CN102689304B - Three-freedom-degree mobile parallel robot mechanism - Google Patents
Three-freedom-degree mobile parallel robot mechanism Download PDFInfo
- Publication number
- CN102689304B CN102689304B CN201210010471.1A CN201210010471A CN102689304B CN 102689304 B CN102689304 B CN 102689304B CN 201210010471 A CN201210010471 A CN 201210010471A CN 102689304 B CN102689304 B CN 102689304B
- Authority
- CN
- China
- Prior art keywords
- moving
- revolute pair
- pair
- platform
- connecting elements
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a three-freedom-degree mobile parallel robot mechanism comprising a mobile platform and an immobile platform, wherein three branch mobile chains which are the same in structure form and are orthogonally distributed in a space are arranged between the mobile platform and the immobile platform; between the mobile platform and the immobile platform, each branch mobile chain is formed by sequentially connecting a first mobile pair, a first rotating pair, a second rotating pair, a parallelogram structure and a movement pair in series; and moving directions of the three first mobile pairs corresponding to the three branch mobile chains are vertical and are orthogonally distributed in the space. The mechanism can be used as a terminal executing mechanism of an industrial robot, a medical robot and a micro-operation robot; and the mechanism has the advantages of simple structure, good kinematic decoupling performance and high movement performance.
Description
Technical field
The present invention relates to industrial robot field, particularly relate to the full decoupled three-freedom parallel robot mechanism of a kind of non-over constraint.
Background technology
Parallel robot mechanism is generally made up of moving platform, fixed platform and some branches (general 2 ~ 6).Relative to conventional serial mechanism, parallel robot mechanism has that bearing capacity is strong, precision is high, rigidity is large, speed responsive is fast and the advantage such as deadweight duty ratio is little.Parallel robot mechanism has become the study hotspot of recent two decades theory of mechanisms and robot field.
For general parallel robot mechanism, its kinematics coupling is all very strong, and a movement output of moving platform often needs multiple input control, and kinematic solution is complicated, and as famous 6DOF Steward parallel institution, the kinematic solution of this mechanism has 40 groups; For another example 3DOF moves Delta parallel mechanism, and this mechanism is made up of 12 ball pairs, 3 revolute pairs and 14 rod members, and structure comparatively compound movement solution has 16 groups.Tsai L-W devises a kind of novel three-dimensional mobile parallel connection mechanism (publication date is 1997.08.12 for United States Patent (USP), No.5656905) on the basis of Delta mechanism, although structure is comparatively simple relative to the former, its kinematics solution is eight times.Parallel robot mechanism kinematics coupling is stronger, and the number of kinematic solution is relatively more, and its working space is then less relative to the volume of mechanism, and mechanism path is planned and precision controlling is more difficult.Kong X-W designs 3-CRR parallel institution, only have 3 cylindrical pairs, 6 revolute pairs and 6 rod member compositions, relatively simple for structure, but the normal angle theoretical value of the axis of its revolute pair and cylindrical pair and moving platform plane is 54.7356 degree, this processing for correlated parts and assembling propose requirements at the higher level.
Domestic scholars also achieves a series of achievement in the research of three-dimensional moving parallel structure, as disclosed in Chinese patent 201010225496.4 a kind of " a kind of three-translation spatial parallel robotic mechanism ", although this mechanism's structure is comparatively simple, but sports coupling is comparatively strong, therefore project organization is simple, kinematic decoupling is good and the parallel institution that exercise performance is high has become the new problem of this area research.
Summary of the invention
The object of the present invention is to provide the full decoupled three-freedom parallel robot mechanism of a kind of non-over constraint, with limited, the baroque problem of the decoupling solving parallel robot mechanism of the prior art.
