CN202825824U - Cable installation device for industrial robot - Google Patents
Cable installation device for industrial robot Download PDFInfo
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- CN202825824U CN202825824U CN 201220480704 CN201220480704U CN202825824U CN 202825824 U CN202825824 U CN 202825824U CN 201220480704 CN201220480704 CN 201220480704 CN 201220480704 U CN201220480704 U CN 201220480704U CN 202825824 U CN202825824 U CN 202825824U
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Abstract
The utility model relates to the technical field of an industrial robot and provides a cable installation device for the industrial robot. The cable installation device for the industrial robot comprises a switching component. The switching component is in a bent axle shape structure. The switching component comprises a switching component first flange, a switching component second flange, a first flange adapting piece and a second flange adapting piece. The switching component first flange is fixedly connected with a robot flange which is located on a C-shaft movement component of the industrial robot. The switching component second flange is fixedly connected with executive equipment. The switching component first flange and the switching component second flange are arranged at intervals in a parallel mode. Two sides of the switching component first flange and the switching component second flange are respectively and fixedly connected through the first flange adapting piece and the second flange adapting piece. A first section of a cable penetrates in the switching component is a twisting mode. The cable and the surrounding environment do not interfere with each other, the loss of the equipment and the cable is reduced and the movement of a movement axis of the industrial robot is not influenced.
Description
Technical field
The utility model relates to the Industrial Robot Technology field, particularly relates to a kind of industrial robot cable mounting device.
Background technology
Existing industrial robot, especially for the vertical joint type industrial robot of spot welding, the cable of its upper arm generally is to utilize the wire clamp support that is installed on the industrial robot four axle upper arm to be fixed.When four, five, six axles of industrial robot moved, the cable initiating terminal of corresponding upper arm region was fixed on the wire clamp support, and remainder can be with the motion campaign of four, five, six axles.The shortcoming of this cable mounting means is: because the remainder of cable except initiating terminal can be with the motion campaign of four, five, six axles, therefore industrial robot four axle upper arm cables need to leave more surplus, cable is loose on the whole, can significantly rock with the industrial machine human motion, easily the machine of periphery caused interference, cause the loss aggravation of cable and equipment.But, if with the contraction in length of upper arm cable, although can be so that cable can be very not lax, owing to cable is shorter, can the motion of the kinematic axis of industrial robot be made a difference.
The utility model content
The utility model is for the defects of prior art, a kind of industrial robot cable mounting device is provided, can prevent that cable and surrounding environment on the industrial machine human arm from interfering, reduce the loss of cable and equipment, and not affect the motion of industrial robot motion axle.
The technical solution adopted in the utility model is:
The described cable of a kind of industrial robot cable mounting device comprises first paragraph; Described device comprises adaptor, and described adaptor is bent axle shape structure, and adaptor comprises adaptor the first flange, adaptor the second flange, the first flange connector and the second flange connector; Robot flange on the C axle motive position of adaptor the first flange and industrial robot is fixedly connected with, and adaptor the second flange is fixedly connected with actuating equipment; Adaptor the first flange and adaptor the second parallel flange interval arrange, the both sides of adaptor the first flange and adaptor the second flange are fixedly connected with the second flange connector by the first flange connector respectively, and the first paragraph of cable can twist and be threaded onto in the adaptor.
Preferably, described cable also comprises second segment; Described device also comprises servo-actuated clamping section; Servo-actuated clamping section is fixedly installed in the A axle motive position of described industrial robot, and an end of the second segment of described cable is adjacent with the first paragraph of described cable, and the second segment of cable fixedly is threaded onto in the servo-actuated clamping section.
Preferably, described cable also comprises the 3rd section, and the other end of the second segment of described cable and described cable the 3rd section is adjacent; Described device also comprises guide part; Guide part is set on the A axle arm of described industrial robot, and the 3rd section of described cable is passed guide part, and the 3rd section of described cable curves U-shaped in guide part inside along A axle arm.
