CN201629719U - Servo driving device for robot asynchronous motor - Google Patents
Servo driving device for robot asynchronous motor Download PDFInfo
- Publication number
- CN201629719U CN201629719U CN2010201058219U CN201020105821U CN201629719U CN 201629719 U CN201629719 U CN 201629719U CN 2010201058219 U CN2010201058219 U CN 2010201058219U CN 201020105821 U CN201020105821 U CN 201020105821U CN 201629719 U CN201629719 U CN 201629719U
- Authority
- CN
- China
- Prior art keywords
- unit
- microprocessor
- current
- supply circuit
- asynchronous motor
- 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
Images
Landscapes
- Control Of Electric Motors In General (AREA)
Abstract
The utility model provides a servo driving device for a robot asynchronous motor, which comprises a power supply circuit, a switch power supply, a microprocessor and a detection circuit. The power supply circuit comprises a rectifier unit and an inverter unit, wherein the rectifier unit is used for rectifying three-phase power-frequency alternating-current power, and the inverter unit is used for inverting direct current outputted by the rectifier unit and then providing power to the motor. The switch power supply is connected with an output end of the rectifier unit, converts output rectified direct current into power required by the microprocessor and provides power to the microprocessor. The detection circuit is used for detecting line current and position of the asynchronous motor, the detected current signal and position signals are transmitted to the microprocessor, the microprocessor operates torque according to the current signals, and controls operation of the asynchronous motor by means of controlling the inverter unit via a driving unit according to the torque and position signals. The asynchronous motor is simple in structure, low in manufacturing cost and free of temperature limitation and can be operated in severe environments.
Description
Technical field
The utility model relates to the Motor Control technical field, and particularly a kind of robot is with the asynchronous motor servo drive.
Background technology
At first simply introduce robot, robot is the installations that automatically perform work.Its task is to assist or replace human work, for example manufacturing industry, building industry, or dangerous work.
The actuator of robot is a robot body, and its arm generally adopts spatial linkage, and motion parts wherein is called the joint, and initiatively the joint number is commonly referred to the number of degrees of freedom, of robot.
The joint of robot is controlled by motor.Motor mainly adopts permanent magnet synchronous motor to control at present.But the rotor of permanent magnet synchronous motor can not run up, otherwise can produce very strong back electromotive force at stator winding, the effect that overcomes this back electromotive force must produce bigger stator magnet kinetic potential by the electric current that increases stator winding, and the stator magnet kinetic potential is crossed by force can make the rotor demagnetization.On the other hand, permanent magnet synchronous motor can be subjected to the restriction of working temperature, and after temperature reached Curie point, permanent magnet can demagnetization.But the environment facies of robot work are when abominable, and some application need is worked under hot environment.
Therefore, robot utilizes permanent magnet synchronous motor to drive to exist rotating speed restricted, and operational environment requires high, the shortcoming of poor reliability.
The utility model content
The technical problems to be solved in the utility model provides a kind of robot with the asynchronous motor servo drive, and that the rotating speed height of asynchronous motor, operational environment require is low, reliability is high.
The utility model embodiment provides a kind of robot with the asynchronous motor servo drive, comprising: current supply circuit, Switching Power Supply, microprocessor and detection loop;
Described current supply circuit comprises rectification unit and inversion unit; Described rectification unit is with the three-phase main-frequency AC rectification; Described inversion unit carries out inversion with the direct current of rectification unit output, for asynchronous motor provides power supply;
Described Switching Power Supply connects the output of described rectification unit; The DC converting that described Switching Power Supply is exported after with rectification is the power supply that described microprocessor needs, and is described microprocessor power supply;
The line current and the position of asynchronous motor detected in described detection loop, the current signal and the position signalling that detect are sent to described microprocessor, described microprocessor is according to described current signal calculating torque, and microprocessor is controlled the operation of asynchronous motor by driver element control inversion unit according to described torque and position signalling.
