CN207326986U - A kind of amusement machinery hand based on syringe - Google Patents
A kind of amusement machinery hand based on syringe Download PDFInfo
- Publication number
- CN207326986U CN207326986U CN201720750918.7U CN201720750918U CN207326986U CN 207326986 U CN207326986 U CN 207326986U CN 201720750918 U CN201720750918 U CN 201720750918U CN 207326986 U CN207326986 U CN 207326986U
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- syringe
- drive component
- arm body
- pedestal
- base
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Abstract
The utility model discloses a kind of amusement machinery hand based on syringe,Including manipulator,The manipulator includes a pedestal,It is rotationally connected with the first arm body of pedestal,It is rotationally connected with the second arm body of the first arm body and is arranged at the claw of the second arm body,The first drive component for being used to drive the first arm body vertically to realize swing is equipped between the pedestal and the first arm body,The second drive component for being used to drive the second arm body vertically to realize swing is equipped between the first arm body and the second arm body,It is equipped between second arm body and claw and is used to drive claw to realize the 3rd drive component opened and closed,First drive component includes control syringe,It is driven the hose of syringe and connection control syringe nipple with being driven syringe nipple,Second drive component is identical with the structure of the first drive component with the structure of the 3rd drive component.The utility model has the following advantages and effect：So that amusement machinery hand have well it is intellectual, educational with it is interesting.
Description
Technical field
It the utility model is related to a kind of amusement facility, more particularly to a kind of amusement machinery hand based on syringe.
Background technology
With the reach of science, social progress, modern amusement facility has fully used machinery, electricity, light, sound, water, power etc.
Advanced technology.Integrate intellectual, interesting, scientific, thrill, it is deep generally to be liked by numerous teenagers, children.It is right
In the entertainment life of abundant people, the physique of people is tempered, moulds the sentiment of people, amusement facility has played positive effect.
Influenced be subject to film and the factors such as social development, the manipulation of present teenager and children for manipulator is with deep emerging
Interest；And most of traditional manipulator applies to the production and processing of factory so that teenager and children are difficult to recognize machinery
The motion principle of hand so that existing manipulator without well it is intellectual, educational with it is interesting.
Utility model content
The purpose of this utility model is to provide a kind of amusement machinery hand based on syringe, the manipulator can for teenager and
Children carry out manual manipulation, teenager and children is will appreciate that the motion principle of manipulator so that the manipulator has good
It is intellectual, educational with it is interesting.
The above-mentioned technical purpose of the utility model technical scheme is that：It is a kind of based on syringe
Amusement machinery hand, including manipulator, the manipulator include a pedestal, the first arm body for being rotationally connected with pedestal, rotation connection
In the first arm body the second arm body and be arranged at the claw of the second arm body, be equipped between the pedestal and the first arm body and be used to drive
Dynamic first arm body vertically realizes the first drive component of swing, is equipped with and is used between the first arm body and the second arm body
Drive the second arm body vertically to realize the second drive component of swing, be equipped between the second arm body and claw and be used to drive
Dynamic claw realizes the 3rd drive component opened and closed, and first drive component includes control syringe, transmission syringe and company
Hose of the logical control syringe nipple with being driven syringe nipple, the structure of second drive component and the 3rd drive component are equal
It is identical with the structure of the first drive component.
By using above-mentioned technical proposal, liquid is pumped into control note by staff by way of suction by nipple
In the empty cylinder of emitter, one end of hose is set on the nipple of control syringe；By the piston handle for promoting control syringe
For driving liquid to be moved towards the free end of hose, the discharge to soft inner air tube is realized.The free end of hose is set in
It is driven on the nipple of syringe, by controlling the flexible of syringe piston handle and under the action of pressure difference so that transmission syringe
On piston handle can realize and control the synchronization telescope of syringe upper piston handle.Transmission syringe is installed on a robotic arm, is led to
Cross the flexible rotation being used for realization between manipulator all parts and the keying of claw of transmission syringe piston handle.Teenager
And children apply active force by way of hand-held control syringe and to the piston handle on control syringe, so as to fulfill to machine
Rotation manipulation between tool hand all parts, and know under the mobilization of liquid power transmission and conversion process and
Solution is to the motion principle between manipulator part so that and harvest arrives knowledge during teenager and children can be at play, so that
So that this kind of manipulator have well it is intellectual, educational with it is interesting.
