CN215262323U - A robot collision detection device and robot - Google Patents
A robot collision detection device and robot Download PDFInfo
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- CN215262323U CN215262323U CN202023149352.3U CN202023149352U CN215262323U CN 215262323 U CN215262323 U CN 215262323U CN 202023149352 U CN202023149352 U CN 202023149352U CN 215262323 U CN215262323 U CN 215262323U
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- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000002265 prevention Effects 0.000 claims 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 3
- 230000000903 blocking effect Effects 0.000 abstract 4
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- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
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- 238000000465 moulding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
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Abstract
本实用新型提供一种机器人碰撞检测装置和机器人，所述装置包括：防撞挡杆、机架、至少两个弹性复位组件、至少两个导向滑组和检测组件，检测组件被构造成根据防撞挡杆和机架之间的相对运动触发检测信号，弹性复位组件包括：弹性件，弹性件的两端分别与防撞挡杆和机架相连；导向滑组包括：导杆，导杆的一端与防撞挡杆铰接；滑块，滑块可转动地设于机架，导杆的另一端与滑块滑动配合，导杆设有第一限位结构和第二限位结构，第一限位结构位于滑块的背向防撞挡杆的一侧，第二限位结构位于防撞挡杆和滑块之间。本实用新型能够减少占用空间，提高可靠性和安全性，并且不影响外观，安装精度要求低。
The utility model provides a robot collision detection device and a robot. The device comprises: an anti-collision blocking rod, a frame, at least two elastic reset components, at least two guide sliding groups and a detection component, and the detection component is configured according to the anti-collision The relative movement between the bumper bar and the frame triggers the detection signal, and the elastic reset component includes: an elastic piece, two ends of the elastic piece are respectively connected with the bumper bar and the frame; the guide sliding group includes: a guide rod, the One end is hinged with the anti-collision blocking rod; the sliding block, the sliding block is rotatably arranged on the frame, the other end of the guide rod is slidably matched with the sliding block, and the guide rod is provided with a first limit structure and a second limit structure, the first The limiting structure is located on the side of the slider facing away from the anti-collision blocking rod, and the second limiting structure is located between the anti-collision blocking rod and the sliding block. The utility model can reduce the occupied space, improve the reliability and safety, does not affect the appearance, and requires low installation precision.
Description
Technical Field
The utility model relates to a robotechnology field, concretely relates to robot collision detection device and robot.
Background
The anti-collision function of the intelligent service robot is mainly realized by visual obstacle avoidance, ultrasonic obstacle avoidance and collision strip obstacle avoidance. When the vision obstacle avoidance and the ultrasonic obstacle avoidance are used on the robot, blind areas are generated, and the chassis of the robot can collide with feet of people or other obstacles due to the blind areas; the crash strips affect the appearance of the product by being generally disposed on the surface of the housing.
Therefore, an omnidirectional anti-collision device for an AGV (automatic Guided Vehicle) appears in the related art, however, because the rotating shaft of the pendulum guide rod is arranged at one side, the bending moment increases the friction force generated by the motion of the pendulum guide rod, and the external acting force causes the linear bearing to generate unbalance loading, which easily causes the linear bearing to be worn and failed; and, there is not limit structure in this device, and the spring is easy excessively bending deformation and leads to the anticollision pin to reset the difficulty.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned technical problem, provide a robot collision detection device and robot, can reduce occupation space, improve reliability and security to do not influence the outward appearance, the installation accuracy requires lowly.
The utility model adopts the technical scheme as follows:
a robot collision detecting device comprising: anticollision pin, frame and set up respectively the anticollision pin with at least two elasticity reset assembly, two at least guide sliding group and the determine module between the frame, two at least elasticity reset assembly are a plurality of and distribute in determine module's relative both sides, guide sliding group is a plurality of and distributes in determine module's relative both sides, determine module is constructed into the basis the anticollision pin with relative motion between the frame triggers the detected signal, wherein, elasticity reset assembly includes: elastic component, the both ends of elastic component respectively with anticollision pin with the frame links to each other, the smooth group of direction includes: one end of the guide rod is hinged with the anti-collision stop lever; the slider is rotationally arranged on the rack, the other end of the guide rod is in sliding fit with the slider, the guide rod is provided with a first limiting structure and a second limiting structure, the first limiting structure is located on one side, back to the anti-collision stop lever, of the slider, and the second limiting structure is located between the anti-collision stop lever and the slider.
