CN201537815U - Processor with mechanical arm - Google Patents
Processor with mechanical arm Download PDFInfo
- Publication number
- CN201537815U CN201537815U CN2009201742179U CN200920174217U CN201537815U CN 201537815 U CN201537815 U CN 201537815U CN 2009201742179 U CN2009201742179 U CN 2009201742179U CN 200920174217 U CN200920174217 U CN 200920174217U CN 201537815 U CN201537815 U CN 201537815U
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Abstract
The utility model discloses a processing machine with a mechanical arm. The processing machine comprises a base, a bed, a bedpost, a processing device and a mechanical arm, wherein the bed is arranged on the base and can move relative to the base; the bed comprises a workbench used for bearing an object to be processed; the bedpost is fixedly connected with the base; the processing device is arranged on the bedpost in a sliding manner and can do linear motion relative to the workbench to process the object on the workbench; the mechanical arm comprises a fixed seat and a holding part; the fixed seat is fixed on the bedpost; and the holding part is used for holding the object and placing the object onto the workbench or removing the object therefrom. Therefore, the processing machine can improve the processing reliability of the object in volume production.
Description
[technical field]
The utility model is relevant for a kind of processing machine with mechanical arm, and specifically about a kind of processing machine that uses mechanical arm to move processing object.
[background technology]
The mode of operation of general processing machine is for to place object to be processed on the workbench of processing machine, and located, fixes.The existing practice is moved to object on the workbench with manual mode by operating personnel, is located, fixes.Owing to be manually to carry out Primary Location, therefore for the higher procedure of required precision, must location of carrying out between process tool and object consuming time again, and this location still needs judgement by operating personnel to confirm whether reach needed location usually.
Under the situation of volume production,, so enlarged the finished product manufacturing tolerance of this procedure because of the latter is positioned with the adding of operating personnel's subjective judgement factor.At this moment, for remedying the finished product manufacturing tolerance that causes because of operating personnel's intervention, usually one of the method that solves is exactly the finished product manufacturing tolerance scope of utilizing auxiliary fixture to be caused with the control operation personnel, but tool itself also has manufacturing tolerance, and therefore the tolerance of introducing because of operating personnel also can't be eliminated fully.Another kind of solution just is to use the processing machine with high manufacturing accuracy more to reduce the manufacturing tolerance that processing machine itself causes, and then dwindle the finished product manufacturing tolerance, or the phase so that the finished product manufacturing tolerance in permissible scope, but the method is except significantly increasing the equipment finished product, and its finished product manufacturing tolerance that can dwindle is limited really.
But in fact, as long as have based on people's judgement and in the procedure of introducing, inevitably, because it is many to influence people's factor of judgment all too, for example operating environment (for example light), personal mood (for example because of the impatient patience that loses), individual physiological situation (for example myopia, eye fatigue) or the like, even and every bit manipulation personnel are at optimum, also may not be certain all has the identical operations quality, so the finished product manufacturing tolerance is inevitable uncontrollable in quite little scope.
Therefore, the interior processing machine that a kind of operating personnel's of forgoing factor need be provided and object to be processed can be positioned permissible location degree is arranged, to solve the problem in the aforementioned prior art.
[utility model content]
A category of the present utility model is to provide a kind of processing machine with mechanical arm.
Processing machine with mechanical arm of the present utility model comprises a pedestal, platform, a column, a processing unit (plant) and a mechanical arm.This platform is arranged on this pedestal and can moves with respect to this pedestal, and this platform comprises a workbench, in order to carry an object to be processed.This column is fixedlyed connected with this pedestal.This processing unit (plant) slides to be arranged on this column and also can move with respect to this workbench is linear.This mechanical arm comprises a holder and a grasping part, and this holder is fixed on this column, and this grasping part is in order to grasp this object to place or to remove in this workbench.
Thus, processing machine of the present utility model utilizes mechanical arm to reach this object and is positioned to have got rid of the problem of artificial location on this workbench, as problem mentioned in the prior art; And, but the control system digitlization of this mechanical arm, so the alignment tolerance of this mechanical arm can be contracted to quite little scope.In addition, the mechanical arm of processing machine of the present utility model also is responsible for helping automation from the object that removes on this workbench after processing.