Preferably, also comprise the temperature detecting unit that is connected with described inversion unit;
Described temperature detecting unit detects the temperature of described inversion unit, and the temperature signal that detects is sent to described microprocessor; The described temperature signal of described microprocessor judges, is reported to the police during less than second preset temperature more than or equal to first preset temperature; When judging described temperature signal, by the electric current output of described driver element control inversion unit more than or equal to second preset temperature.
Preferably, also comprise the current supply circuit current detecting unit; Described current supply circuit current detecting unit is sent to described microprocessor with the current supply circuit current signal that detects; When the described current supply circuit current signal of described microprocessor judges surpasses scheduled current, report to the police.
Preferably, also comprise the current supply circuit voltage detection unit; Described current supply circuit voltage detection unit is sent to described microprocessor with the current supply circuit voltage signal that detects; The described current supply circuit voltage signal of described microprocessor judges, carries out overvoltage and reports to the police during less than second predetermined voltage more than or equal to first predetermined voltage; When described current supply circuit voltage signal during more than or equal to second predetermined voltage, the control Overvoltage protecting unit is opened and is carried out overvoltage protection.
Preferably, also comprise the inhibition surge voltage unit that is connected between described rectification unit and the Switching Power Supply;
When the described current supply circuit voltage signal of described microprocessor judges surpasses the 3rd predetermined voltage, control described inhibition surge voltage unit and carry out the surge voltage inhibition.
Preferably, described microprocessor comprises the control command interface unit, receives pulse train control signal and/or analog quantity control signal that host computer sends, with the operation of control asynchronous motor.
Preferably, described microprocessor also comprises communication interface, to realize and the communicating by letter of host computer.
Preferably, also comprise the display unit that is connected with described microprocessor.
Preferably, also comprise the keyboard that is connected with described microprocessor.
Preferably, also comprise the digital quantity input-output unit that is connected with described microprocessor, with instruction or the manually control that receives host computer.
Compared with prior art, the utlity model has following advantage:
The robot that the utility model provides comprises: current supply circuit, Switching Power Supply, microprocessor and detection loop with the asynchronous motor servo drive; Current supply circuit provides power supply for whole device, Switching Power Supply provides power supply for microprocessor, detect the loop and detect line current and the position or the rotating speed of asynchronous motor, microprocessor receives the detection signal that detects the loop, the operation of control asynchronous motor after detection signal is analyzed.Because Induction Motor Structure is simple, low cost of manufacture, its theoretical rotational speed is unrestricted, can run at high speed, and temperature can be very high, is not subjected to the restriction of temperature, can work in the rugged environment.
Description of drawings
Fig. 1 is the robot that provides of the utility model with asynchronous motor with servo drive embodiment one schematic diagram;
Fig. 2 is the robot that provides of the utility model with asynchronous motor with servo drive embodiment two schematic diagrames.
Embodiment
For above-mentioned purpose of the present utility model, feature and advantage can be become apparent more, embodiment of the present utility model is described in detail below in conjunction with accompanying drawing.
Embodiment one:
Referring to Fig. 1, this figure is the robot that provides of the utility model with asynchronous motor with servo drive embodiment one schematic diagram.
The robot that present embodiment provides comprises: current supply circuit 100, Switching Power Supply 200, microprocessor 300 and detection loop 400 with the asynchronous motor servo drive.
Described current supply circuit 100 comprises rectification unit 101 and inversion unit 102;
Described rectification unit 101 is with the three-phase main-frequency AC rectification;
Described inversion unit 102 carries out inversion with the direct current of rectification unit 101 outputs, for asynchronous motor provides power supply;
Described Switching Power Supply 200 connects the output of described rectification unit 101;
The DC converting that described Switching Power Supply 200 is exported after with described rectification unit 101 rectifications is the power supply that described microprocessor 300 needs, and is described microprocessor 300 power supplies;
Need to prove, the power supply of described Switching Power Supply 200 outputs is included as the 1.8V voltage of micro-processor kernel power supply, for the 3.3V voltage of the peripheral IO power supply of microprocessor and be other direct voltages of other interfaces power supplies such as the AD in the microprocessor, for example ± 5V or the like.