The anti-collision stop lever is provided with a first plunger hole, the rack is provided with a second plunger hole, and two ends of the elastic piece are respectively matched in the first plunger hole and the second plunger hole.
The anti-collision stop lever is provided with a hinged support, and one end of the guide rod is hinged to the hinged support through a pin shaft and a cotter pin.
The sliding block comprises a shaft seat and a shaft sleeve arranged in the shaft seat, the shaft seat is rotatably arranged on the rack, and the other end of the guide rod is in sliding fit with the shaft sleeve.
The other end of the guide rod is provided with a stop gasket and a first fastener, and the stop gasket and the first fastener form the first limiting structure.
A portion of the stem projects radially outward to form the second stop.
The sliding block is connected with the rack through an antifriction gasket and a second fastener.
The rotating axis of the guide rod is parallel to the rotating axis of the sliding block.
The detection assembly comprises a first detection part arranged on the anti-collision stop lever and a second detection part arranged on the rack, wherein when the anti-collision stop lever moves relative to the rack, the second detection part generates the detection signal according to the change of the relative position between the second detection part and the first detection part.
The first detection part is a shading sheet which is provided with a light-transmitting groove which is penetrated through along the thickness direction; the second detection part is a photoelectric sensor, a transmitting window is arranged on the photoelectric sensor, and the light-transmitting groove corresponds to the transmitting window in position.
The photoelectric sensor is provided with a U-shaped groove, the transmitting window is arranged on the side wall of the U-shaped groove, and one part of the shading sheet is inserted into the U-shaped groove and is separated from the side wall of the U-shaped groove.
A robot comprises the robot collision detection device.
The utility model has the advantages that:
the utility model discloses simple structure is small and exquisite, can combine together with the chassis of robot and the molding of casing to the collision detection is sensitive, has the characteristics of multi-direction detection, thereby can form reliable safety barrier one under the condition of the outward appearance that does not change the robot, and the reliability is high, easily reset.
Drawings
Fig. 1 is a schematic structural diagram of a robot collision detection device according to an embodiment of the present invention;
fig. 2 is a working schematic diagram of the robot collision detection device according to the embodiment of the present invention after being impacted;
fig. 3 is a perspective view of a robot collision detecting apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot collision detection device according to an embodiment of the present invention;
fig. 5 is a sectional view taken along line a-a in fig. 4.
Reference numerals:
the anti-collision device comprises a collision detection device 100, an anti-collision stop rod 1, a first plunger hole 2, an elastic piece 3, a second plunger hole 4, a rack 5, a sliding block 6, a first limiting structure 7, a second limiting structure 9, a photoelectric sensor 10, a guide rod 11, a hinged support 13, a light shielding sheet 14, a light transmission groove 15, a transmitting window 16, a first fastening piece 22, a stop gasket 23, a shaft seat 24, a pin shaft 26, a cotter pin 27, an elastic reset component 41, a guide sliding group 42, a detection component 43, a shaft sleeve 51, a second fastening piece 52 and an anti-friction gasket 53.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 to 5, a robot collision detection device 100 according to an embodiment of the present invention includes: the collision-proof stop lever comprises a collision-proof stop lever 1, a frame 5, and an elastic reset assembly 41, a guide sliding set 42 and a detection assembly 43 which are respectively arranged between the collision-proof stop lever 1 and the frame 5.
In particular, at least two elastic return assemblies 41 are distributed on opposite sides of the detection assembly 43. At least two guide slide groups 42 are distributed on opposite sides of the detection assembly 43. For example, there are two elastic return assemblies 41 and two guide slide sets 42, two elastic return assemblies 41 are respectively located at the left side and the right side of the detection assembly 43, and two guide slide sets 42 are respectively located at the left side and the right side of the detection assembly 43. The detection assembly 43 is configured to trigger a detection signal depending on a relative movement between the crash bar 1 and the machine frame 5, for example, the detection assembly 43 may comprise a first detection portion provided to the crash bar 1 and a second detection portion provided to the machine frame 5, wherein the second detection portion generates a detection signal depending on a change in a relative position with the first detection portion when the crash bar 1 and the machine frame 5 are relatively moved.