In a specific embodiment, the mechanical arm of processing machine of the present utility model is one to select compliance arm (the Selective Compliance Assembly Robot Arm that puts together machines, SCARA), but the utility model is as limit, and the mechanical arm of other multiaxis also can.The SCARA mechanical arm is one or four shaft mechanical arms, has a three-dimensional fix ability and a rotation stationkeeping ability, and has bigger rigidity at z direction of principal axis (being that direction is revolved in aforementioned commentaries on classics) with respect to other direction, can transport the object with suitable weight.If processing machine of the present utility model further comprises a control system, be electrically connected to each parts (can comprise this platform, this column, this processing unit (plant), this mechanical arm or the like), then can reach the purpose of automated manufacturing by the control of this control system.
Supplementary notes be that the processing unit (plant) of processing machine of the present utility model can be a rotational processing apparatus, for example (milling machine) milling turning device or (drilling machine) drilling equipment, but the utility model is not as limit; And the processing unit (plant) of processing machine of the present utility model also can be other processing type, for example attrition process, discharge processing, turning processing, punch process or the like, but the utility model is not also as limit.
Can describe in detail and appended graphic being further understood by following creation about advantage of the present utility model and spirit.
[description of drawings]
Fig. 1 illustrates the stereogram according to the processing machine with mechanical arm of a specific embodiment of the present utility model.
Fig. 2 illustrates the top view of the processing machine of Fig. 1.
Fig. 3 A illustrates the stereogram according to the processing machine with mechanical arm of another specific embodiment of the present utility model.
Fig. 3 B illustrates the top view of the processing machine of Fig. 3 A.
Fig. 4 illustrates the functional block diagram of the processing machine with control system.
[primary clustering symbol description]
1,1 ': processing machine 3: object
12: pedestal 12a: first slide rail
14: bed platform 16: column
16a: the 3rd slide rail 18: processing unit (plant)
20,20 ': mechanical arm 52: conveying device
142: workbench 144: slide
144a: second slide rail 202: holder
202a: track 202b: rotating seat
204: 206: the first cantilevers in grasping part
D1: first direction D2: second direction
D3: third direction
[specific embodiment]
See also Fig. 1.Fig. 1 illustrates the stereogram according to the processing machine with mechanical arm 1 of a specific embodiment of the present utility model.Processing machine 1 according to this specific embodiment mainly comprises pedestal 12, bed platform 14, column 16, processing unit (plant) 18 and the mechanical arm 20 (SCARA that for example belongs to multi-axis mechanical arm, but the utility model is not limit with this, design in actual product, should cooperate the different designs target, use the mechanical arm of the different number of axle).Bed platform 14 is arranged on the pedestal 12 and can moves with respect to pedestal 12, and bed platform 14 comprises a workbench 142, in order to carry object to be processed 3 (not being illustrated among Fig. 1).Column 16 is fixedlyed connected with pedestal 12, so that the supporting construction of processing machine 1 in the start of vertical direction to be provided.Processing unit (plant) 18 slides to be arranged on the column 16 and also can move with respect to workbench 144 linearities.Mechanical arm 20 comprises holder 202 and grasping part 204, and holder 202 is fixed on the column 16, and grasping part 204 removes to be positioned on the workbench 142 or on workbench 142 in order to grasp object 3.
Furthermore, pedestal 12 comprises the first slide rail 12a, and this first slide rail 12a extends along first direction D1.Bed platform 14 still comprises slide 144, and slide 144 comprises the second slide rail 144a thereon, and this second slide rail 144a extends along second direction D2, and workbench 142 promptly slides on the second slide rail 144a, so workbench 142 can slide with respect to slide 144.Slide 144 also slides on the first slide rail 12a, so whole bed platform 14 can slide with respect to pedestal 12 by the first slide rail 12a; In other words, the slip that workbench 142 can produce two frees degree with respect to pedestal 12 in this specific embodiment, promptly results from the slip on the plane that is formed by first direction D1 and second direction D2, and wherein first direction D1 is perpendicular to second direction D2.