It is further arranged to：Base is provided with below the pedestal, is rotatablely connected between the pedestal and base,
The 4th drive component for being used for driving pedestal to realize rotation in the horizontal direction, the 4 wheel driven are equipped between the pedestal and base
Dynamic component is identical with the structure of the first drive component.
By using above-mentioned technical proposal, since the structure of the 4th drive component is identical with the structure of the first drive component,
Drive the piston handle of transmission syringe to realize by controlling the flexible principle of syringe piston handle to be used for stretch, so as to fulfill to base
The driving of seat so that pedestal can be rotated around realization at the rotation connection between base so that manipulator can be realized multi-faceted
Rotation, so as to increase teenager and interest when children are at play, and more thorough understanding is realized to transmission principle.
It is further arranged to：Transmission syringe in first drive component is connected between pedestal and the first arm body,
Transmission syringe in second drive component is connected between the first arm body and the second arm body, the transmission note in the 3rd drive component
Emitter is connected between the second arm body and claw, the transmission syringe in the 4th drive component is connected between base and pedestal.
By using above-mentioned technical proposal, teenager and children are by driving the control syringe pair in the first drive component
Transmission syringe in first drive component applies active force, for driving the rotation between pedestal and the first arm body；Pass through drive
Control syringe in dynamic second drive component applies active force to the transmission syringe in the second drive component, for driving the
Rotation between one arm body and the second arm body；By driving the control syringe in the 3rd drive component in the 3rd drive component
Transmission syringe apply active force, for drive claw realize open and close；By driving the control in the 4th drive component to inject
Device applies active force to the transmission syringe in the 4th drive component, for driving pedestal around the turned position between base
Realize and rotate.
It is further arranged to：The claw include be fixed on the second arm body substrate and be rotatably dispose in substrate and in pair
Claim the left claw arm of setting and right pawl arm, the transmission that the left claw arm and right pawl arm pass through in connecting rod and the 3rd drive component is noted
The piston handle connection of emitter.
By using above-mentioned technical proposal, the flexible of transmission syringe piston handle is passed to active force by connecting rod respectively
To left claw arm and right pawl arm and make left claw arm and turned position that right pawl upper-arm circumference is around between substrate is realized and rotated, for reality
Existing closure or openness between left claw arm and right pawl arm.
It is further arranged to：Fixed seat is equipped with positioned at the side of the base, and the fixed seat is equipped with bull stick, described turn
Worn respectively on bar and be connected with the first driving handle, the second driving handle, the 3rd driving handle and the 4th driving handle, it is described
Control syringe in first drive component is connected to fixed seat and the first driving handle and makes the first driving handle drive control
The piston handle of syringe realizes flexible, control injection in the control syringe, the 3rd drive component in second drive component
Control syringe in device and the 4th drive component is connected to the second driving handle with consolidating by above-mentioned same way
Reservation, the 3rd driving handle and fixed seat, the 4th driving handle and fixed seat.
By using above-mentioned technical proposal, fixed work is played to the position of four control syringes by fixed seat and bull stick
With teenager and children are by gripping the first driving handle, the second driving handle, the 3rd driving handle and the 4th driving handle
Four control syringes are applied active force so that the conduction that active force can more be stablized is injected to four controls by mode respectively
Device, makes the operation of teenager and children more convenient；And pass through the first driving handle, the second driving handle, the 3rd driving handle
With the mode of the 4th driving handle so that the hand of teenager and children can have preferably grip point to four control syringes into
Row force.
It is further arranged to：It is connected with the screw rod for adjustment base height on the base, the screw rod is the bottom of around
The circumferentially distributed setting in periphery of seat.
By using above-mentioned technical proposal, the height by way of screw thread between screw rod and base connects for adjusting screw rod
Degree so that base can realize the fixation on out-of-flatness ground, increase the adaptability of base.