In order to solve the problem, technical scheme of the present invention is:
A kind of three free degree moving parallel connected robot mechanism, comprise moving platform and fixed platform, described is dynamic, identical and the sub-chain that the is distribution in orthogonal space of three version is provided with between fixed platform, between fixed platform to moving platform, each sub-chain is by the first moving sets, first revolute pair, second revolute pair, parallelogram sturcutre and kinematic pair sequential series form, between described first moving sets and the first revolute pair, be connected with the 3rd component by second component respectively between second revolute pair and kinematic pair, described parallelogram sturcutre and kinematic pair are by following two kinds of forms: the first form, described parallelogram sturcutre comprises quadrangle revolute pair that four axis are parallel to each other and is connected to first between four quadrangle revolute pairs, two, three, four connecting elements, described each quadrangle revolute pair, first revolute pair, the axis of the second revolute pair is all parallel to each other with the moving direction of corresponding first moving sets, the second described revolute pair is arranged on the middle part of described first connecting elements, the 3rd connecting elements in described parallelogram sturcutre is arranged on described moving platform by described kinematic pair, the revolute pair that described kinematic pair is overlapped with the center line of described 3rd connecting elements by axis is formed, the second form, described parallelogram sturcutre is by first, two, four connecting elements and moving platform surround, described second, the two ends being arranged at described first connecting elements that four connecting elements are parallel to each other respectively by the quadrangle revolute pair of correspondence, described each quadrangle revolute pair, first revolute pair, the axis of the second revolute pair is all parallel to each other with the moving direction of corresponding first moving sets, the second described revolute pair is arranged on the middle part of described first connecting elements, described second, the other end of four connecting elements is connected with moving platform respectively by corresponding sports pair, described kinematic pair is universal hinge or ball pivot,
The moving direction of three the first moving sets that described three sub-chains are corresponding is mutually vertical, and the distribution in orthogonal space.
Described moving platform is that opposite side is parallel and the regular hexagonal that non-conterminous edge lengths is equal, and three kinematic pairs that described each sub-chain is corresponding are arranged on the non-conterminous limit of described moving platform respectively.
Described moving platform is provided with three guide rails that three guide direction are orthogonal space distribution, three the first moving sets that described each sub-chain is corresponding are assemblied on three corresponding guide rails respectively.
Described three free degree moving parallel connected robot mechanism also comprises and is in transmission connection with corresponding first moving sets respectively to drive each first moving sets along the linear electric motors of corresponding guide rail rectilinear motion or the ball-screw transmission mechanism by driven by servomotor.
Beneficial effect of the present invention is: three sub-chains are respectively first and second and three sub-chains, the moving direction of the first moving sets that three sub-chains are corresponding is respectively orthogonal X-direction, Y-direction and Z-direction in space, when the described moving platform of needs moves back and forth in X direction, by drive the first moving sets of the first sub-chain in X direction movement to drive described moving platform, in the process, second, third described sub-chain does adaptive motion; When needs moving platform moves reciprocatingly along Y-direction, to move along Y-direction by driving the second moving sets of the second sub-chain and drive described moving platform, in the process, described first, the 3rd sub-chain does adaptive motion; When needs moving platform moves reciprocatingly along track Z-direction, to move along Z-direction by driving the three moving sets of Article 3 sub-chain and drive moving platform, in the process, first, second sub-chain described does adaptive motion; Finally realize the full decoupled three free degree moving parallel connected robot mechanism of non-over constraint of the present invention.Parallel robot mechanism is all identical with mechanical property along the kinematics in any direction in whole working space, man-to-man control planning can be realized between the motion input and output of mechanism, namely a movement output of moving platform only needs a driver control, the kinematic decoupling solving existing robot mechanism is poor, and one of mechanism's moving platform exports the problem needing multiple input control.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1;
Fig. 2 is the structural representation of the embodiment of the present invention 2;
Fig. 3 is the structural representation of the embodiment of the present invention 3.
Detailed description of the invention
A kind of embodiment 1 of three free degree moving parallel connected robot mechanism is as shown in Figure 1: comprise fixed platform 10, moving platform 20 and connect fixed platform 10 identical with three versions of moving platform 20 and in orthogonal space sub-chain composition respectively, moving platform 10 adopts opposite side parallel and the equal regular hexagonal structure of non-conterminous edge lengths.Three articles of described sub-chains are the first sub-chain L1, the second sub-chain L2 and the 3rd sub-chain L3.
