CN201300274Y - Five-axis welding robot - Google Patents
Five-axis welding robot Download PDFInfo
- Publication number
- CN201300274Y CN201300274Y CNU2008201235911U CN200820123591U CN201300274Y CN 201300274 Y CN201300274 Y CN 201300274Y CN U2008201235911 U CNU2008201235911 U CN U2008201235911U CN 200820123591 U CN200820123591 U CN 200820123591U CN 201300274 Y CN201300274 Y CN 201300274Y
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Abstract
The utility model provides a five-axis welding robot, which relates to a small-sized, movable, flexible and intelligent robot. The robot can perform pipeline abutting joint, large-sized container seal head welding, container inserting pipe welding and the like. The robot can replace hand welding to complete closing weld of space intersection lines under severe environmental conditions. The robot comprises a rotating mechanism, a tensioning mechanism, a straight-line displacement mechanism and a wrist mechanism. The mechanisms respectively realizes rotation of the waist of the welding robot, fixation of the welding robot main body on the welded workpiece, fore-aft and up-down movement of the welding robot arm and nozzle centering swing and underside movement of a welding torch at the wrist part. The mechanisms of which each part has specific functions can complete U-shaped intersection line welded seam welding with good quality.
Description
Technical field
The utility model is five welding robots, is a kind of small-sized, removable, flexible, intelligent robot.Can dock pipeline, the welding such as intubate weldering of tun end socket welding and container.Can under the environmental condition condition of severe, replace manual welding to finish the sealing welding of space intersection.
Technical background
For the welding of end socket and intubate seam of intersection line, general factory adopts manual welding to finish, and the manufacturing cycle is long, and labour intensity is big, manually-operated environment very severe, and production efficiency is low, and it is stable that welding quality is difficult to keep.Some welding robots from external introduction all are traditional six degree of freedom welding robots, and in welding process, because bulky, the inconvenient integral body of welding robot is moved, welding gun when motion easily and weldment interfere.And welding gun will be realized the fixedly centering campaign of rifle mouth, and all the other frees degree that need be except wrist athleticism together realize.Therefore, the workman is not directly perceived, convenient to its operation yet.When welding for difform intersection, robot can't adjust automatically, has limited the versatility of system.
The utility model content
For the welding surroundings that improves the workman, solve that traditional welding robot volume is too huge, can not only rely on the wrist free degree to realize the problems such as centering campaign of welding gun rifle mouth in the welding process, the utility model provides a kind of five intersecting line welding robots.This robot conveniently is installed, and can finish the welding of shape of a saddle intersection in high quality.
The utility model has been taked following technical scheme.This welding robot comprises rotating mechanism, tension mechanism, straight-line displacement mechanism, Wrist mechanism and wire feeder.Wherein:
Described rotating mechanism comprises servomotor, decelerator, helical gear shaft, inner for hollow main shaft, by the turntable that needle bearing is installed in the collar bush of main shaft external cylindrical surface, mainshaft gear fixedly connected with collar bush and that match with helical gear and fixedlys connected with collar bush, and servomotor links to each other with helical gear shaft by decelerator.
Described tension mechanism comprises the pull bar that is arranged in the main shaft and cooperates with gap of main reinforcement, be arranged on the upper end of pull bar and the lifting nut that is connected with pull rod screw, the handle of fixedlying connected with lifting nut, frame, upper box, lower box, thrust bearing, be arranged on the tensioner dish of pull bar lower end and under the tensioner dish, be arranged on the tensioner dish and the tightening piece of the annular of tensioner dish between down, frame, upper box is fixedlyed connected with the lower box three, helical gear shaft links to each other with lower box with upper box by bearing, lifting nut links to each other with frame by thrust bearing, fixedly connected on the lower end of main shaft and the tensioner dish, passing pull bar on the tensioner dish also can slide along pull bar under the drive of main shaft, the tensioner dish is fixedlyed connected with the lower end of pull bar down, be with stage clip on the tensioner dish and on the pull bar between under the tensioner dish, tightening piece be arranged on the tensioner dish and the groove of tensioner dish on down in and can be on the tensioner dish and the groove of tensioner dish on down slide, be provided with extension spring at the outer surface of tightening piece.