It is further arranged to：The one end on the screw rod towards ground is equipped with triangular support bracket, the middle of the base and direction
The side of triangular support bracket is equipped with clump weight.
By using above-mentioned technical proposal, it is used to increase the contact area between screw rod and ground by triangular support bracket,
Base is enabled to realize on the ground more preferable fixed；And the center of gravity for being arranged to add to base for passing through clump weight so that machine
For tool hand during movement, base can play manipulator more preferable supporting role, ensure the stable operation of manipulator.
It is further arranged to：The inner hollow of the clump weight sets and offers the passage inside connection, and described is logical
Road is equipped with the opening and closing element for being used for sealing passage.
By using above-mentioned technical proposal, the addition to clump weight internal weights thing is realized by the setting of passage so that
Amusement machinery hand is used for the weight for reducing amusement machinery hand by way of reducing clump weight weight, makes during moving
The movement for obtaining amusement machinery hand is more convenient.
It is further arranged to：Exhaust pipe is communicated with the hose, spiral cover is threaded with the exhaust pipe.
By using above-mentioned technical proposal, it is used to reduce the gas in hose by the setting of exhaust pipe so that control
It can realize between syringe processed and transmission syringe and more accurately be driven；And the effect of screw thread even between spiral cover and exhaust pipe
Under, it is used for realization the sealing to exhaust pipe.
In conclusion the utility model has the advantages that：Pass through the first drive component, the second drive component,
Three drive components and the 4th drive component are respectively used to realize to the control between manipulator all parts so that amusement machinery hand
With it is good it is intellectual, educational with it is interesting；Control syringe is consolidated by being used for realization between fixed seat and bull stick
It is fixed so that what active force can more be stablized passes to control syringe, and in the first driving handle, the second driving handle, the 3rd
Under the action of driving handle and the 4th driving handle so that hand can have the more preferable point of application.
Brief description of the drawings
Fig. 1 is the stereogram of embodiment；
Fig. 2 is the structure diagram of embodiment（It is mainly used for representing manipulator and the first drive component structure）；
Fig. 3 is another structure diagram of embodiment（It is mainly used for representing the second drive component and the 4th drive component knot
Structure）；
Fig. 4 is another stereogram of embodiment（It is mainly used for representing the 3rd drive component structure）；
Fig. 5 is the rearview of embodiment（It is mainly used for representing the structure in fixed seat）.
In figure：1st, pedestal；2nd, the first arm body；3rd, the second arm body；4th, claw；4.1st, substrate；4.2nd, left claw arm；4.3rd, right pawl
Arm；5th, the first drive component；5.1st, the first control syringe；5.2nd, the first transmission syringe；5.3rd, the first hose；6th, second drive
Dynamic component；6.1st, the second control syringe；6.2nd, the second transmission syringe；6.3rd, the second hose；7th, the 3rd drive component；7.1、
3rd control syringe；7.2nd, the 3rd transmission syringe；7.3rd, the 3rd hose；8th, base；9th, the 4th drive component；9.1st, the 4th
Control syringe；9.2nd, the 4th transmission syringe；9.3rd, the 4th hose；10th, fixed seat；11st, bull stick；12nd, the first driving handle；
13rd, the second driving handle；14th, the 3rd driving handle；15th, the 4th driving handle；16th, screw rod；17th, triangular support bracket；18th, counterweight
Block；19th, passage；20th, opening and closing element；21st, exhaust pipe；22nd, spiral cover；23rd, manipulator；24th, fixed frame；25th, connecting rod.
Embodiment
The utility model is described in further detail below in conjunction with attached drawing.
With reference to figure 1, a kind of amusement machinery hand based on syringe, including horizontal positioned base 8,8 upper surface of base and
Manipulator 23 is placed with close to middle position；Fixed seat 10 is placed with positioned at the side of base 8.Close to periphery on base 8
Position be threaded with screw rod 16 perpendicular to base 8, and screw rod 16 around base 8 periphery it is circumferentially distributed have four,
The lower face of screw rod 16 is fixedly connected with triangular support bracket 17.The middle position of 8 bottom of base is fixedly installed clump weight 18, matches somebody with somebody
18 inner hollow of pouring weight is set and side wall is equipped with the passage 19 inside connecting, and passage 19 is equipped with opening and closing element 20；Opening and closing element 20 can
For the cylinder with 19 sidewall thread downlink connection of passage.