Supplementary notes be that but first direction D1 of the present utility model and second direction D2 be not with vertical exceeding mutually.Basically only needing first direction D1 and second direction D2 to be not parallel to each other gets final product.That is to say, along the first slide rail 12a and the second slide rail 144a that mutual uneven first direction D1 and second direction D2 extend, are provided with, be enough to reach the purpose that control workbench 142 moves, locatees on the plane that is formed by first direction D1 and second direction D2.
In addition, column 16 comprises the 3rd slide rail 16a on it, and this 3rd slide rail 16a extends along third direction D3, and processing unit (plant) 18 slides on the 3rd slide rail 16a, thereby can make the processing unit (plant) 18 can be with respect to workbench 142 linear moving.In this specific embodiment, third direction D3 is perpendicular to first direction D1 and second direction D2, and just third direction D3 is the vertical direction on the plane that formed by first direction D1 and second direction D2.In the actual process operation of processing machine 1, processing unit (plant) 18 promptly along third direction D3 to being fixed in the object 3 (not being illustrated among Fig. 1) on the workbench 142, process.Wherein processing unit (plant) can be rotational processing apparatus, for example milling turning device, drilling equipment or the like, but the utility model is as limit, so the utility model also can be applicable to the processing unit (plant) of other processing type, and for example disc sharpener processing, discharge processing or the like.
In addition, in this specific embodiment, mechanical arm 20 still comprises first cantilever 206, second cantilever 208 and action bars 210.One end of first cantilever 206 and holder 202 articulates, and the other end of first cantilever 206 then articulates with an end of second cantilever 208, and 210 of action bars are hubbed in the other end of second cantilever 208 and the one end is connected with grasping part 204.Wherein action bars 210 is except can also moving with respect to second cantilever 208 with respect to 208 rotations of second cantilever.In this specific embodiment, action bars 210 can move with respect to second cantilever 208 along third direction D3, but the utility model is not as limit, that is to say, the glide direction (being parallel to third direction D3) of the mobile nonessential and processing unit (plant) 18 of action bars 210 is parallel, the purpose that action bars 210 moves is to place or collect object and workbench 142 generation displacements relatively, so moving of action bars 210 do not exceeded with linearity certainly yet.
Because mechanical arm 20 comprises two cantilevers 206,208, so mechanical arm 20 can carry out the two-dimensional plane location; And more because mechanical arm 20 comprises the action bars 210 that can move relative to second cantilever 208, so mechanical arm 20 can carry out three-dimensional space orientation.In other words, mechanical arm 20 can carry out space orientation and object 3 correctly is positioned on the workbench 142 grasping in the grasping part 204 object 3, or correctly on workbench 142 object 3 is grasped, removes.Therefore more particularly, the action bars 210 of mechanical arm 20 still can rotate relative to second cantilever 208, and grasping in the grasping part 204 object 3 can be rotated, and also is that mechanical arm 20 can carry out the space orientation of the three-dimensional of point is added an angle orientation.
What remark additionally is, in this specific embodiment, the drive-connecting shaft of first cantilever 206 and holder 202, the drive-connecting shaft of first cantilever 206 and second cantilever 208, the moving direction of the rotating shaft of action bars 210 relative second cantilevers 208 and action bars 210 relative second cantilevers 208 is parallel mutually, also parallel with third direction D3, therefore mechanical arm 20 can be at by first direction D1 (being defined as the x axle), the xyz solid space that second direction D2 (being defined as the y axle) and third direction D3 (being defined as the z axle) come out for the construction of reference axis institute carries out space orientation, aforementioned angle orientation then refers to be parallel to the anglec of rotation location anglec of rotation location of z axle (or with respect to) on xy plane, also because the xy plane is the working face of workbench 142 for fixed object, change speech, mechanical arm 20 can have the space orientation of an angle orientation with respect to the working face of workbench 142, in order to placing objects 3 correctly on workbench 142.In addition, the SCARA mechanical arm has bigger rigidity in the z axle, can transport the object with suitable weight.In addition, the grasping mechanism of grasping part 204 can utilize sucker, grab and collude or magnetic force adsorbs and reaches, and decides on operating condition, does not as limit but originally cut off.
