CN207606577U - Industrial feeding Liang Zhou robots - Google Patents
Industrial feeding Liang Zhou robots Download PDFInfo
- Publication number
- CN207606577U CN207606577U CN201721331580.8U CN201721331580U CN207606577U CN 207606577 U CN207606577 U CN 207606577U CN 201721331580 U CN201721331580 U CN 201721331580U CN 207606577 U CN207606577 U CN 207606577U
- Authority
- CN
- China
- Prior art keywords
- axis
- fixed
- screw
- plate
- screwed
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of industry feeding Liang Zhou robots, it is related to Intelligent programmable industrial robot field.It includes control panel host, X-axis, Z axis ball-screw kinematic axis and adjustable pedestal, and X-axis is screwed on the carrier plate of Z axis ball-screw kinematic axis；Z axis ball-screw kinematic axis is fixed on the adjustable pedestal bottom plate on adjustable pedestal, and touch screen control panel host is provided at the top of Z axis ball-screw kinematic axis.The utility model is at low cost, reasonable in design, the mechanical arm of short length, the length of ultralong-stroke, and can be adjusted with Any Digitization, and ensures that precision is reliable, and processing is stablized, highly practical.
Description
Technical field
The utility model relates to Intelligent programmable industrial robot fields, and in particular to a kind of industry two axis machine of feeding
Device people.
Background technology
In the processing of factory lines work production, considerable product category be from assembly line feeding to auxiliary
It is processed in equipment.Each ancillary equipment is required for a manually feeding from assembly line, the feeding of such one of common laborer to add
Work process only plays a booster action for the production of product.Replace production of the artificial loading and unloading to enterprise with mechanical arm
Cost and production efficiency have large effect.Present loading and unloading manipulator arm general on the market is that multi-joint degree of freedom has been come
At, it is most all with the in the majority of import, it is that a kind of servo motor collocation harmonic wave speed reducing machine does more critical movements and comes setting position
It realizes loading and unloading, in this way causes that the production cost increases, function is superfluous.
Therefore, basic loading and unloading demand can be reached by designing a kind of general and easy inexpensive mode, to save
Cost and artificial raising efficiency again are saved.
In conclusion the utility model devises a kind of industry feeding Liang Zhou robots.
Utility model content
In view of the shortcomings of the prior art, the utility model aims to provide a kind of two axis machines of industrial feeding
People, at low cost, reasonable in design, the mechanical arm of short length, the length of ultralong-stroke, and can be with Any Digit tune
Section, and ensure that precision is reliable, processing is stablized, highly practical.
To achieve the goals above, the utility model is to realize by the following technical solutions：Two axis machine of industrial feeding
Device people, including control panel host, X-axis, Z axis ball-screw kinematic axis and adjustable pedestal, X-axis are screwed in Z axis rolling
On the carrier plate of ballscrew kinematic axis；Z axis ball-screw kinematic axis is fixed on the adjustable pedestal bottom plate on adjustable pedestal, Z axis
It is provided with touch screen control panel host at the top of ball-screw kinematic axis.
The Z axis ball-screw kinematic axis includes the stepper motor of strap brake, motor fixing plate, the first synchronizing wheel, same
Walk band, the second synchronizing wheel, ball-screw, ball screw nut, carrier plate, ontology, nut band movable plate, sliding rail, ontology tailgate, silk
Bar tail end bearing and Z axis bearing block, by screwed lock on motor fixing plate, the first synchronizing wheel passes through the stepper motor of strap brake
Synchronous belt and the transmission of the second synchronizing wheel coordinate, and the linkage of the second synchronizing wheel is fixed on the ball-screw of Z axis bearing block, ball-screw
It is driven and coordinates with ball screw nut, ball screw nut matches resultant motion, ontology two up and down with the nut band movable plate on carrier plate
Side is both provided with sliding rail, and body tail section is provided with ontology tailgate, and lead screw tail end bearing is fixed on ontology tailgate.
The X-axis includes body base, stepper motor, wire casing drag chain A, and drag chain fixed plate is fixed on body base,
Wire casing drag chain B and wire casing drag chain C are fixed in drag chain fixed plate, and synchronizing wheel is fixed on stepper motor, synchronous belt with it is driven
Synchronizing wheel is sequentially connected, and driven wheel is screwed by plug and is fixed on driven wheel fixing piece, and driven wheel fixing piece is fixed on sliding
On plate, reinforcer is screwed on pedestal, and belt geometrical clamp A is fixed on after clamping synchronous belt on reinforcer, and sensor is used
Screw is fixed on the end face of reinforcer, and sensor sensing is fixed on the sensing chip of sliding panel, and two sliding blocks are screwed
On body base, sliding rail A is mounted on the back side of sliding panel by screw, and sliding rail B is mounted on the front of sliding panel, low packaging
Sliding block is slidably matched with sliding rail B；Sliding panel B is screwed on low packaging sliding block, and drivening piece is fixed on sliding panel B
On, belt geometrical clamp B is screwed in after clamping synchronous belt on drivening piece, and sliding rail C is screwed on sliding panel B,
Sliding block C is slidably matched with sliding rail C, and sliding panel C is screwed on sliding block C, and sensing chip B is screwed in sliding panel
On C, inductor B is fixed on sliding panel C, and jig plate is screwed on sliding panel C, and two Pneumatic manipulators are fixed on
On jig plate.