Described straight-line displacement mechanism comprise mutual vertically arranged translation stage A with translation stage B, be installed in the angle bar piece that a translation stage slide block and an end are fixedlyed connected with turntable, the other end is fixedlyed connected with the base of translation stage A on the translation stage B.
Described Wrist mechanism comprises position, angle platform A, position, angle platform B, connecting plate, the welding gun jig, arc guide barrel and welding gun, position, the angle pedestal of position, angle platform A is fixedlyed connected with the translation stage slide block in the straight-line displacement mechanism by L type arm, position, angle platform slide block among the platform A of position, angle is fixedlyed connected with position, the angle pedestal among the platform B of position, angle by connecting plate, position, angle platform slide block among the platform B of position, angle is fixedlyed connected with arc guide barrel, welding gun is arranged in the arc guide barrel by the welding gun jig, can slide intersection point 0 place of the rotation a of rifle mouth sensing position, the angle platform A of welding gun and the rotation b of position, angle platform B along arc guide barrel.The rotation b of the rotation a of position, angle platform A and position, angle platform B is mutually 120 °～150 °.
Described wire feeder comprises silk dish and the wire feeder that is fixed on the turntable.
The utility model is fixed on welding robot by on the welded tube spare firmly by tension mechanism, and the tensioner process is to realize by lifting nut.Be positioned at the lifting nut of welded piece outside by rotation, make on the tensioner dish with the tensioner dish under distance change, realize the tensioner of the inner tightening piece of welded piece and loose.Not only can realize the convenient operation that is installed, and can follow according to the big or small replacing of caliber jig and be installed to adapt to.
The effect that the utility model is the most useful is: 1) volume is little, and integral body is moved conveniently, each several part mechanism conveniently assemble and disassemble and repacking, and welding operation is convenient directly perceived.And can be in welding process, when guaranteeing that wrist part welding gun moves, the position of rifle mouth is motionless.
Description of drawings
Fig. 1: rotating mechanism view
Fig. 2: tension mechanism view
Fig. 3: translation stage constitutional diagram
Fig. 4: translation stage cutaway view
Fig. 5: position, angle platform constitutional diagram
Fig. 6: position, angle platform cutaway view
Fig. 7: position, angle platform connecting plate figure
Fig. 8: welding robot human agent figure
Fig. 9: welding robot front view
Figure 10: welding robot vertical view
Figure 11: welding robot left view
Figure 12: arc welding gun seat
Figure 13: welding gun jig and clamp nut
Among the figure: 1. servomotor, 2. decelerator, 3. angular contact ball bearing, 4, helical gear shaft, 5. taper roll bearing, 6. mainshaft gear, 7. end cap, 8. collar bush, 9. tightening piece, 10. nut is under the 11. tensioner dishes, 12. extension spring, 13. stage clips are on the 14. tensioner dishes, 15. feed main shaft, 16 turntables, 17. lower boxes, 18. needle bearing, 19. upper boxes, 20. lifting end caps, 21. frame, 22. lifting nuts, 23. thrust bearings, 24. handle, 25. pull bars, 26. translation stage A, 261, the translation stages of translation stage A, the translation stages of 271. translation stage B, the slide block of 262. translation stage A, 272. the slide block of translation stage B, 27. translation stage B, 28. jiaos of position platform A, 281. position, the angle pedestal of position, angle platform A, 321. position, the angle pedestal of position, angle platform B, position, the angle platform slide block of 282. jiaos of position platform A, position, the angle platform slide block of 322. jiaos of position platform B, 29. position, angle platform connecting plate, 30. gear wheel, 31. motor jigs, 32. jiaos of position platform B, 33. pinion, 34. welding gun, 35. welding gun jigs, 36. arc guide barrels, 37. silk dish, 38. wire feeder, 39, insulation spacer, 40.L the shape arm, 41. angle bar pieces
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing:
Present embodiment mainly comprises: five parts such as tension mechanism, rotating mechanism, straight-line displacement mechanism, Wrist mechanism, wire feeder.The connection order and the transmission principle of each several part are as follows:
The structure of rotating mechanism after servomotor 1 is installed decelerator 2, is passed to helical gear shaft 4 to driving force as shown in Figure 1.The shaft shoulder established angle contact ball bearing 3 (in pairs) of helical gear shaft 4, angular contact ball bearing 3 (in pairs) is assemblied in respectively on upper box 19 and the lower box 17.Upper box 19 assembles by soket head cap screw with lower box 17.Locate by the shaft shoulder on the collar bush 8 with mainshaft gear 6 axial directions of helical gear engagement on the helical gear shaft 4, and be anchored on the collar bush 8 by screw.Taper roll bearing 5 is installed in respectively on the side and lower box 17 of mainshaft gear 6.Collar bush 8 is assemblied on the external cylindrical surface that feeds main shaft 15 by needle bearing 18.The top inner cylinder face and the lifting end cap 20 that feed main shaft 15 assemble by screw thread.Lifting end cap 20 is pressed on the taper roll bearing 5, and the end face of lifting end cap 20 is fixing with soket head cap screw and upper box 19.Turntable 16 is screwed on collar bush 8.