Three directions orthogonal in space are defined as X-direction, Y-direction and Z-direction respectively, fixed platform 10 be provided with guide direction respectively in X direction, Y-direction and Z-direction the X direction guiding rail 1-1, the Y-direction guide rail 1-2 that extend and Z-direction guide rail 1-3, first sub-chain L1 is corresponding with X direction guiding rail 1-1 to be arranged, second sub-chain L2 is corresponding with Y-direction guide rail 1-2 to be arranged, and the 3rd sub-chain L3 is corresponding with Z-direction guide rail 1-3 to be arranged.Article three, sub-chain has identical version, and every bar sub-chain forms by the first moving sets P1, the first revolute pair R1, the second revolute pair R2, parallelogram sturcutre Pa and kinematic pair R3 sequential series, parallelogram sturcutre Pa is by the quadrangle revolute pair comprising four axis being parallel and the first connecting elements 4a be connected between four quadrangle revolute pairs, second connecting elements 4b, 3rd connecting elements 4d and the 4th connecting elements 4c, four quadrangle revolute pairs and four connecting elements composition loops, four quadrangle revolute pairs are respectively the first quadrangle revolute pair Ra1, second quadrangle revolute pair Ra2, 3rd quadrangle revolute pair Ra3 and the 4th quadrangle revolute pair Ra4, moving direction and the corresponding first revolute pair R1 of the first moving sets P1, in second revolute pair R2 and parallelogram sturcutre, the axis of four quadrangle revolute pairs is parallel to each other, and perpendicular to the axis of kinematic pair R3, between first moving sets P1 and the first revolute pair R1, between the first revolute pair R1 and the second revolute pair R2, correspondence is connected by second component 2, the 3rd component 3, second revolute pair is arranged on the point midway of component 4a, parallelogram linkage is arranged on moving platform by kinematic pair R3, and the revolute pair that kinematic pair R3 is overlapped with the center line of the 3rd connecting elements 4d by axis is formed, and kinematic pair R3 is directly fixed on moving platform 20, article three, the first moving sets P1 axis of sub-chain be orthogonal space distribution, namely X to 1-1, Y-direction guide rail 1-2 and Z-direction guide rail 1-3 mutually vertical, first moving sets P1 of each sub-chain is driving pair, and its way of output is linear, for controlling the movement of moving platform along himself slideway direction, drive unit adopts and to be in transmission connection decelerator at the clutch end of servomotor, and decelerator upper driving connects ball screw framework, the form that ball screw framework is in transmission connection with corresponding moving sets.(or servomotor+ball screw arrangement, or linear electric motors, or Linear slide platform).
The full decoupled three free degree moving parallel connected robot mechanism of non-over constraint of the present invention is in work process, when the described moving platform of needs moves back and forth along X direction guiding rail 1-1, by driving the first moving sets P1 of described first sub-chain L1 to drive described moving platform 20, in the process, second, third described sub-chain does adaptive motion; When needs moving platform moves reciprocatingly along Y-direction guide rail 1-2, by driving second moving sets of described Article 2 sub-chain L2 to drive described moving platform 20, in the process, described first, the 3rd sub-chain does adaptive motion; When needs moving platform 20 moves reciprocatingly along Z-direction guide rail 1-3, by driving the three moving sets of Article 3 sub-chain L3 to drive described moving platform 20, in the process, first, second sub-chain described does adaptive motion; Finally realize the full decoupled three free degree moving parallel connected robot mechanism of non-over constraint of the present invention.Because mechanism's Jacobian matrix is unit battle array, the value of its conditional number and determinant is constantly equal to 1, therefore this kinematics of mechanism is not only full decoupled, also has completely isotropic performance, and namely mechanism is all identical with mechanical property along the kinematics in any direction in whole working space; Man-to-man control planning can be realized between the motion input and output of mechanism, namely a movement output of moving platform 20 only needs a driver control, the kinematic decoupling solving existing robot mechanism is poor, and an output of the moving platform of mechanism needs the problem of multiple input control; In addition, the existence of kinematic pair R3 in each branch, not only makes mechanism become non-over constraint mechanism from over-constraint structure, the more important thing is and the assembly relation of each sub-chain and moving platform 20 is simplified greatly.The present invention relates to the three-dimensional mobile terminal executing agency that can be used as the fields such as industrial robot, Medical Robot, micro-manipulating robot, Virtual Machine.