Wherein, elasticity reset unit 41 includes elastic component 3, and the both ends of elastic component 3 link to each other with anticollision pin 1 and frame 5 respectively. The elastic member 3 is, for example, a compression spring. The guide slide group 42 includes the guide bar 11 and the slider 6. One end of the guide rod 11 is hinged with the anti-collision stop lever 1. Frame 5 is rotationally located to slider 6, and the other end and the slider 6 sliding fit of guide arm 11, guide arm 11 are equipped with first limit structure 7 and second limit structure 9, and first limit structure 7 is located slider 6's one side of crashproof pin 1 dorsad, and second limit structure 9 is located between crashproof pin 1 and the slider 6. For example, the front end of the guide rod 11 is hinged with the bumper bar 1, the rear end of the guide rod 11 is in sliding fit with the slider 6, the first limit structure 7 is located at the rear side of the slider 6, and the second limit structure 9 is located at the front side of the slider 6.
In an embodiment of the present invention, the first detecting portion may be the light shielding sheet 14, and the second detecting portion may be the photoelectric sensor 10. The light shielding sheet 14 is disposed on the bumper bar 1, and the light shielding sheet 14 is provided with a light transmission groove 15, and the light transmission groove 15 penetrates the light shielding sheet 14 along the thickness direction of the light shielding sheet 14. The photoelectric sensor 10 is a reflection type photoelectric sensor, the photoelectric sensor 10 is arranged on the rack 5, an emission window 16 is arranged on the photoelectric sensor 10, and the light-transmitting groove 15 corresponds to the emission window 16 in position. It should be understood that the positional correspondence here means that the light-transmitting slot 15 allows the laser light of the photosensor 10 to pass completely through in the unstressed initial state, i.e. when no relative movement occurs between the crash bar 1 and the frame 5; when the collision force in any direction, namely the relative movement between the collision-prevention stop lever 1 and the frame 5, is applied, the transmitting window 16 will be shielded by the light shielding sheet 14.
The utility model discloses an in other embodiments, detection module 43 can also include electromagnetic sensor etc. and can be used for detecting the induction system of position change, as long as guarantee when taking place relative motion between crashproof pin 1 and the frame 5 detection module 43 can produce detected signal can. Specifically, the electromagnetic transmitting unit may serve as a first detecting portion, the electromagnetic receiving unit may serve as a second detecting portion, and the electromagnetic transmitting unit and the electromagnetic receiving unit are located such that, when no relative movement occurs between the anti-collision bar 1 and the rack 5, a transmitting signal of the electromagnetic transmitting unit is within a receiving range of the electromagnetic receiving unit, and, after the relative movement occurs between the anti-collision bar 1 and the rack 5, the transmitting signal of the electromagnetic transmitting unit is outside the receiving range of the electromagnetic receiving unit.
In an embodiment of the present invention, as shown in fig. 1 to 3, the anti-collision bar 1 is provided with a first plunger hole 2, the frame 5 is provided with a second plunger hole 4, and both ends of the elastic member 3 are respectively fitted in the first plunger hole 2 and the second plunger hole 4.
In one embodiment of the invention, as shown in fig. 1, 2, 3 and 5, the crash bar 1 is provided with a hinge support 13, and the one end of the guide rod 11 is hinged to the hinge support 13 through a pin 26 and a split pin 27. Specifically, the hinged support 13 is provided with an adapting groove, the front end of the guide rod 11 and the pin shaft 26 are respectively provided with an adapting hole, the front end of the guide rod 11 can rotate in the adapting groove, the pin shaft 26 is inserted into the adapting hole on the front end of the guide rod 11, and the cotter pin 27 is inserted into the adapting hole of the pin shaft 26, so that the guide rod 11 is hinged to the hinged support 13.
In one embodiment of the present invention, as shown in fig. 3 and 5, the sliding block 6 includes a shaft seat 24 and a shaft sleeve 51 disposed in the shaft seat 24, the shaft seat 24 is rotatably disposed on the frame 5, and the other end of the guide rod 11 is slidably engaged with the shaft sleeve 51.
In one embodiment of the present invention, as shown in fig. 3 and 5, the other end of the guide bar 11 is provided with a stop washer 23 and a first fastening member 22, and the stop washer 23 and the first fastening member 22 form the first limit structure 7. For example, the stop washer 23 is a flat washer and the first fastener 22 is a cap screw.
In one embodiment of the present invention, as shown in fig. 3 to 5, a portion of the guide bar 11 protrudes radially outward to form the second limit structure 9, that is, the second limit structure 9 is configured as a step surface.
In one embodiment of the invention, the slide 6 is connected to the frame 5 by friction reducing washers 53 and a second fastener 52, as shown in fig. 5. For example, anti-friction spacer 53 is a plastic component and second fastener 52 is a cap screw.
