of present embodiment
Each fold unit includes folding driving motor 213, folding driving gear 214, arc rack 215 and positioning sliding block 216,
The foreleg two sides that driving motor 213 is fixed on vehicle frame 202 are folded, driving gear 214 is folded and is mounted on folding driving
On the output shaft of motor 213,
The middle part of arc rack 215 is equipped with the arc positioning groove for cooperating with positioning sliding block 216, arc rack 215
One end is fixed on the two sides of seat plate frame 210, and gear 214 is corresponding sets for arc rack 215 and the folding of 201 two sides of seat driving
It sets, folds driving gear 214 and be meshed with arc rack 215,
One end of positioning sliding block 216 and folding driving motor 213 are affixed, the side wall and arc rack 215 of positioning sliding block 216
Arc positioning groove be slidably matched.So set, folding the driving of driving motor 213 folds driving gear 214, driving gear is folded
214 are meshed with arc rack 215, drive arc rack 215 to realize rotation with straight pin 217 for the center of circle, and then realize seat
Rotation between chair 201 and vehicle frame 202, to cooperate status requirement when different nursing care.It is other composition and connection relationship with specifically
Embodiment one, 2 is three identical.
Specific embodiment 5: embodiment is described with reference to Fig. 3, the accessory cart of present embodiment further includes balance branch
Bar 203 balances hinged in the middle part of one end of strut 203 and the backrest of seat 201.So set, the seat 201 when accessory cart is logical
It crosses fold mechanism and vehicle frame 202 is realized when rotating, balance strut 203 realizes the branch to seat 201 under the effect of gravity
Support improves the security performance of accessory cart so that seat 201 keeps balance.Other compositions and connection relationship and specific implementation
Mode one, two, three or four.
Specific embodiment 6: embodiment is described with reference to Fig. 3, the accessory cart of present embodiment further includes that seat is returned
Position button X-1, seat spin button X-2, promotion button X-3, the traversing button X-4 of seat plate, declines button X-5 and seat plate playback are pressed
Button X-6,
Seat home button X-1 and seat spin button X-2 control fold driving motor 213 rotate, promoted button X-3 and
Declines button X-5 controls lifting motor 218 and rotates, and seat plate traversing button X-4 and seat plate home button X-6 control traversing motor
211 rotations,
Seat home button X-1, seat spin button X-2, button X-3, the traversing button X-4 of seat plate, declines button are promoted
X-5 and seat plate home button X-6 be installed in seat 201 by back.Other compositions and connection relationship and specific embodiment
One, two, three, four or five.
Specific embodiment 7: embodiment is described with reference to Fig. 3, the accessory cart of present embodiment further includes that navigation is taken the photograph
As head 204, navigation camera 204 is mounted on the front end of vehicle frame 202.So set, accessory cart is connect by the camera 204 that navigates
The collection of letters number, controls starting or stoping for accessory cart.Other compositions and connection relationship and specific embodiment one, two, three, four,
Five or six.
Working principle
The working principle for illustrating utility model in conjunction with such as 1 to Fig. 6:
(1) it will be sent from nursing bed to toilet by shield people using accessory cart:
The seat spin button X-2 of accessory cart is pressed, driving motor 213 is folded and starts, driving motor 213 is folded and drives
Fold driving gear 214, drive arc rack 215 with straight pin 217 be the center of circle realize rotation, and then realize seat 201 with
Rotation between vehicle frame 202, when the angle between the backrest of seat 201 and ground is 45 °, driving motor 213 stops, nursing
The left and right mechanical hand of robot system will be taken in one's arms from nursing bed by shield people and will be placed on accessory cart；
The seat home button X-1 of accessory cart is pressed, driving motor 213 is folded and starts, driving motor 213 is folded and drives
Fold driving gear 214, drive arc rack 215 with straight pin 217 be the center of circle realize rotation, and then realize seat 201 with
Rotation between vehicle frame 202, when the angle between seat 201 and ground is 90 °, driving motor 213 stops, steady by shield people
Ground is sitting on the seat 201 of accessory cart；
The walking button X-7 of accessory cart is pressed, accessory cart is carried under the cooperation of navigation camera 204 by shield people's row
It walks to toilet, so far completing accessory cart will be sent from nursing bed to all processes of toilet by shield people.