A kind of embodiment 2 of three free degree moving parallel connected robot mechanism is as shown in Figure 2: embodiment 2 is with the difference of embodiment 1, and described parallelogram sturcutre is by the first quadrangle revolute pair Ra1, second quadrangle revolute pair Ra2, first universal hinge U1, second universal hinge U2, and the first connecting elements 4a, second connecting elements 4b, 4th connecting elements 4c and moving platform 20 surround, described parallelogram second, the two ends being arranged at described first connecting elements 4a that four connecting elements are parallel to each other respectively by the first quadrangle revolute pair Ra1 and the second quadrangle revolute pair Ra2 of correspondence, described each quadrangle revolute pair, first revolute pair R1, the axis of the second revolute pair R2 is all parallel to each other with the moving direction of corresponding first moving sets P1, and the second described revolute pair R2 is arranged on the point midway of described first connecting elements 4a, and described second, the other end of four connecting elements is respectively by the described first universal hinge U1, second universal hinge U2 is arranged on described moving platform 20.First universal hinge U1 has the first turning cylinder U1-1 paralleled with the moving direction of corresponding first moving sets P1 and the second turning cylinder U1-2 paralleled with the center line of described first connecting elements 4a; Second universal hinge U2 has the first turning cylinder U2-1 paralleled with the moving direction of corresponding first moving sets P1 and the second turning cylinder U2-2 paralleled with the center line of the first connecting elements 4a.
A kind of embodiment 3 of three free degree moving parallel connected robot mechanism is as shown in Figure 3: embodiment 3 is with the difference of embodiment 2, and the first universal U1 of hinge be connected between the second connecting elements 4b and moving platform 20 is transformed into the first ball pivot S1 and the second universal U2 that cuts with scissors be connected between the 4th connecting elements 4c and moving platform 20 is transformed into the second ball pivot S2.
Claims (4)
1. a three free degree moving parallel connected robot mechanism, comprise moving platform and fixed platform, it is characterized in that: described is dynamic, identical and the sub-chain that the is distribution in orthogonal space of three version is provided with between fixed platform, between fixed platform to moving platform, each sub-chain is by the first moving sets, first revolute pair, second revolute pair, parallelogram sturcutre and kinematic pair sequential series form, between described first moving sets and the first revolute pair, be connected with the 3rd component by second component respectively between first revolute pair and the second revolute pair, described parallelogram sturcutre and kinematic pair are by following two kinds of forms: the first form, described parallelogram sturcutre comprises quadrangle revolute pair that four axis are parallel to each other and is connected to first between four quadrangle revolute pairs, two, three, four connecting elements, described each quadrangle revolute pair, first revolute pair, the axis of the second revolute pair is all parallel to each other with the moving direction of corresponding first moving sets, the second described revolute pair is arranged on the middle part of described first connecting elements, the 3rd connecting elements in described parallelogram sturcutre is arranged on described moving platform by described kinematic pair, the revolute pair that described kinematic pair is overlapped with the center line of described 3rd connecting elements by axis is formed, described kinematic pair is directly fixed on moving platform, the second form, described parallelogram sturcutre is by first, two, four connecting elements and moving platform surround, described second, the two ends being arranged at described first connecting elements that four connecting elements are parallel to each other respectively by the quadrangle revolute pair of correspondence, described each quadrangle revolute pair, first revolute pair, the axis of the second revolute pair is all parallel to each other with the moving direction of corresponding first moving sets, the second described revolute pair is arranged on the middle part of described first connecting elements, described second, the other end of four connecting elements is connected with moving platform respectively by corresponding sports pair, described kinematic pair is universal hinge or ball pivot,
The moving direction of three the first moving sets that described three sub-chains are corresponding is mutually vertical, and the distribution in orthogonal space.
2. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: described moving platform is that opposite side is parallel and the regular hexagonal that non-conterminous edge lengths is equal, and three kinematic pairs that described each sub-chain is corresponding are arranged on the non-conterminous limit of described moving platform respectively.
3. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: described moving platform is provided with three guide rails that three guide direction are orthogonal space distribution, three the first moving sets that described each sub-chain is corresponding are assemblied on three corresponding guide rails respectively.