The line current and the position of asynchronous motor detected in described detection loop 400, the current signal and the position signalling that detect are sent to described microprocessor 300, the operation of asynchronous motor is controlled in the torque that described microprocessor 300 calculates asynchronous motor according to described current signal, microprocessor 300 by driver element 500 control inversion units 102 according to described torque and position signalling.
The line current of asynchronous machine need carry out being handled by microprocessor after the analog-to-digital conversion through AD again.
Need to prove, detect loop 400 and comprise that two current sensors are respectively applied for two phase currents measuring asynchronous motor, are calculated the torque of asynchronous motor by phase current.
Detect loop 400 and also comprise position feedback transducer (PBS, Position Back Sensor), can obtain position, rotating speed and the acceleration of asynchronous motor by the corner of measuring motor.
Detect loop 400 and can also comprise speed feedback transducer (SBS, Speed Back Sensor), can obtain position, rotating speed and the acceleration of asynchronous motor by the rotating speed of measuring motor.
If on the motor reel PBS being installed is the position transducer, can obtain rotating speed by differential calculation, differential can obtain acceleration again.If speed probe is installed on the shaft of motor, then obtain the position by integration, the speed differential has just been obtained acceleration.
The robot that the utility model provides comprises: current supply circuit 100, Switching Power Supply 200, microprocessor 300 and detection loop 400 with the asynchronous motor servo drive; Current supply circuit 100 provides power supply for whole device, Switching Power Supply 200 provides power supply for microprocessor 300, detect loop 400 and detect the line current and the position of asynchronous motor, microprocessor 300 receives the detection signal that detects loop 400, the operation of control asynchronous motor after detection signal is analyzed.Because Induction Motor Structure is simple, low cost of manufacture, its theoretical rotational speed is unrestricted, can run at high speed, and temperature can be very high, is not subjected to the restriction of temperature, can work in the rugged environment.
Embodiment two:
Referring to Fig. 2, this figure is the robot that provides of the utility model with asynchronous motor with servo drive embodiment two schematic diagrames.
The robot that present embodiment provides also comprises the temperature detecting unit 402 that is connected with described inversion unit 102 with asynchronous motor with servo drive.
Described temperature detecting unit 402 detects the temperature of described inversion unit 102, and the temperature signal that detects is sent to described microprocessor 300.Described microprocessor 300 judges that described temperature signal, reports to the police during less than the second preset temperature T2 more than or equal to the first preset temperature T1; When judging described temperature signal, by the electric current output of described driver element 500 control inversion units 102 more than or equal to the second preset temperature T2.
Need to prove, when the temperature of inversion unit 102 more than or equal to the first preset temperature T1 during less than the second preset temperature T2, the temperature of expression inversion unit 102 also can inversion unit can the scope of trouble free service within, therefore only need to report to the police to get final product.When the temperature of inversion unit 102 during more than or equal to the second preset temperature T2, the temperature of expression inversion unit 102 has surpassed the scope that inversion unit 102 can trouble free service, such temperature may be burnt the device of inversion unit 102, therefore microprocessor 300 need transmit control signal, and stops the electric current output of inversion unit 102.Described control signal is defeated by inversion unit 102 after amplifying by driver element 500.
The device that present embodiment provides also comprises current supply circuit current detecting unit 403; Described current supply circuit current detecting unit 403 is sent to described microprocessor 300 with the current supply circuit current signal that detects; Described microprocessor 300 is judged when described current supply circuit current signal surpasses scheduled current, reports to the police.
The device that present embodiment provides also comprises current supply circuit voltage detection unit 404; Described current supply circuit voltage detection unit 404 is sent to described microprocessor 300 with the current supply circuit voltage signal that detects; Described microprocessor 300 judges that described current supply circuit voltage signal, carries out overvoltage and reports to the police during less than second predetermined voltage more than or equal to first predetermined voltage; When described current supply circuit voltage signal during more than or equal to second predetermined voltage, the control Overvoltage protecting unit is opened and is carried out overvoltage protection.