Transmission principle: drive helical gear shaft 4 by servomotor 1 and rotate, helical gear 4 and mainshaft gear 6 engagements, under the drive of mainshaft gear 6, collar bush 8 rotates with mainshaft gear 6.With the fastening turntable 16 of collar bush 8 usefulness screws also along with rotation.Be that collar bush 8, turntable 16 are with respect to feeding main shaft 15, upper box 19, lower box 17 rotations.
The structure of tension mechanism as shown in Figure 2, handle 24 and lifting nut 22 are by the screw thread assembling, lifting nut 22 can be realized moving up and down on pull bar 25 by the screw thread transmission.Thrust bearing 23 (in pairs) is installed in the shaft shoulder place of lifting nut 22, and then they are assemblied in frame 21 the insides, and frame 21 usefulness soket head cap screws are fixed on the upper box 19.Feed main shaft 15 by be threaded with the tensioner dish on 14 fixing.Pull bar 25 unthreaded portions and lifting end cap 22, feed main shaft 15 matched in clearance, with 11 interference fits under the tensioner dish and fastening with nut 10.On the tensioner dish 14 and the tensioner dish under pull bar 18 parts between 11 be with stage clip 13.Tightening piece 9 be installed on the tensioner dish 15 and the tensioner dish under in 11 the guide groove, and by extension spring 12 constraints.Its tensioner is to realize by lifting nut.Lifting nut is installed on the screw mandrel.Be positioned at the lifting nut of welded piece outside by rotation, make on the tensioner dish with the tensioner dish under distance change, realize being installed on by the tensioner of the inner tightening piece of welded tube spare and loose.
Transmission principle: when handle 24 rotations, lifting nut 22 moves up and down, casing part, feed on main shaft 15, the tensioner dish 14 all with respect to 11 moving up and down under the tensioner dish, on the tensioner dish 14 with the tensioner dish under 11 distance change, tightening piece 9 outside the guide groove of upper and lower tensioner dish, rise or in contract.The tensioner jig is partly put into by in the weldering hollow pipe fitting, and rotary handle 24 realizes that welding robot is installed on pipe fitting.
Straight-line displacement mechanism as shown in Figure 3, Figure 4, straight-line displacement mechanism by translation stage A26 and translation stage B27 mutually vertical installation combine.One end of angle bar piece 41 is fixedlyed connected with turntable 16, the other end is fixedlyed connected with the base of translation stage A26.The translation stages 271 of translation stage B27 is installed on the translation stage slide block 262, is screwed.Drive by stepper motor, the slide block of translation stage can move on its screw mandrel guide rail.
Transmission principle: when stepper motor drives the screw mandrel rotation, the translation stage slide block movement.Translation stage B27 is installed on the translation stage slide block 262, and when the motor-driven screw mandrel of translation stage A26, translation stage B27 is with 262 motions of translation stage slide block.Translation stage slide block 272 can be by translation stage B27 motor-driven.Two vertical mutually installations of translation stage can be finished the level and the vertical motion of robotic weld arm.