See also Fig. 2.Fig. 2 illustrates the top view of the processing machine 1 of Fig. 1, wherein conveying device 52 reaches processing object 3 (for example utilizing conveyer belt) in order to carry object 3 to be processed, and illustrate the position of mechanical arm 20 start in practical operation with dotted line, also be represented by dotted lines in addition object 3 to be processed and processing object 3 on conveying device 52.Because the cantilever of mechanical arm 20 extends to two controls, so Fig. 2 only is the signal of mechanical arm 20 starts, the visual actual operating condition of actual activated position details and do different settings.
As shown in Figure 2, the slide 144 of bed platform 14 can slide with the maximum extension distance of cooperative mechanical arm 20 along first direction D1 with respect to pedestal 12, and workbench 142 also can slide with the maximum extension distance of cooperative mechanical arm 20 along second direction D2 with respect to slide 144.In the operation start of the processing machine 1 of this specific embodiment, mechanical arm 20 grasps object to be processed 3 with grasping part 204 (seeing also Fig. 1) earlier to conveying device 52, rotation moves to workbench 142 placements again, then object 3 is after fixing, promptly object 3 is moved in the workspaces by workbench 142 (cooperating the slip of slide 144 simultaneously), with processing unit (plant) 18 to its processing.After the completion of processing, workbench 142 (cooperating the slip of slide 144 simultaneously) moves to the zone that mechanical arm 20 can grasp with object 3, grasp object 3 after the processing by the grasping part 204 of mechanical arm 20, rotation moves on the conveying device 52 and places again, conveying device 52 is then optionally carried, in order to taking in of the object after the following process 3; Certainly the conveying start of conveying device 52 also can make object to be processed 3 move in the start zone of mechanical arm 20, and it can be grasped.Supplementary notes be, in this specific embodiment, though with single mechanical arm 20 reach object 3 placement, remove, the utility model is not as limit.Configurable two mechanical arms of processing machine for example of the present utility model, be relatively arranged on the both sides of column, be responsible for different start (for example special placing objects, specially remove object) separately, to increase object 3 rate travels, to shorten the time of non-processing in the whole processing procedure.
See also Fig. 1 and Fig. 3 A, Fig. 3 A illustrates the stereogram according to the processing machine 1 ' with mechanical arm 20 ' of another specific embodiment of the present utility model.Different with the processing machine 1 of Fig. 1 being in the holder 202 of the mechanical arm 20 of processing machine 1 replaced by a track 202a and a rotating seat 202b, therefore mechanical arm 20 ' is fixed on the column 16 with track 202a, rotating seat 202b then can slide on track 202a, in this specific embodiment, its glide direction is parallel to second direction D2, but the utility model is not as limit.
See also Fig. 2 and Fig. 3 B, Fig. 3 B illustrates the top view of the processing machine 1 ' of Fig. 3 A.Because the mechanical arm 20 ' of Fig. 3 B comprises track 202a, therefore the grasping part 204 (please refer to Fig. 3 A) of mechanical arm 20 ' can be extended along second direction D2, the farthest of its elongation (being illustrated among Fig. 3 B with dotted line) even can exceed conveying device 52 is so can effectively grasp object 3 or the placing objects 3 (wherein object 3 is illustrated among Fig. 3 B with dotted line) on conveying device 52 that is positioned on the conveying device 52.In like manner, the grasping part 204 of mechanical arm 20 ' also can be extended along first direction D2, the farthest of its elongation (being illustrated among Fig. 3 B with dotted line) also can exceed workbench 142, so can effectively grasp the object 3 that is positioned on the workbench 142 or placing objects 3 on workbench 142.
Supplementary notes be that because the many modes with many connecting rods rotations of common mechanical arm are located, therefore many pedestals with mechanical arm are that fan-shaped that mark in the center of circle is orientation range.Yet, can increase one degree of freedom according to mechanical arm 20 ' of the present utility model because of having track 202a, therefore the start scope of its grasping part 204 on workbench 142 will not be subject to simple fan-shapedly, but both sides respectively have the rectangle of half fan-shaped and suitable width of tool.In addition, though a conveying device 52 is only arranged in Fig. 3 B, the utility model is not as limit.For example, because the anglec of rotation of mechanical arm 20 ' can be as big as 180 degree, therefore in a specific embodiment, can be in Fig. 3 B front view the top of processing machine 3 ' add again and put a conveying device 52, in also still must opereating specification (grasping start) for mechanical arm 20 ', can increase process operations planning elasticity, for example one is used as conveying object to be processed, and another is used as the object after the conveying processing.