The bleeder circuit that resistance R 1 as shown in Figure 2 and resistance R 2 formed, the voltage on 404 pairs of resistance R 2 of current supply circuit voltage detection unit is sampled, and calculates voltage on the current supply circuit by the ratio meter of resistance R 1 and resistance R 2.When the voltage on the current supply circuit, carries out overvoltage and reports to the police during less than second scheduled voltage more than or equal to first predetermined voltage.
The Overvoltage protecting unit of forming by resistance R b transistor VTb as shown in Figure 2.When described current supply circuit voltage signal during more than or equal to second predetermined voltage; described microprocessor 300 is opened by dynamic braking unit controls Overvoltage protecting unit and is carried out overvoltage protection; be specially: dynamic braking unit controls transistor VTb conducting; therefore, some voltage will consume on voltage Rb on the current supply circuit.After current supply circuit voltage recovered normally, microprocessor 300 cut out by dynamic braking unit controls transistor VTb.
The device that present embodiment provides also comprises the inhibition surge voltage unit that is connected between described rectification unit 101 and the Switching Power Supply 200;
When the described current supply circuit voltage signal of described microprocessor judges surpasses the 3rd predetermined voltage, control described inhibition surge voltage unit and carry out the surge voltage inhibition.
As shown in Figure 2, suppress the surge voltage unit and comprise resistance R 0 that is connected in the current supply circuit and the capacitor C 1 that is connected in parallel in the current supply circuit.
When K switch 1 has just begun closure, rectification unit 101 is connected with AC power, this moment is owing to the voltage with higher magnitude is added on the inversion unit 102, because the inductive effect of electric wire, with the IGBT device in the infringement inversion unit 102, therefore, when the starting stage of energized, when current supply circuit voltage signal during more than or equal to the 3rd predetermined voltage, microprocessor 300 control switch K2 closures, the inhibition surge voltage unit that be made up of resistance R 0 and capacitor C 1 this moment plays carryover effects, and the voltage of rectification unit 101 outputs is defeated by inversion unit 102 again through behind the predetermined time delay.After the current supply circuit voltage signal recovers normally, microprocessor 300 control switch K2 closures, thus with resistance R 0 short circuit, suppress the effect that the surge voltage unit loses delay this moment.
Described microprocessor 300 comprises the control command interface unit, receives pulse train control signal and/or analog quantity control signal that host computer sends, with the operation of control asynchronous motor.For example, the analog value of the corner of host computer asynchronous motor, rotating speed or torque sends microprocessor 300 to by the control command interface unit, microprocessor goes out voltage, electric current and the frequency of described analog value needs output according to the calculated with mathematical model of asynchronous motor, the control signal of voltage, electric current and frequency is converted into SVPWM, driver element 500 is defeated by inversion unit 102 after SVPWM is amplified, the operation of inversion unit 102 control asynchronous motors makes asynchronous motor reach corner, rotating speed or torque that host computer is provided with.
Installing angle transducer or speed probe in the asynchronous motor rotating shaft, rotary angle transmitter or speed probe are given microprocessor 300 with corner or the speed feedback measured.Microprocessor 300 judges that according to the motor corner or the rotating speed of feedback whether motor reaches the requirement of host computer instruction, if do not have, then exports the adjustment of SVPWM according to the algorithm of Error processing.
Described microprocessor 300 also comprises communication interface, to realize and the communicating by letter of host computer.
The device that present embodiment provides also comprises the display unit that is connected with described microprocessor 300.Display unit 300 can show parameter, control data of running status, calculating and the output of asynchronous motor etc., such as electric current, rotating speed, corner, acceleration-deceleration, calculated rate, output frequency, feedback frequency and/or the motor power on/off state etc. of asynchronous motor.
The device that present embodiment provides also comprises the keyboard that is connected with described microprocessor 300.Microprocessor can receive artificial operational order by keyboard.
The device that present embodiment provides also comprises the digital quantity input-output unit that is connected with described microprocessor 300, with instruction or the manually control that receives host computer.