The structure of Wrist mechanism such as Fig. 5, shown in Figure 6, Wrist mechanism mainly partly are made up of position, two angles platform mechanism and welding gun.The centering of welding gun rifle mouth is to make up by position, angle platform to realize.Position, two angles platform A, the B of Wrist mechanism links to each other by position, angle platform connecting plate 29, and position, angle platform connecting plate is installed on position, the angle platform slide block of position, angle platform A respectively and on position, the angle pedestal of position, angle platform B.Welding gun is installed on the platform slide block of position, platform B angle, position, angle.Position, the angle pedestal 281 of position, angle platform A28 is fixedlyed connected with the translation stage slide block 272 in the straight-line displacement mechanism by L type arm 40.Position, the angle pedestal of position, angle platform B32 is installed stepper motor with motor jig 31, and motor jig 31 usefulness soket head cap screws are fixed on position, the angle platform connecting plate 29.By gear wheel 30 is installed on the motor shaft of the fixing stepper motor of motor jig 31, the pinion that gear wheel 30 and position, angle platform B32 shaft extension are installed.Welding gun jig 36 is installed in platform slide block 322 sides, position, angle, and welding gun 34 is installed on the welding gun jig 36.Welding gun jig 36 usefulness nuts are fastened on the arc guide barrel.Position, angle platform connecting plate as shown in Figure 7, the connecting plate angle of bend is 135 °.
The rotating shaft at platform A place, position, angle and the rotating shaft of position, angle platform B are intersected, and at welding gun when mounted, welding gun rifle mouth points to the intersection point of two rotating shafts.At this moment, position, motor-driven angle platform A realizes the swing of welding gun.The swing of the mobile realization welding gun by position, angle platform A, the facing upward of the mobile realization welding gun by position, angle platform B.And be implemented in the process that any position, angle platform moves, the fixing centering of welding gun rifle mouth is motionless.The attitude that so need other free degree except that the wrist free degree participate in regulating welding gun, realize torch head fixing feel relieved motionless.The operation that can make the workman is intuitive and convenient more.
The Wrist mechanism principle as shown in Figure 6, in the platform mechanism of position, angle, position, angle platform slide block 282 can move in a circle by relative angle position pedestal 281, and radius of a circle is known.Behind said process installation Wrist mechanism, as shown in Figure 5, the rotation of axle a and axle b difference position, angle platform A28 and position, angle platform B32.Position, angle platform connecting plate 29 is installed on the slide block 282, and when the stepper motor of position, angle platform 28 was worked, all parts and mechanism all can move in a circle around a axle on the platform connecting plate of position, angle.The welding gun jig partly is installed on position, the angle platform slide block 322, and when the stepper motor of position, angle platform 32 was worked, welding gun jig and welding gun moved in a circle around the b axle.When the rifle rifle mouth of welding gun is in the intersection point 0 of a axle and b axle, which stepper motor work of opinion, welding gun rifle mouth all will point to 0 point.This mechanism realizes the swing of welding gun centering and presses down moving by the combination of position, two angles platform.
Wire feeder and relevant structure connect as shown in Figure 8, and silk dish 37 is fastened on the side of turntable 16 by connector, and wire feeder 38 is placed on above the insulation spacer 39, is fastened on the turntable 16 with screw.With wire feeder 38 over against turntable 16 sides, fastening by angle bar piece 41 and translation stages 261 usefulness screws, again angle bar piece 41 is screwed on turntable 16, straight-line displacement mechanism is fixed on the turntable 16.L shaped arm 40 1 ends are installed on the translation stage slide block 272 with screw, and the other end and position, angle pedestal 281 usefulness screws are fastening.
Welding robot robot end welding gun can finish the rotation of relative main body, up and down, front and back, swing, press down actions such as moving.