Preferably, described guide part is cylindrical shape guide part, square tube shape guide part or the polyhedron shape cylinder guide part of hollow, the internal diameter of guide part is greater than the external diameter of the A axle arm of industrial robot, guide part is set on the A axle arm of industrial robot, and the inside of guide part forms the space of an accommodating cable.
Preferably, described device also comprises the first clamping section and the second clamping section, described the first clamping section and the second clamping section are fixedly installed in the two ends of described guide part, the 3rd section of described cable is passed the first clamping section, guide part and the second clamping section successively, an end of the 3rd section of cable fixedly is threaded onto the first clamping section, and the 3rd section the other end of cable fixedly is threaded onto the second clamping section.
Preferably, described guide part comprises guide part stiff end and guide part movable end; Described guide part stiff end is fixedly connected with industrial robot, not with the motion campaign of A axle motive position; Described guide part movable end is fixedly connected with servo-actuated clamping section, with the motion campaign of A axle motive position; Described the first clamping section is fixedly installed in the guide part stiff end, and described the second clamping section is fixedly installed in the guide part movable end.
Preferably, described device also comprises locating part, and described locating part is fixedly installed on the B axle motive position of industrial robot, and the 3rd section of described cable passes can twist behind the locating part and be threaded onto in the adaptor.
Preferably, described locating part is a hollow and annular locating part, and the 3rd section of described cable passes can twist behind the described hollow and annular locating part and be threaded onto in the adaptor.
Preferably, the A axle of described industrial robot is connected with the B axle, and described C axle motive position is movably installed in the B axle motive position end of industrial robot; Described A axle is four axles, and the B axle is five axles, and the C axle is six axles, and A axle motive position is four axles rotation position, and B axle motive position is that five axles swing the position, and C axle motive position is six axles rotation position; Described industrial machine people is the spot welding robot, and described actuating equipment is soldering turret.
The utility model is by arranging an adaptor at the C of industrial robot axle motive position end, adaptor is bent axle shape structure, the first paragraph of cable can twist and be threaded onto in the adaptor, being designed to this bent axle shape structure can make cable bend in the headspace of adaptor, but can not interfere surrounding environment, reduce the loss of cable and equipment, and do not affected the motion of industrial robot motion axle.
Description of drawings
Fig. 1 is the industrial robot four axle upper arm side views that are provided with the industrial robot cable mounting device of the utility model one preferred embodiment;
Fig. 2 is the cutaway view along A-A line among Fig. 1;
Fig. 3 is the industrial robot four axle upper arm top views that are provided with the industrial robot cable mounting device of the utility model one preferred embodiment;
Fig. 4 is the adaptor structural representation;
Fig. 5 is the cutaway view along H-H line among Fig. 3.
Illustration:
11 4 axle upper arm, 12 4 axles rotation position,
13 5 axles swing the position, 14 6 axles rotation position,
141 robot flanges, 15 soldering turrets,
2 cable mounting devices, 21 guide parts,
211 guide part stiff ends, 212 guide part movable ends,
22 servo-actuated clamping sections, 23 adaptors,
231 adaptors the first flange, 232 adaptors the second flange,
233 first flange connectors, 234 second flange connectors,
24 first clamping sections, 25 second clamping sections,
26 locating parts, 27 cable fixing pieces,
3 cables, the first paragraph of 31 cables,
The second segment of 32 cables, the 3rd section of 33 cables.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
The utility model embodiment provides a kind of industrial robot cable mounting device,
The utility model embodiment is by arranging an adaptor at the C of industrial robot axle motive position end, adaptor is bent axle shape structure, the first paragraph of cable can twist and be threaded onto in the adaptor, being designed to this bent axle shape structure can make cable bend in the headspace of adaptor, but can not interfere the loss that has reduced cable and equipment to surrounding environment, and not affect the motion of industrial robot motion axle.
The below illustrates the utility model one preferred embodiment take the spot welding robot as example.Among the spot welding robot, actuating equipment is soldering turret; When the industrial robot of the artificial other types of this industrial machine, this actuating equipment is exactly other corresponding actuating equipments.