4. three free degree moving parallel connected robot mechanism according to claim 3, is characterized in that: described three free degree moving parallel connected robot mechanism also comprises and is in transmission connection with corresponding first moving sets respectively to drive each first moving sets along the linear electric motors of corresponding guide rail rectilinear motion or the ball-screw transmission mechanism by driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210010471.1A CN102689304B (en) | 2012-01-13 | 2012-01-13 | Three-freedom-degree mobile parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210010471.1A CN102689304B (en) | 2012-01-13 | 2012-01-13 | Three-freedom-degree mobile parallel robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102689304A CN102689304A (en) | 2012-09-26 |
| CN102689304B true CN102689304B (en) | 2015-05-13 |
Family
ID=46855124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210010471.1A Expired - Fee Related CN102689304B (en) | 2012-01-13 | 2012-01-13 | Three-freedom-degree mobile parallel robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102689304B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481278A (en) * | 2013-10-11 | 2014-01-01 | 天津理工大学 | Three-translational spatial parallel robot mechanism |
| CN103737576A (en) * | 2014-01-08 | 2014-04-23 | 北京邮电大学 | Six freedom degree force feedback hand controller |
| CN104021718B (en) * | 2014-04-30 | 2016-01-06 | 燕山大学 | A kind of freedom degree parallel connection tilter containing closed-loop subchain |
| CN104626119A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (2R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN104526686A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | 1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism |
| CN105364910B (en) * | 2015-10-26 | 2017-06-13 | 浙江理工大学 | It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving |
| CN109176471B (en) * | 2018-09-30 | 2023-10-24 | 昆明理工大学 | Four-degree-of-freedom parallel mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1117650C (en) * | 2001-02-28 | 2003-08-13 | 中国石化集团金陵石油化工有限责任公司 | 3D parallel translation mechanism for virtual-axle machine tool and robot |
| CN100453279C (en) * | 2007-05-31 | 2009-01-21 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| CN101700621A (en) * | 2009-11-03 | 2010-05-05 | 天津理工大学 | Full decoupled three-dimensional moving parallel robot mechanism |
| CN202428439U (en) * | 2012-01-13 | 2012-09-12 | 河南科技大学 | Three-freedom-degree movable parallel robot mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101259618B (en) * | 2008-04-08 | 2010-05-12 | 浙江理工大学 | Three-freedom mobile parallel connection mechanism without redundant bondage |
-
2012
- 2012-01-13 CN CN201210010471.1A patent/CN102689304B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1117650C (en) * | 2001-02-28 | 2003-08-13 | 中国石化集团金陵石油化工有限责任公司 | 3D parallel translation mechanism for virtual-axle machine tool and robot |
| CN100453279C (en) * | 2007-05-31 | 2009-01-21 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| CN101700621A (en) * | 2009-11-03 | 2010-05-05 | 天津理工大学 | Full decoupled three-dimensional moving parallel robot mechanism |
| CN202428439U (en) * | 2012-01-13 | 2012-09-12 | 河南科技大学 | Three-freedom-degree movable parallel robot mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102689304A (en) | 2012-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102689304B (en) | Three-freedom-degree mobile parallel robot mechanism | |
| CN202428439U (en) | Three-freedom-degree movable parallel robot mechanism | |
| CN100395086C (en) | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type | |
| CN100411826C (en) | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions | |
| CN103586864A (en) | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains | |
| CN102699908B (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN105522561A (en) | Fully-isotropic and asymmetric parallel mechanism capable of performing two-dimensional rotation and one-dimensional movement | |
| CN101927491B (en) | Completely isotropic three-freedom degree spatial parallel robot mechanism | |
| CN105082112A (en) | Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function | |
| CN102909569B (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN102975201A (en) | Three degree-of-freedom parallel mechanism with symmetrical space surfaces | |
| CN102922515A (en) | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling | |
| CN102579137B (en) | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN104760037A (en) | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism | |
| CN203245874U (en) | Three-freedom-degree movable parallel robot mechanism | |
| CN102398264A (en) | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN103072133A (en) | Three-degree-of-freedom motion decoupled parallel robot mechanism | |
| CN102873681A (en) | Novel two-degree-of-freedom manipulator mechanism | |
| CN100427276C (en) | Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions | |
| CN104608130A (en) | 3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| 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: 20150513 Termination date: 20190113 |