Claims (2)
1, five welding robots is characterized in that: comprise rotating mechanism, tension mechanism, straight-line displacement mechanism, Wrist mechanism and wire feeder; Wherein:
Described rotating mechanism comprise servomotor (1), decelerator (2), helical gear shaft (4), inner for hollow main shaft (15), by needle bearing be installed in main shaft (15) external cylindrical surface collar bush (8), with collar bush (8) mainshaft gear fixedly connected and that match with helical gear (6) and the turntable (16) of fixedlying connected with collar bush (8), servomotor (1) passes through decelerator (2) and links to each other with helical gear shaft (4);
Described tension mechanism comprise be arranged in the main shaft (15) and with the pull bar (25) of main shaft (15) matched in clearance, be arranged on the upper end of pull bar (25) and the lifting nut (22) that is threaded with pull bar (25), the handle of fixedlying connected (24) with lifting nut, frame (21), upper box (19), lower box (17), thrust bearing (23), be arranged on the tensioner dish of pull bar (25) lower end under (14) and tensioner dish (11), be arranged on the tensioner dish tightening piece (9) of the annular between (11) under (14) and tensioner dish, frame (21), upper box (19) is fixedlyed connected with lower box (17) three, helical gear shaft (4) links to each other with lower box (17) with upper box (19) by bearing, lifting nut (22) links to each other with frame (21) by thrust bearing (23), fixedly connected with (14) on the tensioner dish in the lower end of main shaft (15), (14) pass pull bar (25) and can sliding along pull bar (25) on the tensioner dish under the drive of main shaft (15), fixedly connected with the lower end of pull bar (25) (11) under the tensioner dish, on the pull bar between (11) under (14) on the tensioner dish and the tensioner dish, be with stage clip (13), tightening piece (9) be arranged on the tensioner dish under (14) and tensioner dish in the groove on (11) and can be on the tensioner dish groove slip on (11) under (14) and the tensioner dish, be provided with extension spring (12) at the outer surface of tightening piece (9);
Described straight-line displacement mechanism comprises mutual vertically arranged translation stage A (26) and translation stage B (27), be installed in translation stage slide block (272) on the translation stage B (27) and an end is fixedlyed connected with turntable (16), the other end is fixedlyed connected with the base of translation stage A (26) angle bar piece (41);
Described Wrist mechanism comprises position, angle platform A (28), position, angle platform B (32), connecting plate (29), welding gun jig (36), arc guide barrel (35) and welding gun (34), position, the angle pedestal (281) of position, angle platform A (28) is fixedlyed connected with the translation stage slide block (272) in the straight-line displacement mechanism by L type arm (40), position, angle platform slide block (282) among position, the angle platform A (28) is fixedlyed connected with position, the angle pedestal among position, the angle platform B (32) by connecting plate (29), position, angle platform slide block among position, the angle platform B (32) is fixedlyed connected with arc guide barrel (35), welding gun (34) is arranged in the arc guide barrel (35) by welding gun jig (36), can slide the intersection point O place of the rotation a of rifle mouth sensing position, the angle platform A (28) of welding gun (34) and the rotation b of position, angle platform B (32) along arc guide barrel;
Described wire feeder comprises silk dish (37) and the wire feeder (38) that is fixed on the turntable (16).
2, five welding robots according to claim 1 is characterized in that: the rotation b of the rotation a of position, described angle platform A (28) and position, angle platform B (32) is mutually 120 °～150 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201235911U CN201300274Y (en) | 2008-11-14 | 2008-11-14 | Five-axis welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201235911U CN201300274Y (en) | 2008-11-14 | 2008-11-14 | Five-axis welding robot |