The utility model embodiment can be applicable on the industrial robot of the multiple free degree, for example Three Degree Of Freedom industrial robot, four-freedom degree industrial robot, five degree of freedom industrial robot or Six-DOF industrial robot.Be preferably Six-DOF industrial robot.In the present embodiment, we describe as an example of Six-DOF industrial robot example, wherein: the A axle is that four axles, B axle are five axles, the C axle is six axles, A axle arm is four axle upper arm, A axle motive position is four axles rotation position, and B axle motive position is that five axles swing the position, and C axle motive position is six axles rotation position.Certainly, protection domain of the present utility model is not limited to four axles, five axles and six axles among the embodiment, and A axle, B axle and C axle can be the kinematic axis that any needs are walked cable.
See also Fig. 1, Fig. 2 and shown in Figure 3, Fig. 1 is the industrial robot four axle upper arm side views that are provided with the industrial robot cable mounting device of the utility model one preferred embodiment, Fig. 2 is the cutaway view along A-A line among Fig. 1, and Fig. 3 is the industrial robot four axle upper arm top views that are provided with the industrial robot cable mounting device of the utility model one preferred embodiment.Four axle upper arm, 11 front ends of this industrial robot 1 connect four axles rotation position 12 and five axles swing position 13, four axle direction of rotation and five axle swaying directions as shown in Fig. 1, Fig. 2.In 11 windings of four axle upper arm cable 3 is installed, this cable 3 is cables of a branch of cable, water pipe or other type, and its function is to provide power supply, cooling water and signal etc. for soldering turret 15 actuating equipments such as grade.Cable 3 twines by a cable mounting device 2 and is installed on the four axle upper arm 11.
This cable mounting device 2 comprises guide part 21 and servo-actuated clamping section 22.Guide part 21 is set on the four axle upper arm 11 of industrial robot 1, and the 3rd section 33 of cable is passed guide part 21.Guide part 21 is cylindrical shape guide part, square tube shape guide part or the polyhedron shape cylinder guide part of hollow, only otherwise affect shape that cable 3 moves therein all can, be the cylindrical shape guide part in the present embodiment.Because the internal diameter of guide part 21 is set in when guide part 21 on the four axle upper arm 11 of industrial robot greater than the external diameter of four axle upper arm 11 of industrial robot 1, can form in the inside of guide part 21 space of an accommodating cable 3.Because guide part 21 is set on the four axle upper arm 11 of industrial robot, therefore the relative cable 3 in space of this accommodating cable 3 is annular spaces along the cabling of four axle upper arm 11.The setting of guide part 21 makes the motion of cable 3 in this annular space, surrounding environment is not produced and interferes.Servo-actuated clamping section 22 is fixedly installed in the four axles rotation position 12 of industrial robot 1, one end of the second segment 32 of cable and cable the 3rd section 33 is adjacent, the second segment 32 of cable fixedly is threaded onto in the servo-actuated clamping section 22, and servo-actuated clamping section 22 can be rotated with the rotation of four axles.The movement limit that is arranged so that cable 3 of servo-actuated clamping section 22 and is followed the rotation at four axles rotations position 12 and reciprocating in servo-actuated clamping section 22, cable 3 is not interfered surrounding environment.
Five axles that the six axles rotation position 14 of industrial robot is movably installed in industrial robot swing position 13 ends.This cable mounting device 2 also comprises adaptor 23, one end of adaptor 23 is fixedly connected with the robot flange 141 that six axles rotate on the position 14, the other end of adaptor 23 is fixedly connected with soldering turret 15, the other end of the second segment 32 of cable is adjacent with the first paragraph 31 of cable, and the first paragraph 31 of cable can twist and be threaded onto in the adaptor 23.Soldering turret 15 is equivalent to be fixed in the robot arm end by adaptor 23.