With reference to figure 2, manipulator 23 includes pedestal 1, the first arm body 2, the second arm body 3 and claw 4, pedestal 1 and is placed on bottom
It is arranged in a mutually vertical manner on seat 8 and with base 8, is rotatablely connected on pedestal 1 by the shaft being vertically arranged with base 8.First arm body 2
One end pass through axial horizontally disposed shaft and be rotatablely connected with position of the pedestal 1 away from base 8, the free end of the first arm body 2
The medium position for being located at length direction with the second arm body 3 by axial horizontally disposed shaft is rotatablely connected；Second arm body, 3 upper table
Face and position close to end face is fixedly installed claw 4.Claw 4 includes substrate 4.1, left claw arm 4.2 and right pawl arm 4.3, base
Plate 4.1 is fixed above the second arm body 3, and one end of left claw arm 4.2 passes through axially vertically disposed shaft and substrate 4.1
Rotation connection, one end of right pawl arm 4.3 be rotatablely connected by axially vertically disposed shaft and substrate 4.1 and left claw arm 4.2 with
It is symmetrically set between right pawl arm 4.3；The length side of line of symmetry and the second arm body 3 between left claw arm 4.2 and right pawl arm 4.3
To being arranged in parallel.
The first drive component 5 for being used for driving the first arm body 2 to rotate, the first driving are equipped between 1 and first arm body 2 of pedestal
Component 5 includes control syringe, hose and transmission syringe；In order to facilitate understanding, the control in the first drive component 5 is injected
Device, hose and transmission syringe are respectively designated as the first control syringe 5.1, the first hose 5.3 and the first transmission syringe
5.2.The nipple of first transmission syringe 5.2 is connected by the first hose 5.3 with the nipple of the first control syringe 5.1；First
Be driven syringe 5.2 empty cylinder by horizontally disposed shaft with pedestal 1 is rotatablely connected, piston handle passes through horizontally disposed shaft
It is rotatablely connected with the first arm body 2.
With reference to figure 3, the second driving group for being used for driving the second arm body 3 to rotate is equipped between the first arm body 2 and the second arm body 3
Part 6, the second drive component 6 include control syringe, hose and transmission syringe；In order to facilitate understanding, by the second drive component 6
Interior control syringe, hose and transmission syringe is respectively designated as the second control syringe 6.1, the second hose 6.3 and second
It is driven syringe 6.2.The nipple of second transmission syringe 6.2 passes through the second hose 6.3 and the nipple of the second control syringe 6.1
Connection；Second transmission syringe 6.2 empty cylinder by horizontally disposed shaft with the first arm body 2 is rotatablely connected, piston handle passes through
Horizontally disposed shaft is rotatablely connected with the one end of the second arm body 3 away from claw 4.
The 4th drive component 9 for being used for driving pedestal 1 to rotate is equipped between base 8 and pedestal 1, the 4th drive component 9 wraps
Include control syringe, hose and transmission syringe；In order to facilitate understanding, by the control syringe in the 4th drive component 9, hose
The 4th control syringe 9.1, the 4th hose 9.3 and the 4th transmission syringe 9.2 are respectively designated as with transmission syringe.4th passes
The nipple of dynamic syringe 9.2 is connected by the 4th hose 9.3 with the nipple of the 4th control syringe 9.1；4th transmission syringe
9.2 empty cylinder is rotatablely connected by the shaft that is vertically arranged with base 8, piston handle passes through the shaft and pedestal 1 that are vertically arranged
Side is rotatablely connected.