In an embodiment of the present invention, as shown in fig. 2 and 3, the photoelectric sensor 10 is provided with a U-shaped groove, the emission window 16 is provided on a side wall of the U-shaped groove, a portion of the light shielding sheet 14 is inserted into the U-shaped groove and the light shielding sheet 14 is separated from the side wall of the U-shaped groove.
In one embodiment of the present invention, as shown in fig. 5, the rotation axis of the guide bar 11 is parallel to the rotation axis of the slider 6, i.e., the central axis of the pin shaft 26 is parallel to the central axis of the second fastening member 52.
The robot collision detecting device 100 according to one embodiment of the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 4, the robot collision detecting apparatus 100 of the present embodiment is composed of a crash bar 1, a frame 5, an elastic return member 41, a guide slider 42, and a detecting member 43. Wherein, the detecting component 43 is arranged in the middle, the two guiding sliding groups 42 are symmetrically arranged at the left and right sides of the detecting component 43, and the two elastic resetting components 41 are symmetrically arranged at the outermost side.
As shown in fig. 3 and 4, the elastic reset assembly 41 is composed of a first plunger hole 2, an elastic member 3 and a second plunger hole 4; the guide sliding group 42 is composed of a guide rod 11 and a sliding block 6, the front end of the guide rod 11 is connected with the hinged support 13 through a pin shaft 26 and a cotter pin 27, the rear end of the guide rod 11 is connected with the sliding block 6 through a cylindrical head screw and a plain washer, wherein the sliding block 6 is composed of a shaft seat 24 and a shaft sleeve 51, the sliding block 6 is limited in a corresponding hole of the frame 5 through an antifriction gasket 53 and the cylindrical head screw, and the sliding block 6 can rotate around the frame 5.
As shown in fig. 1, the first plunger hole 2, the hinge support 13, and the shade 14 are fixed to the crash bar 1, respectively. The second plunger hole 4, the slider 6 and the photoelectric sensor 10 are respectively fixed on the frame 5. The compression spring is confined in the first plunger hole 2 and the second plunger hole 4, and the slider 6 is provided with a hinge point. In an unstressed initial state, the hinge point 12 and the hinge point 8 form a parallelogram together, laser on the photoelectric sensor 10 completely penetrates through the light transmission groove 15, and the compression spring keeps pre-pressure under the action of the first limiting structure 7.
As shown in fig. 2, when the anti-collision bar 1 is subjected to an impact force F in any direction, the anti-collision bar 1 is displaced, the anti-collision bar 1 drives the compression spring to bend, and the sliding block 6 rotates around the hinge point 8 and drives the guide rod 11 to move; meanwhile, the emission window 16 of the infrared laser is shielded by the light shielding sheet 14, so that the photoelectric sensor 10 is triggered to control the chassis to stop running immediately, and the light transmission groove 15 is made into a U-shaped groove according to the emission window 16. Wherein, be provided with second limit structure 9 on the guide arm 11, second limit structure 9 can control the range of movement of crashproof pin 1, prevents that lens 14 from touchhing photoelectric sensor 10.
According to the utility model discloses a robot collision detection device, simple structure is small and exquisite, can combine together with the chassis of robot and the molding of casing to the collision detection is sensitive, has the characteristics of multi-direction detection, thereby can form reliable safety barrier one under the condition of the outward appearance that does not change the robot, and the reliability is high, easily reset.
Based on the robot collision detection device 100 of the above embodiment, the utility model discloses still provide a robot.
The utility model discloses robot, including above-mentioned robot collision detection device, its specific implementation mode can refer to above-mentioned embodiment.
The robot of the utility model has small occupied space and high reliability, and is particularly suitable for being arranged in a narrow place; reliable detection can be realized only by one set of photoelectric sensor, and the requirement on the installation precision of the photoelectric sensor is low; can listen left right direction and the collision in the place ahead, can carry out safety protection to the chassis in the process of advancing.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (12)
1. A robot collision detecting device characterized by comprising: an anti-collision stop lever, a frame, and at least two elastic reset assemblies, at least two guiding sliding groups and a detection assembly respectively arranged between the anti-collision stop lever and the frame, wherein the at least two elastic reset assemblies are distributed on two opposite sides of the detection assembly, the at least two guiding sliding groups are distributed on two opposite sides of the detection assembly, the detection assembly is configured to trigger a detection signal according to the relative movement between the anti-collision stop lever and the frame, wherein,
the elastic reset assembly comprises:
elastic component, the both ends of elastic component respectively with anticollision pin with the frame links to each other, the smooth group of direction includes:
one end of the guide rod is hinged with the anti-collision stop lever;
the slider is rotationally arranged on the rack, the other end of the guide rod is in sliding fit with the slider, the guide rod is provided with a first limiting structure and a second limiting structure, the first limiting structure is located on one side, back to the anti-collision stop lever, of the slider, and the second limiting structure is located between the anti-collision stop lever and the slider.