The above only is preferred embodiment of the present utility model, is not the utility model is done any pro forma restriction.Though the utility model discloses as above with preferred embodiment, yet be not in order to limit the utility model.Any those of ordinary skill in the art, do not breaking away under the technical solutions of the utility model scope situation, all can utilize the method and the technology contents of above-mentioned announcement that technical solutions of the utility model are made many possible changes and modification, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not break away from technical solutions of the utility model, all still belongs in the scope of technical solutions of the utility model protection any simple modification, equivalent variations and modification that above embodiment did according to technical spirit of the present utility model.
Claims (10)
1. a robot is characterized in that with the asynchronous motor servo drive, comprising: current supply circuit, Switching Power Supply, microprocessor and detection loop;
Described current supply circuit comprises rectification unit and inversion unit; Described rectification unit is with the three-phase main-frequency AC rectification; Described inversion unit carries out inversion with the direct current of rectification unit output, for asynchronous motor provides power supply;
Described Switching Power Supply connects the output of described rectification unit; The DC converting that described Switching Power Supply is exported after with rectification is the power supply that described microprocessor needs, and is described microprocessor power supply;
The line current and the position of asynchronous motor detected in described detection loop, the current signal and the position signalling that detect are sent to described microprocessor, described microprocessor is according to described current signal calculating torque, and microprocessor is controlled the operation of asynchronous motor by driver element control inversion unit according to described torque and position signalling.
2. device according to claim 1 is characterized in that, also comprises the temperature detecting unit that is connected with described inversion unit;
Described temperature detecting unit detects the temperature of described inversion unit, and the temperature signal that detects is sent to described microprocessor; The described temperature signal of described microprocessor judges, is reported to the police during less than second preset temperature more than or equal to first preset temperature; When judging described temperature signal, by the electric current output of described driver element control inversion unit more than or equal to second preset temperature.
3. device according to claim 1 is characterized in that, also comprises the current supply circuit current detecting unit; Described current supply circuit current detecting unit is sent to described microprocessor with the current supply circuit current signal that detects; When the described current supply circuit current signal of described microprocessor judges surpasses scheduled current, report to the police.
4. device according to claim 1 is characterized in that, also comprises the current supply circuit voltage detection unit; Described current supply circuit voltage detection unit is sent to described microprocessor with the current supply circuit voltage signal that detects; The described current supply circuit voltage signal of described microprocessor judges, carries out overvoltage and reports to the police during less than second predetermined voltage more than or equal to first predetermined voltage; When described current supply circuit voltage signal during more than or equal to second predetermined voltage, the control Overvoltage protecting unit is opened and is carried out overvoltage protection.
5. device according to claim 4 is characterized in that, also comprises the inhibition surge voltage unit that is connected between described rectification unit and the Switching Power Supply;
When the described current supply circuit voltage signal of described microprocessor judges surpasses the 3rd predetermined voltage, control described inhibition surge voltage unit and carry out the surge voltage inhibition.
6. device according to claim 1 is characterized in that described microprocessor comprises the control command interface unit, receives pulse train control signal and/or analog quantity control signal that host computer sends, with the operation of control asynchronous motor.
7. device according to claim 1 is characterized in that described microprocessor also comprises communication interface, to realize and the communicating by letter of host computer.
8. device according to claim 1 is characterized in that, also comprises the display unit that is connected with described microprocessor.
9. device according to claim 1 is characterized in that, also comprises the keyboard that is connected with described microprocessor.