It is equipped with reference to figure 4, between the second arm body 3 and claw 4 and is used to drive claw 4 to realize the 3rd drive component 7 opened and closed,
3rd drive component 7 includes control syringe, hose and transmission syringe；In order to facilitate understanding, by the 3rd drive component 7
Control syringe, hose and transmission syringe are respectively designated as the 3rd control syringe 7.1, the 3rd hose 7.3 and the 3rd transmission
Syringe 7.2.The nipple of 3rd transmission syringe 7.2 is connected by the nipple of the 3rd hose 7.3 and the 3rd control syringe 7.1
It is logical；3rd transmission syringe 7.2 is fixedly installed on the second arm body 3 and parallel with it, the piston handle court of the 3rd transmission syringe 7.2
To claw 4, piston handle and the left claw arm the 4.2, the 3rd of the 3rd transmission syringe 7.2 are driven the piston handle of syringe 7.2 and right pawl
The connecting rod 25 that shape is Contraband font is respectively connected between arm 4.3, wherein one end of a connecting rod 25 is worn into the 3rd transmission note
Piston handle, the other end of emitter 7.2 are worn into left claw arm 4.2；One end of another connecting rod 25 is worn into the 3rd transmission syringe
7.2 piston handle, the other end are worn into right pawl arm 4.3.
With reference to figure 5,10 upper surface of fixed seat, which is fixed, sets shape as the fixed frame 24 on Contraband font and opening, on fixed frame 24
It is in horizontally disposed bull stick 11 to be fixedly connected with, and it is strip to be equipped with and shape axially vertical with bull stick 11 respectively on bull stick 11
The first driving handle 12, the second driving handle 13, the 3rd driving handle 14 and the 4th driving handle 15.First control syringe
5.1 piston handle be located at by horizontally disposed shaft and the first driving handle 12 length direction medium position rotation connection,
Empty cylinder is rotatablely connected by horizontally disposed shaft and fixed seat 10；Pass through the identical connection of the above-mentioned first control syringe 5.1
Second control syringe 6.1 is arranged between the second driving handle 13 and fixed seat 10, controls syringe 7.1 by the 3rd by mode
Be arranged between the 3rd driving handle 14 and fixed seat 10, the 4th control syringe 9.1 is arranged on the 4th driving handle 15 with
Between fixed seat 10.
It is located at the middle part of length direction on first hose 5.3, the second hose 6.3, the 3rd hose 7.3 and the 4th hose 9.3
Position is communicated with exhaust pipe 21, and spiral cover 22 is threaded with the free end of exhaust pipe 21.
The course of work：Teenager and children are by gripping the first driving handle 12, the second driving handle the 13, the 3rd driving hand
The mode of 14 or the 4th driving handle 15 of handle, applies active force, the pressure that control syringe is formed to corresponding control syringe
Difference conducts active force to corresponding transmission syringe, passes through the fortune being driven between 23 all parts of syringe control machinery hand
It is dynamic.
This specific embodiment is only explanation to the utility model, it is not the limitation to the utility model, ability
Field technique personnel as needed can make the present embodiment the modification of no creative contribution after this specification is read, but
As long as all protected in the right of the utility model be subject to Patent Law.
Claims (9)
1. a kind of amusement machinery hand based on syringe, including manipulator (23), it is characterised in that：The manipulator (23) includes
One pedestal (1), the first arm body (2) for being rotationally connected with pedestal (1), be rotationally connected with the second arm body (3) of the first arm body (2) with
And the claw (4) of the second arm body (3) is arranged at, it is equipped between the pedestal (1) and the first arm body (2) and is used to drive the first arm body
(2) vertically realize the first drive component (5) of swing, be equipped with and use between the first arm body (2) and the second arm body (3)
In the second drive component (6) for driving the second arm body (3) vertically to realize swing, the second arm body (3) and claw (4)
Between be equipped be used for drive claw (4) realize open and close the 3rd drive component (7), first drive component (5) include control
The hose of syringe, transmission syringe and connection control syringe nipple with being driven syringe nipple, second driving group
Part (6) is identical with the structure of the first drive component (5) with the structure of the 3rd drive component (7).
A kind of 2. amusement machinery hand based on syringe according to claim 1, it is characterised in that：Positioned at the pedestal
(1) base (8) is provided with below, is rotatablely connected between the pedestal (1) and base (8), the pedestal (1) and base (8)
Between be equipped with and be used to drive pedestal (1) to realize the 4th drive component (9) of rotation, the 4th drive component in the horizontal direction
(9) it is identical with the structure of the first drive component (5).