The below specifically describes the structure of adaptor 23.Please again in conjunction with Fig. 4 and shown in Figure 5, Fig. 4 is the adaptor structural representation, and Fig. 5 is the cutaway view along H-H line among Fig. 3.The structure of adaptor 23 mainly comprises four parts: adaptor the first flange 231, adaptor the second flange 232, the first flange connector 233 and the second flange connector 234.Adaptor the first flange 231 is fixedly connected with the robot flange 141 of industrial robot, and adaptor the second flange 232 is fixedly connected with soldering turret 15, and robot flange 141 is installed on six axles rotation position, 14 ends.Adaptor the first flange 231 and the 232 parallel interval settings of adaptor the second flange, be separated with certain space between between the two, the both sides of adaptor the first flange 231 and adaptor the second flange 232 are fixedly connected with the second flange connector 234 by the first flange connector 233 respectively, and the first flange connector 233 and the second flange connector 234 are left-right symmetry and distribute.The structure of adaptor 23 is amesiality bent axle shape structures with respect to the axis of four axle upper arm 11, also namely the first flange connector 233 and the second flange connector 234 to compare the length of adaptor the first flange 231 and adaptor the second flange 232 all short in the direction of passing of cable 3, the advantage that is designed to this bent axle shape structure is to guarantee that the first flange connector 233 and the second flange connector 234 can be avoided interfering with cable 3 when adaptor 23 random device people flanges 141 rotate, and guarantees the range of movement of robot flange 141.Passing behind the adaptor 23 interior headspaces cable 3 can be directly fixed on the adaptor 23 or install cable fixing piece 27 additional at adaptor 23 and be fixed.Shown in figure five, when adaptor 23 random device people flanges 141 rotated, cable 3 bent in the headspace of adaptor 23, but can not interfere surrounding environment.
Preferably, this cable mounting device 2 also comprises the first clamping section 24 and the second clamping section 25, the first clamping section 24 and the second clamping section 25 are fixedly installed in the two ends of guide part 21, the 3rd section 33 of cable is passed the first clamping section 24, guide part 21 and the second clamping section 25 successively, an end of the 3rd section 33 of cable fixedly is threaded onto the first clamping section 24, and the 3rd section 33 the other end of cable fixedly is threaded onto the second clamping section 25.The setting of the first clamping section 24 and the second clamping section 25 makes the movement of cable 3 carry out according to predetermined path, and cable 3 is not interfered surrounding environment.
Preferably, guide part 21 comprises guide part stiff end 211 and guide part movable end 212; Guide part stiff end 211 is fixedly connected with industrial robot, does not rotate the motion campaign at position 12 with four axles; Guide part movable end 212 is fixedly connected with servo-actuated clamping section 22, with the motion campaign at four axles rotation position 14; The first clamping section 24 is fixedly installed in guide part stiff end 211, the second clamping sections 25 and is fixedly installed in guide part movable end 212.Such design, the part that makes cable 3 be positioned at guide part 21 in guide part 21 are the motion that " U " shape follows four axles rotations position 14 and move back and forth.
See also Fig. 1, Fig. 2 and shown in Figure 3, after cable 3 is fixed by the first clamping section 24, with concentric cylindrical shape guide part 21 interior annular space of four axle upper arm 11 in bend to " U " shape along four axle upper arm 11, cable extends to servo-actuated clamping section 22 via the second clamping section 25 subsequently.Servo-actuated clamping section 22 is installed on the four axles rotation position 12, when four axles are rotated, servo-actuated clamping section 22, the second clamping section 25 and guide part movable end 212 can drive the part of cable 3 and move simultaneously, cable 3 can carry out curved movement in the annular space that four axle upper arm 11 and guide part 21 consist of, in guide part 21, take place, the bottom of " U " shape bending as separation, it is elongated that cable 3 is positioned at the part of guide part movable end 212, and the part that is positioned at guide part stiff end 211 shortens.Cable 3 continues across the headspace in the adaptor 23 after passing servo-actuated clamping section 22, is connected to soldering turret 15.
Preferably, this cable mounting device 2 also comprises locating part 26, five axles that locating part 26 is fixedly installed in industrial robot swing on the position 13, in the present embodiment, locating part 26 is installed in the place ahead at the five axles swing position 13 of industrial robot, its integral body not random device people flange 141 is rotated and is rotated, and rotates freely but locating part 26 self can carry out 360 °, and its direction of rotation is identical with the swaying direction that five axles swing position 13.The first paragraph 31 of locating part 26 cables passes can twist behind the locating part 26 and is threaded onto in the adaptor 23.This locating part 26 is a hollow and annular locating part, can for circular, also can be square ring-type.Locating part the moving range that can further limit cable 3 is set, cable 3 is not interfered surrounding environment.