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| CN201300274Y true CN201300274Y (en) | 2009-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201235911U Expired - Fee Related CN201300274Y (en) | 2008-11-14 | 2008-11-14 | Five-axis welding robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101934447A (en) * | 2010-09-10 | 2011-01-05 | 浙江七丰五金标准件有限公司 | Welding machine |
| CN102909471A (en) * | 2012-05-30 | 2013-02-06 | 上汽通用五菱汽车股份有限公司 | Welding manipulator |
| CN103659142A (en) * | 2013-11-28 | 2014-03-26 | 苏州凯尔博精密机械有限公司 | Clamping mechanism of water filter bucket cutting and welding machine |
| CN104325208A (en) * | 2014-11-03 | 2015-02-04 | 南京奥特电气股份有限公司 | Multifunctional welding head |
| CN105081633A (en) * | 2015-07-22 | 2015-11-25 | 北京中电华强焊接工程技术有限公司 | Five-degree-of-freedom welding cutting robot |
| CN105855667A (en) * | 2016-06-12 | 2016-08-17 | 航天科工哈尔滨风华有限公司 | Wireless-control-based four-degree-of-freedom TIG automatic surfacing rotary workbench |
| CN105880887A (en) * | 2016-06-29 | 2016-08-24 | 天津城建大学 | Circumferential feeding device of splicing pipeline welding system |
| CN106271165A (en) * | 2016-09-25 | 2017-01-04 | 羊丁 | A kind of linear type steel-pipe welding machine people |
| CN106271166A (en) * | 2016-09-25 | 2017-01-04 | 羊丁 | A kind of running type linear type steel-pipe welding machine people |
| CN107745213A (en) * | 2017-09-21 | 2018-03-02 | 佛山市富可思自动化设备有限公司 | Five axle focusing systems |
| CN110524157A (en) * | 2019-09-06 | 2019-12-03 | 南京奥特电气股份有限公司 | A kind of adjusting device for welding gun for automatic welding |
-
2008
- 2008-11-14 CN CNU2008201235911U patent/CN201300274Y/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101934447A (en) * | 2010-09-10 | 2011-01-05 | 浙江七丰五金标准件有限公司 | Welding machine |
| CN101934447B (en) * | 2010-09-10 | 2012-08-15 | 浙江七丰五金标准件有限公司 | Welding machine |
| CN102909471A (en) * | 2012-05-30 | 2013-02-06 | 上汽通用五菱汽车股份有限公司 | Welding manipulator |
| CN102909471B (en) * | 2012-05-30 | 2015-08-19 | 上汽通用五菱汽车股份有限公司 | welding manipulator |
| CN103659142A (en) * | 2013-11-28 | 2014-03-26 | 苏州凯尔博精密机械有限公司 | Clamping mechanism of water filter bucket cutting and welding machine |
| CN103659142B (en) * | 2013-11-28 | 2016-01-27 | 苏州凯尔博精密机械有限公司 | A kind of water-purifying tank cutting bonding machine clamp system |
| CN104325208A (en) * | 2014-11-03 | 2015-02-04 | 南京奥特电气股份有限公司 | Multifunctional welding head |
| CN105081633A (en) * | 2015-07-22 | 2015-11-25 | 北京中电华强焊接工程技术有限公司 | Five-degree-of-freedom welding cutting robot |
| CN105855667A (en) * | 2016-06-12 | 2016-08-17 | 航天科工哈尔滨风华有限公司 | Wireless-control-based four-degree-of-freedom TIG automatic surfacing rotary workbench |
| CN105855667B (en) * | 2016-06-12 | 2018-02-13 | 航天科工哈尔滨风华有限公司 | One kind is based on controlled in wireless four-degree-of-freedom TIG automatic surfacing rotary tables |
| CN105880887A (en) * | 2016-06-29 | 2016-08-24 | 天津城建大学 | Circumferential feeding device of splicing pipeline welding system |
| CN105880887B (en) * | 2016-06-29 | 2024-06-04 | 天津城建大学 | Circumferential feeding device of splicing pipeline welding system |
| CN106271165A (en) * | 2016-09-25 | 2017-01-04 | 羊丁 | A kind of linear type steel-pipe welding machine people |
| CN106271166A (en) * | 2016-09-25 | 2017-01-04 | 羊丁 | A kind of running type linear type steel-pipe welding machine people |
| CN106271165B (en) * | 2016-09-25 | 2018-08-24 | 南宁市华隆五金家具有限公司 | A kind of linear type steel-pipe welding machine people |
| CN106271166B (en) * | 2016-09-25 | 2018-08-31 | 青岛祥明电力设备有限公司 | A kind of running type linear type steel-pipe welding machine people |
| CN107745213A (en) * | 2017-09-21 | 2018-03-02 | 佛山市富可思自动化设备有限公司 | Five axle focusing systems |
| CN107745213B (en) * | 2017-09-21 | 2019-08-13 | 佛山市富可思自动化设备有限公司 | Five axis focusing systems |
| CN110524157A (en) * | 2019-09-06 | 2019-12-03 | 南京奥特电气股份有限公司 | A kind of adjusting device for welding gun for automatic welding |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20090902 Termination date: 20161114 |