A kind of 3. amusement machinery hand based on syringe according to claim 2, it is characterised in that：First driving group
Transmission syringe in part (5) is connected between pedestal (1) and the first arm body (2), the transmission injection in the second drive component (6)
Device is connected between the first arm body (2) and the second arm body (3), the transmission syringe in the 3rd drive component (7) is connected to second
Transmission syringe between arm body (3) and claw (4), in the 4th drive component (9) is connected between base (8) and pedestal (1).
A kind of 4. amusement machinery hand based on syringe according to claim 3, it is characterised in that：Claw (4) bag
Include the substrate (4.1) for being fixed on the second arm body (3) and be rotatably dispose in substrate (4.1) and the left claw arm being symmetrical set
(4.2) with right pawl arm (4.3), the left claw arm (4.2) and right pawl arm (4.3) pass through connecting rod (25) and the 3rd drive component
(7) the piston handle connection of the transmission syringe in.
A kind of 5. amusement machinery hand based on syringe according to claim 3, it is characterised in that：Positioned at the base
(8) side is equipped with fixed seat (10), and the fixed seat (10) is equipped with bull stick (11), the company of wearing respectively on the bull stick (11)
It is connected to the first driving handle (12), the second driving handle (13), the 3rd driving handle (14) and the 4th driving handle (15), institute
The control syringe in the first drive component (5) is stated to be connected to fixed seat (10) and the first driving handle (12) and make the first driving
The piston handle of handle (12) drive control syringe realizes flexible, control syringe in second drive component (6), the 3rd
The control syringe in syringe and the 4th drive component (9) is controlled to pass through above-mentioned same way point in drive component (7)
The second driving handle (13) is not connected to start with fixed seat (10), 4 wheel driven with fixed seat (10), the 3rd driving handle (14)
Handle (15) and fixed seat (10).
A kind of 6. amusement machinery hand based on syringe according to claim 2, it is characterised in that：On the base (8)
It is connected with the screw rod (16) for adjustment base (8) height, the periphery of the screw rod (16) around base (8) circumferentially distributed is set
Put.
A kind of 7. amusement machinery hand based on syringe according to claim 6, it is characterised in that：Screw rod (16) court
One end earthward is equipped with triangular support bracket (17), is equipped with the middle part of the base (8) and towards the side of triangular support bracket (17)
Clump weight (18).
A kind of 8. amusement machinery hand based on syringe according to claim 7, it is characterised in that：The clump weight (18)
Inner hollow set and offer the internal passage (19) of connection, the passage (19) is equipped with for sealing passage (19)
Opening and closing element (20).
A kind of 9. amusement machinery hand based on syringe according to claim 1, it is characterised in that：Connected on the hose
There is exhaust pipe (21), spiral cover (22) is threaded with the exhaust pipe (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720750918.7U CN207326986U (en) | 2017-06-26 | 2017-06-26 | A kind of amusement machinery hand based on syringe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720750918.7U CN207326986U (en) | 2017-06-26 | 2017-06-26 | A kind of amusement machinery hand based on syringe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207326986U true CN207326986U (en) | 2018-05-08 |
Family
ID=62426774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720750918.7U Expired - Fee Related CN207326986U (en) | 2017-06-26 | 2017-06-26 | A kind of amusement machinery hand based on syringe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207326986U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108824854A (en) * | 2018-06-07 | 2018-11-16 | 宋方龙 | A kind of garden landscape duck recreation pool |
| CN111681526A (en) * | 2020-06-08 | 2020-09-18 | 牡丹江师范学院 | Education auxiliary robot |
-
2017
- 2017-06-26 CN CN201720750918.7U patent/CN207326986U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108824854A (en) * | 2018-06-07 | 2018-11-16 | 宋方龙 | A kind of garden landscape duck recreation pool |
| CN108824854B (en) * | 2018-06-07 | 2020-10-16 | 义乌市诠铈新材料有限公司 | Landscape duck is played pond |
| CN111681526A (en) * | 2020-06-08 | 2020-09-18 | 牡丹江师范学院 | Education auxiliary robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180508 Termination date: 20190626 |