(2) it assists being nursed by shield people in toilet using accessory cart:
The promotion button X-3 for pressing accessory cart, the lifting motor 218 on two handrails of seat 201 drive lifting
Turn-screw 205 rotates, and lifting nut 206 drives two stabilizers 208 to move upwards along operation slideway 207 by shield people's support
It rises；
The traversing button X-4 of seat plate of accessory cart is pressed, traversing motor 211 drives traversing driving gear 212, drives traversing
Seat plate 209 is displaced outwardly along seat plate frame 210, and traversing seat plate 209 is withdrawn from；Utilize the left and right mechanical hand of nursing robot's system
To be worn off paper diaper by shield people, trousers being worn off, cleaned, dried after an action of the bowels, the nursery works such as taken a shower, dried,
The seat plate home button X-6 of accessory cart is pressed, traversing motor 211 drives traversing driving gear 212, drives traversing
Seat plate 209 is moved inward along seat plate frame 210, and traversing seat plate 209 playbacks；
The declines button X-5 for pressing accessory cart, the lifting motor 218 on two handrails of seat 201 drive lifting
Turn-screw 205 rotate, lifting nut 206 drive two stabilizers 208 along operation slideway 207 move downward by shield people put
On the traversing seat plate 209 of accessory cart, the whole that accessory cart is nursed in toilet auxiliary by shield people is so far completed
Process.
Claims (7)
1. a kind of nursing robot's system accessory cart, it is characterised in that: the accessory cart includes seat (201), vehicle frame
(202), fold mechanism, transverse-moving mechanism and elevating mechanism,
Seat (201) is mounted on the top of vehicle frame (202), and the backrest root and vehicle frame (202) of seat (201) are rotatablely connected, folding
Folded mechanism includes two folding units, and two fold the two sides that unit is symmetricly set on vehicle frame (202), and transverse-moving mechanism is located at vehicle frame
(202) between seat (201), elevating mechanism includes two lifting units, and two lifting units are symmetricly set on seat (201)
Handrail on.
2. a kind of nursing robot's system accessory cart according to claim 1, it is characterised in that: the liter of accessory cart
Each lifting unit of descending mechanism includes lifting motor (218), lifting and driving lead screw (205), lifting nut (206), operation cunning
Road (207), stabilizer (208),
Lifting motor (218) is mounted on the handrail lower part of seat (201), and operation slideway (207) is mounted on the handrail of seat (201)
Top, the output axis connection of lifting and driving lead screw (205) and lifting motor (218), the inside of lifting nut (206) and lifting pass
Dynamic lead screw (205) are threadedly coupled, and the outside and stabilizer (208) lower part of lifting nut (206) are affixed, and the two of stabilizer (208)
End is slidably matched with operation slideway (207).
3. a kind of nursing robot's system accessory cart according to claim 2, it is characterised in that: the cross of accessory cart
Telephone-moving structure includes traversing seat plate (209), seat plate frame (210), traversing motor (211) and traversing driving gear (212),
Seat plate frame (210) is located at the lower part of seat (201), and one end of seat plate frame (210) and the backrest of seat (201) are solid
It connecing, the handrail of the other end and seat (201) of seat plate frame (210) is affixed,
The sliding end of traversing seat plate (209) is slidably connected with seat plate frame (210), the lower part side processing of traversing seat plate (209)
Have for the linear gear rack with traversing driving gear (212) cooperation,
Traversing motor (211) is mounted on vehicle frame (202) top, and traversing driving gear (212) is mounted on the defeated of traversing motor (211)
On shaft, traversing driving gear (212) is meshed with the linear gear rack on traversing seat plate (209).