In the present embodiment, cable 3 can also be punished at an arbitrary position as two parts or a plurality of part, is connected by connector between the each several part.For example at 22 places, servo-actuated clamping section cable 3 is divided into two and connects by connector.The benefit of design is like this: when wherein arbitrary part cable 3 breaks down, can only change this part cable 3 that breaks down, and remainder cable 3 still can continue normal use, can save like this cost of maintenance.
In sum, the route that installs of whole cable 3 is:
1, the 3rd of cable the section 33 is passed the first clamping section 24, guide part 21 and the second clamping section 25 successively;
2, stretch out the second clamping section 25 after, be the second segment 32 of cable, the second segment 32 of cable passes servo-actuated clamping section 22;
3, pass servo-actuated clamping section 22 after, be the first paragraph 31 of cable, the first paragraph 31 of cable passes locating part 26 and adaptor 23 successively, is fixed by cable fixing piece 27.
The operation principle of this cable mounting device 2:
The one servo-actuated clamping section that can rotate with four axles is installed at four axles of industrial robot rotation position, four axle upper arm places design a cylindrical shape guide part, consist of an annular space between this guide part and the four axle upper arm, guide part is divided into again guide part stiff end and guide part movable end, be respectively equipped with the first clamping section and the second clamping section at guide part stiff end and guide part movable end, guide part is fixed and stretched into to cable one end by the first clamping section, pass successively guide part stiff end and guide part movable end, the other end is fixed by the second clamping section and is stretched out guide part, and cable is " U " shape in the annular space of guide part.The guide part stiff end is fixed on the industrial robot, and with the motion campaign of four, five, six axles, guide part movable end and servo-actuated clamping section are not fixed, and rotates with the rotation at four axles rotation position.The cable that stretches out guide part is connected with servo-actuated clamping section, when rotate at four axles rotation position, the part that cable is positioned at guide part will be followed the rotation at guide part movable end, servo-actuated clamping section and four axles rotation position and reciprocating, the part that cable passes servo-actuated clamping section also will be followed the rotation at servo-actuated clamping section and four axles rotation position and be rotated, and cable and surrounding environment can not interfere.In guide part, cable is take place, the bottom of " U " shape bending as separation, and it is elongated that cable is positioned at the part of guide part movable end, and the part that is positioned at the guide part stiff end shortens.The actuating equipment of industrial robot is connected with robot end's flange by adaptor, and this adaptor is a bent axle shape structure, and when adaptor random device people flange rotated, cable and adaptor can not interfere.In industrial robot work engineering, cable and surrounding environment can not interfere yet.
The present embodiment designs corresponding frame for movement and parts by four axle upper arm and the robot end at industrial robot, so that the cable that provides the energy or cooling water for actuating equipment (such as soldering turret) is wrapped in the corresponding cylindrical shape guide part of four axle upper arm of industrial robot with " U " shape structure of compactness, prevent that cable and surrounding environment from interfering.When five axles swing position swing and robot flange rotation, cable carries out the bending twisting between the cable fixing piece on servo-actuated clamping section and the adaptor, but substantially at grade crooked twisting of this moment cable and industrial machine human arm, can't come in contact with surrounding environment and interfere, effectively reduce danger.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, doing, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.
Claims (9)
1. an industrial robot cable mounting device is characterized in that, described cable comprises first paragraph; Described device comprises adaptor, and described adaptor is bent axle shape structure, and adaptor comprises adaptor the first flange, adaptor the second flange, the first flange connector and the second flange connector; Robot flange on the C axle motive position of adaptor the first flange and industrial robot is fixedly connected with, and adaptor the second flange is fixedly connected with actuating equipment; Adaptor the first flange and adaptor the second parallel flange interval arrange, the both sides of adaptor the first flange and adaptor the second flange are fixedly connected with the second flange connector by the first flange connector respectively, described the first flange connector and described the second flange connector are left-right symmetry and distribute, and the first paragraph of cable can twist and be threaded onto in the adaptor.