For the processing machine of computer numerical control (computer numerical control), aforementioned start all can be carried out by computer control system control.See also Fig. 4, Fig. 4 illustrates the functional block diagram of the processing machine 3 with control system.Basically, control system is controlled, is coordinated slide sliding system (control that slide 144 slides with respect to pedestal 12), workbench sliding system (control that workbench 142 slides with respect to slide 144), processing unit (plant) actuating system (control of the control that processing unit (plant) 18 slides with respect to column 16 and whirligig (for example motor) rotation of processing unit (plant) 18) and mechanical arm actuating system (controls of mechanical arm 20 starts) respectively.Processing machine 3 can carry out automation processing thus easily, if further add detection system, then can provide feedback information (for example flaw or the like was lost efficacy, processes in the board start) to give control system, increases the reliability of automation processing.Supplementary notes be that though industry is used to computer as control system, the utility model is as limit, for simple control system, also is able to magnetic valve, the air pressure assembly is realized.
By the above detailed description of preferred embodiments, hope can be known description feature of the present utility model and spirit more, and is not to come category of the present utility model is limited with above-mentioned disclosed preferred embodiment.On the contrary, its objective is that hope can contain in the category of the claim that is arranged in the desire application of the utility model institute of various changes and tool equality.Therefore, the category of the claim that the utility model is applied for should be done the broadest explanation according to above-mentioned explanation, contains the arrangement of all possible change and tool equality to cause it.
Claims (10)
1. processing machine with mechanical arm comprises:
One pedestal;
A platform is arranged on this pedestal and also can moves with respect to this pedestal, and this platform comprises a workbench, in order to carry an object to be processed;
One column is fixedlyed connected with this pedestal;
One processing unit (plant) slides to be arranged on this column and also can move with respect to this workbench is linear; And
One mechanical arm comprises a holder and a grasping part, and this holder is fixed on this column, and this grasping part is in order to grasp this object to place or to remove in this workbench.
2. the processing machine with mechanical arm according to claim 1 is characterized in that, this mechanical arm is a multi-axis mechanical arm.
3. the processing machine with mechanical arm according to claim 2 is characterized in that this multi-axis mechanical arm can be implemented three-dimensional fix.
4. the processing machine with mechanical arm according to claim 2 is characterized in that, this multi-axis mechanical arm is one to select the compliance arm that puts together machines.
5. the processing machine with mechanical arm according to claim 1 is characterized in that, this processing unit (plant) is a rotational processing apparatus.
6. the processing machine with mechanical arm according to claim 5 is characterized in that, this rotational processing apparatus is a milling turning device or a drilling equipment.
7. the processing machine with mechanical arm according to claim 1 is characterized in that, this workbench has two frees degree with respect to this pedestal.
8. the processing machine with mechanical arm according to claim 7, it is characterized in that, this pedestal comprises one first slide rail, extend along a first direction, this platform comprises a slide, slides on this first slide rail, and this slide comprises one second slide rail, extend along a second direction, this workbench slides on this second slide rail.
9. the processing machine with mechanical arm according to claim 8, it is characterized in that, this first direction is perpendicular to this second direction, and this processing unit (plant) moves with respect to this workbench is linear along a third direction, vertical this first direction of this third direction and this second direction.