4. a kind of nursing robot's system accessory cart according to claim 3, it is characterised in that: the folding of accessory cart
The each fold unit for folding mechanism includes folding driving motor (213), folding driving gear (214), arc rack (215) and determine
Position sliding block (216),
The foreleg two sides that driving motor (213) are fixed on vehicle frame (202) are folded, driving gear (214) is folded and is mounted on folding drive
On the output shaft of dynamic motor (213),
The middle part of arc rack (215) is equipped with the arc positioning groove for cooperating with positioning sliding block (216), arc rack (215)
One end be fixed on the two sides of seat plate frame (210), the folding of arc rack (215) and seat (201) two sides drives gear
(214) it is correspondingly arranged, folds driving gear (214) and be meshed with arc rack (215),
One end of positioning sliding block (216) and folding driving motor (213) are affixed, the side wall and arc rack of positioning sliding block (216)
(215) arc positioning groove is slidably matched.
5. a kind of nursing robot's system accessory cart according to claim 4, it is characterised in that: accessory cart also wraps
Balance strut (203) is included, is balanced hinged in the middle part of the one end of strut (203) and the backrest of seat (201).
6. a kind of according to claim 1, nursing robot's system accessory cart described in 2,3,4 or 5, it is characterised in that: auxiliary
Trolley is helped to further include seat home button (X-1), seat spin button (X-2), promote button (X-3), the traversing button (X- of seat plate
4), declines button (X-5) and seat plate home button (X-6),
Seat home button (X-1) and seat spin button (X-2) control fold driving motor (213) rotation, promote button (X-
3) it is controlled with declines button (X-5) control lifting motor (218) rotation, the traversing button of seat plate (X-4) and seat plate home button (X-6)
Traversing motor (211) rotation is made,
Seat home button (X-1), seat spin button (X-2) promote button (X-3), the traversing button of seat plate (X-4), decline
Button (X-5) and seat plate home button (X-6) be installed in seat (201) by back.
7. a kind of nursing robot's system accessory cart according to claim 6, it is characterised in that: accessory cart also wraps
Navigation camera (204) is included, navigation camera (204) is mounted on the front end of vehicle frame (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820798820.3U CN208677756U (en) | 2018-05-25 | 2018-05-25 | A kind of nursing robot's system accessory cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820798820.3U CN208677756U (en) | 2018-05-25 | 2018-05-25 | A kind of nursing robot's system accessory cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208677756U true CN208677756U (en) | 2019-04-02 |
Family
ID=65877508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820798820.3U Expired - Fee Related CN208677756U (en) | 2018-05-25 | 2018-05-25 | A kind of nursing robot's system accessory cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208677756U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111743449A (en) * | 2020-07-08 | 2020-10-09 | 重庆邮电大学 | Toilet power-assisted sit-up intelligent system for inconvenient people |
| CN113975005A (en) * | 2021-09-24 | 2022-01-28 | 安吉居然雅竹家居用品有限公司 | Intelligent multifunctional seat |
-
2018
- 2018-05-25 CN CN201820798820.3U patent/CN208677756U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111743449A (en) * | 2020-07-08 | 2020-10-09 | 重庆邮电大学 | Toilet power-assisted sit-up intelligent system for inconvenient people |
| CN111743449B (en) * | 2020-07-08 | 2022-02-22 | 重庆邮电大学 | Closestool assistance standing and sitting intelligent system for inconvenient people |
| CN113975005A (en) * | 2021-09-24 | 2022-01-28 | 安吉居然雅竹家居用品有限公司 | Intelligent multifunctional seat |
| CN113975005B (en) * | 2021-09-24 | 2023-09-19 | 安吉居然雅竹家居用品有限公司 | An intelligent multifunctional seat |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20190402 Termination date: 20200525 |