2. device according to claim 1 is characterized in that, described cable also comprises second segment; Described device also comprises servo-actuated clamping section; Servo-actuated clamping section is fixedly installed in the A axle motive position of described industrial robot, and an end of the second segment of described cable is adjacent with the first paragraph of described cable, and the second segment of cable fixedly is threaded onto in the servo-actuated clamping section.
3. device according to claim 2 is characterized in that, described cable also comprises the 3rd section, and the other end of the second segment of described cable and described cable the 3rd section is adjacent; Described device also comprises guide part; Guide part is set on the A axle arm of described industrial robot, and the 3rd section of described cable is passed guide part, and the 3rd section of described cable curves U-shaped in guide part inside along A axle arm.
4. device according to claim 3, it is characterized in that, described guide part is cylindrical shape guide part, square tube shape guide part or the polyhedron shape cylinder guide part of hollow, the internal diameter of guide part is greater than the external diameter of the A axle arm of industrial robot, guide part is set on the A axle arm of industrial robot, and the inside of guide part forms the space of an accommodating cable.
5. device according to claim 3, it is characterized in that, described device also comprises the first clamping section and the second clamping section, described the first clamping section and the second clamping section are fixedly installed in the two ends of described guide part, the 3rd section of described cable is passed the first clamping section, guide part and the second clamping section successively, an end of the 3rd section of cable fixedly is threaded onto the first clamping section, and the 3rd section the other end of cable fixedly is threaded onto the second clamping section.
6. device according to claim 5 is characterized in that, described guide part comprises guide part stiff end and guide part movable end; Described guide part stiff end is fixedly connected with industrial robot, not with the motion campaign of A axle motive position; Described guide part movable end is fixedly connected with servo-actuated clamping section, with the motion campaign of A axle motive position; Described the first clamping section is fixedly installed in the guide part stiff end, and described the second clamping section is fixedly installed in the guide part movable end.
7. device according to claim 2 is characterized in that, described device also comprises locating part, and described locating part is fixedly installed on the B axle motive position of industrial robot, and the 3rd section of described cable passes can twist behind the locating part and be threaded onto in the adaptor.
8. device according to claim 7 is characterized in that, described locating part is a hollow and annular locating part, and the 3rd section of described cable passes can twist behind the described hollow and annular locating part and be threaded onto in the adaptor.
9. each described device is characterized in that according to claim 1～8, and the A axle of described industrial robot is connected with the B axle, and described C axle motive position is movably installed in the B axle motive position end of industrial robot; Described A axle is four axles, and the B axle is five axles, and the C axle is six axles, and A axle motive position is four axles rotation position, and B axle motive position is that five axles swing the position, and C axle motive position is six axles rotation position; Described industrial machine people is the spot welding robot, and described actuating equipment is soldering turret.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220480704 CN202825824U (en) | 2012-09-20 | 2012-09-20 | Cable installation device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220480704 CN202825824U (en) | 2012-09-20 | 2012-09-20 | Cable installation device for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202825824U true CN202825824U (en) | 2013-03-27 |
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ID=47937615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220480704 Expired - Fee Related CN202825824U (en) | 2012-09-20 | 2012-09-20 | Cable installation device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202825824U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932556A (en) * | 2017-12-04 | 2018-04-20 | 埃夫特智能装备股份有限公司 | A kind of industrial robot cable arranging structure |
| CN110587588A (en) * | 2019-10-21 | 2019-12-20 | 江苏图灵智能机器人有限公司 | Desktop type four-axis joint robot |
-
2012
- 2012-09-20 CN CN 201220480704 patent/CN202825824U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932556A (en) * | 2017-12-04 | 2018-04-20 | 埃夫特智能装备股份有限公司 | A kind of industrial robot cable arranging structure |
| CN110587588A (en) * | 2019-10-21 | 2019-12-20 | 江苏图灵智能机器人有限公司 | Desktop type four-axis joint robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20210920 |
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| CF01 | Termination of patent right due to non-payment of annual fee |