10. device according to claim 1 is characterized in that, also comprises the digital quantity input-output unit that is connected with described microprocessor, with instruction or the manually control that receives host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201058219U CN201629719U (en) | 2010-02-02 | 2010-02-02 | Servo driving device for robot asynchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201058219U CN201629719U (en) | 2010-02-02 | 2010-02-02 | Servo driving device for robot asynchronous motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201629719U true CN201629719U (en) | 2010-11-10 |
Family
ID=43061118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201058219U Expired - Fee Related CN201629719U (en) | 2010-02-02 | 2010-02-02 | Servo driving device for robot asynchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201629719U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102916388A (en) * | 2011-08-04 | 2013-02-06 | 电子***保护有限公司 | Supply voltage monitor |
| CN106505527A (en) * | 2016-12-19 | 2017-03-15 | 广东美的制冷设备有限公司 | Motor drive protection device, over-voltage protection method and transducer air conditioning |
| CN108134375A (en) * | 2018-03-09 | 2018-06-08 | 核工业理化工程研究院 | The protective device of permanent magnet synchronous motor control circuit |
| CN110710090A (en) * | 2017-07-14 | 2020-01-17 | 丹佛斯电力电子有限公司 | DC link capacitor protection |
| CN111669085A (en) * | 2019-03-08 | 2020-09-15 | 美的威灵电机技术（上海）有限公司 | Control circuit of rotor, rotor assembly and motor |
-
2010
- 2010-02-02 CN CN2010201058219U patent/CN201629719U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102916388A (en) * | 2011-08-04 | 2013-02-06 | 电子***保护有限公司 | Supply voltage monitor |
| CN102916388B (en) * | 2011-08-04 | 2017-04-12 | 电子***保护有限公司 | Supply voltage monitor |
| CN106505527A (en) * | 2016-12-19 | 2017-03-15 | 广东美的制冷设备有限公司 | Motor drive protection device, over-voltage protection method and transducer air conditioning |
| CN110710090A (en) * | 2017-07-14 | 2020-01-17 | 丹佛斯电力电子有限公司 | DC link capacitor protection |
| US11165332B2 (en) | 2017-07-14 | 2021-11-02 | Danfoss Power Electronics A/S | DC-link capacitor protection |
| CN108134375A (en) * | 2018-03-09 | 2018-06-08 | 核工业理化工程研究院 | The protective device of permanent magnet synchronous motor control circuit |
| CN111669085A (en) * | 2019-03-08 | 2020-09-15 | 美的威灵电机技术（上海）有限公司 | Control circuit of rotor, rotor assembly and motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105391364B (en) | A kind of brushless direct current motor sensorless control system and control method | |
| CN201629719U (en) | Servo driving device for robot asynchronous motor | |
| CN106712596B (en) | A kind of permanent magnet synchronous motor servo-driver based on double-core MCU | |
| KR100440166B1 (en) | Resolver phase cablibration system of electric vehicle and method thereof | |
| CN103916062B (en) | A kind of vector controlled YE based on DSP | |
| CN101336203B (en) | Management of encoder fault in elevator driving system | |
| US8143827B2 (en) | Error recognition by evaluation of parameters of the field oriented regulation | |
| CN107643709B (en) | One kind being based on ultrahigh speed permanent magnet synchronous motor monitoring system combined of multi-sensor information | |
| CN110266218A (en) | High-performance ultrahigh speed control system for permanent-magnet synchronous motor based on ARM and FPGA | |
| CN101266497A (en) | Large power long range permanent magnetism synchronous linear motor servo drive apparatus | |
| CN102118127A (en) | Method and apparatus for monitoring a system including a sensorless electric motor | |
| WO2013155844A1 (en) | Three-phase ac phase-sequence detection method and device | |
| CN103560725B (en) | A kind of Brushless DC Motor Position detection method independent of rotating speed | |
| CN204013310U (en) | Brushless dual-feed motor direct Torque Control | |
| CN101414800B (en) | Calibration system and calibration method for position sensor of motor rotor | |
| US20220373588A1 (en) | Electric power conversion device, system using same, and diagnostic method for same | |
| CN103532450B (en) | For position of rotor of brushless motor checkout gear and the method for positional servosystem | |
| CN112850407B (en) | Method and system for controlling elevator car to move under emergency condition of elevator | |
| CN103036487B (en) | For there being the brake monitor of brushless motor | |
| CN105007005A (en) | Brushless direct current motor speed adjusting system | |
| CN106063119A (en) | Power conversion device and power conversion method | |
| CN201336607Y (en) | Intelligent electromotive actuator device based on frequency-conversion control technology | |
| CN103248284A (en) | Special driver for linear shaft motor | |
| CN201926916U (en) | Motor monitoring device | |
| CN203278725U (en) | DC brushless motor controller |
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: 20101110 Termination date: 20170202 |