2. The robot collision detecting device according to claim 1, wherein the collision prevention lever is provided with a first plunger hole, the frame is provided with a second plunger hole, and both ends of the elastic member are fitted in the first plunger hole and the second plunger hole, respectively.
3. The robot collision detecting device according to claim 1, wherein the collision prevention stopper is provided with a hinge support, and the one end of the guide rod is hinged to the hinge support through a pin shaft and a cotter pin.
4. The robot collision detecting device of claim 1, wherein the slider includes a shaft seat and a bushing disposed within the shaft seat, the shaft seat being rotatably disposed on the frame, the other end of the guide rod being in sliding engagement with the bushing.
5. The robot collision detecting device according to claim 1, wherein the other end of the guide bar is provided with a stopper washer and a first fastener, the stopper washer and the first fastener forming the first stopper structure.
6. The robot collision detecting device according to claim 1, wherein a portion of the guide bar protrudes radially outward to form the second stopper structure.
7. The robot collision detecting device according to claim 1, characterized in that the slider is connected to the frame by a friction reducing washer and a second fastener.
8. The robot collision detecting device according to claim 1, wherein a rotation axis of the guide bar is parallel to a rotation axis of the slider.
9. The robot collision detecting device according to any one of claims 1 to 8, wherein the detection unit includes a first detection portion provided to the bumper bar and a second detection portion provided to the frame, wherein the second detection portion generates the detection signal according to a change in a relative position with the first detection portion when there is relative movement between the bumper bar and the frame.
10. The robot collision detecting device according to claim 9, wherein the first detecting portion is a light shielding plate provided with a light transmitting groove penetrating in a thickness direction, the second detecting portion is a photoelectric sensor provided with an emission window, and the light transmitting groove corresponds to the emission window.
11. The robot collision detecting device according to claim 10, wherein the photoelectric sensor is provided with a U-shaped groove, the transmission window is provided on a side wall of the U-shaped groove, a portion of the light-shielding sheet is inserted into the U-shaped groove and the light-shielding sheet is separated from the side wall of the U-shaped groove.
12. A robot characterized by comprising a robot collision detecting device according to any one of claims 1-11.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023149352.3U CN215262323U (en) | 2020-12-24 | 2020-12-24 | A robot collision detection device and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023149352.3U CN215262323U (en) | 2020-12-24 | 2020-12-24 | A robot collision detection device and robot |
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| CN215262323U true CN215262323U (en) | 2021-12-21 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115194807A (en) * | 2022-07-21 | 2022-10-18 | 临海市新睿电子科技有限公司 | Manipulator impact protection system and method |
| CN115570578A (en) * | 2022-10-31 | 2023-01-06 | 同程网络科技股份有限公司 | Anti-collision devices and service robots |
-
2020
- 2020-12-24 CN CN202023149352.3U patent/CN215262323U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115194807A (en) * | 2022-07-21 | 2022-10-18 | 临海市新睿电子科技有限公司 | Manipulator impact protection system and method |
| CN115570578A (en) * | 2022-10-31 | 2023-01-06 | 同程网络科技股份有限公司 | Anti-collision devices and service robots |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220331 Address after: 200336 room 6227, No. 999, Changning District, Shanghai Patentee after: Shenlan robot (Shanghai) Co.,Ltd. Address before: Unit 1001, 369 Weining Road, Changning District, Shanghai, 200336 (9th floor of actual floor) Patentee before: DEEPBLUE TECHNOLOGY (SHANGHAI) Co.,Ltd. |
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Effective date of registration: 20220715 Address after: 476000 shop 301, office building, northeast corner, intersection of Bayi Road and Pingyuan Road, Liangyuan District, Shangqiu City, Henan Province Patentee after: Shenlan robot industry development (Henan) Co.,Ltd. Address before: 200336 room 6227, No. 999, Changning District, Shanghai Patentee before: Shenlan robot (Shanghai) Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211221 |
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| CF01 | Termination of patent right due to non-payment of annual fee |