10. the processing machine with mechanical arm according to claim 1 is characterized in that, further comprises a control system, in order to coordinate the start of control this platform, this processing unit (plant) and this mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201742179U CN201537815U (en) | 2009-09-15 | 2009-09-15 | Processor with mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201742179U CN201537815U (en) | 2009-09-15 | 2009-09-15 | Processor with mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201537815U true CN201537815U (en) | 2010-08-04 |
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| CN2009201742179U Expired - Fee Related CN201537815U (en) | 2009-09-15 | 2009-09-15 | Processor with mechanical arm |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328234A (en) * | 2011-08-04 | 2012-01-25 | 四川欧曼机械有限公司 | Novel multiaxis machining machine |
| CN102658546A (en) * | 2012-04-28 | 2012-09-12 | 刘朝龙 | Industrial robot |
| CN103394917A (en) * | 2013-08-08 | 2013-11-20 | 沈凯辉 | Automatic production robot of aluminum strip for mahjong table |
| CN103406563A (en) * | 2013-08-27 | 2013-11-27 | 张勇 | Programmable digital controlled drill machine utilizing wire cut electric discharge machine control system to control drilling |
| CN104014772A (en) * | 2014-03-12 | 2014-09-03 | 杭州富生电器股份有限公司 | Post-processor and post-processing method for squirrel cage rotor |
| CN106584115A (en) * | 2015-10-19 | 2017-04-26 | 乐清市中洋电子科技有限公司 | Automatic drilling method for a code disc |
| CN107639694A (en) * | 2017-09-25 | 2018-01-30 | 江苏国全自动化科技有限公司 | A kind of numerical control five-axle machining center |
| CN109622850A (en) * | 2018-12-21 | 2019-04-16 | 南通科技职业学院 | A kind of monolithic processor controlled forging machine tool |
| CN109676605A (en) * | 2018-12-28 | 2019-04-26 | 苏州新代数控设备有限公司 | Tool machines integrated control system and its processing method |
| CN111283252A (en) * | 2018-12-06 | 2020-06-16 | 陈丰田 | CNC milling machine capable of connecting material taking mechanical arm unit |
| CN111558832A (en) * | 2020-03-23 | 2020-08-21 | 温州大学 | Special-shaped part turning and drilling center |
| CN113953569A (en) * | 2021-11-26 | 2022-01-21 | 重庆品高精密电子有限公司 | Notebook shell milling machine |
-
2009
- 2009-09-15 CN CN2009201742179U patent/CN201537815U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102328234A (en) * | 2011-08-04 | 2012-01-25 | 四川欧曼机械有限公司 | Novel multiaxis machining machine |
| CN102658546A (en) * | 2012-04-28 | 2012-09-12 | 刘朝龙 | Industrial robot |
| CN102658546B (en) * | 2012-04-28 | 2014-09-10 | 刘朝龙 | Industrial robot |
| CN103394917A (en) * | 2013-08-08 | 2013-11-20 | 沈凯辉 | Automatic production robot of aluminum strip for mahjong table |
| CN103394917B (en) * | 2013-08-08 | 2016-05-18 | 沈凯辉 | Aluminum strip production robot for automatic Mah-jongg machine |
| CN103406563A (en) * | 2013-08-27 | 2013-11-27 | 张勇 | Programmable digital controlled drill machine utilizing wire cut electric discharge machine control system to control drilling |
| CN104014772B (en) * | 2014-03-12 | 2016-04-27 | 杭州富生电器有限公司 | Cage rotor post-processor and post-processing approach |
| CN104014772A (en) * | 2014-03-12 | 2014-09-03 | 杭州富生电器股份有限公司 | Post-processor and post-processing method for squirrel cage rotor |
| CN106584115A (en) * | 2015-10-19 | 2017-04-26 | 乐清市中洋电子科技有限公司 | Automatic drilling method for a code disc |
| CN107639694A (en) * | 2017-09-25 | 2018-01-30 | 江苏国全自动化科技有限公司 | A kind of numerical control five-axle machining center |
| CN111283252A (en) * | 2018-12-06 | 2020-06-16 | 陈丰田 | CNC milling machine capable of connecting material taking mechanical arm unit |
| CN109622850A (en) * | 2018-12-21 | 2019-04-16 | 南通科技职业学院 | A kind of monolithic processor controlled forging machine tool |
| CN109676605A (en) * | 2018-12-28 | 2019-04-26 | 苏州新代数控设备有限公司 | Tool machines integrated control system and its processing method |
| CN111558832A (en) * | 2020-03-23 | 2020-08-21 | 温州大学 | Special-shaped part turning and drilling center |
| CN113953569A (en) * | 2021-11-26 | 2022-01-21 | 重庆品高精密电子有限公司 | Notebook shell milling machine |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100804 Termination date: 20120915 |