The adjustable pedestal includes footed glass, bottom plate, Adjustable device panel seat, adjustable damper column, supplied materials guide plate, support
Plate, substrate, guide post, adjustable pedestal bearing block, supplied materials baffle, linear bearing and nut fixed seat, bottom base plate quadrangle are provided with
Footed glass, one end is provided with Adjustable device panel seat on bottom plate, and Adjustable device panel seat is provided with supplied materials guide plate by adjustable damper column, comes
Material guide plate is matched with supplied materials baffle, and induction supplied materials sensor is provided on supplied materials baffle, and substrate is provided in support plate,
Adjustable pedestal bottom plate is provided on substrate, adjustable pedestal bottom plate is equipped with guide post and nut fixed seat, and guide post is slided with linear bearing
It is dynamic to coordinate, T shape leading screws are fixed on adjustable pedestal bearing block, T shape leading screws front end lock has handwheel, set lever and adjustable pedestal bottom
Plate connects, and four linear bearings are separately positioned on adjustable pedestal bearing block both sides, and T shape feed screw nuts are arranged in nut fixed seat
On.
The utility model has the advantages that：
1, an equipment replaces worker's blanking, alleviates the labor intensity of worker, improves production efficiency；
2, plant produced cost has been cut down, cost of equipment maintenance is low；
3, this equipment cost is low, and utility value is high, highly practical；
4, machine installation and debugging are convenient and reliable.
Description of the drawings
It is described in detail the utility model with reference to the accompanying drawings and detailed description；
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the control panel host schematic diagram of the utility model；
Fig. 3 is the front view of the Z axis ball-screw kinematic axis of the utility model；
Fig. 4 is the side view of Fig. 3；
Fig. 5 is the stereogram of the X-axis of the utility model；
Fig. 6 is the internal structure schematic diagram of Fig. 5；
Fig. 7 is the front view of the X-axis of the utility model；
Fig. 8 is the vertical view of Fig. 7；
Fig. 9 is the side view of Fig. 7；
Figure 10 is the front view of the adjustable pedestal of the utility model；
Figure 11 is the vertical view of Figure 10.
Specific implementation mode
To make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, below
In conjunction with specific implementation mode, the utility model is expanded on further.
Referring to Fig.1-11, present embodiment uses following technical scheme：Industrial feeding Liang Zhou robots, including control
Panel host 1, X-axis 2, Z axis ball-screw kinematic axis 3 and adjustable pedestal 4, X-axis 2 are screwed in Z axis ball-screw fortune
On the carrier plate of moving axis 3；Z axis ball-screw kinematic axis 3 is fixed on the adjustable pedestal bottom plate on adjustable pedestal 4, Z axis ball
3 top of guide screw movement axis is provided with touch screen control panel host 1.
It is worth noting that, stepper motor 3-1, motor that the Z axis ball-screw kinematic axis 3 includes strap brake are fixed
Plate 3-2, the first synchronizing wheel 3-3, synchronous belt 3-4, the second synchronizing wheel 3-5, ball-screw 3-6, ball screw nut 3-7, delivery
Plate 3-8, ontology 3-9, nut band movable plate 3-10, sliding rail 3-11, ontology tailgate 3-12, lead screw tail end bearing 3-13 and Z axis bearing
Seat 3-14, for the stepper motor 3-1 of strap brake by screwed lock on motor fixing plate 3-2, the first synchronizing wheel 3-3 passes through synchronous belt
3-4 and the second synchronizing wheel 3-5 transmissions coordinate, and the second synchronizing wheel 3-5 linkages are fixed on the ball-screw 3-6 of Z axis bearing block 3-14
On, ball-screw 3-6 coordinates with ball screw nut 3-7 transmissions, the nut band on ball screw nut 3-7 and carrier plate 3-8
Movable plate 3-10 or more matches resultant motion, and the both sides ontology 3-9 are both provided with sliding rail 3-11, and the tail portions ontology 3-9 are provided with ontology tailgate 3-
Lead screw tail end bearing 3-13 is fixed on 12, ontology tailgate 3-12, to the tail end of fixed ball-screw.
It is worth noting that, the X-axis 2 includes body base 2-1, stepper motor 2-2, wire casing drag chain A2-3, drag chain
Fixed plate 2-33 is fixed on body base 2-1, and wire casing drag chain B2-24 and wire casing drag chain C2-23 are fixed on drag chain fixed plate 2-
On 33, synchronizing wheel 2-4 is fixed on stepper motor 2-2, and synchronous belt 2-5 and driven synchronizing wheel 2-11 is sequentially connected, and driven wheel is logical
It crosses the plug 2-21 that screws to be fixed on driven wheel fixing piece 2-30, driven wheel fixing piece 2-30 is fixed on sliding panel 2-12, is added
Strong part 2-7 is screwed on body base 2-1, and belt geometrical clamp A2-6 is fixed on reinforcer 2- after clamping synchronous belt 2-5
On 7, sensor 2-8 is screwed in the end face of reinforcer 2-7, and sensor 2-8 inductions are fixed on the sense of sliding panel 2-12
It answers on piece 2-10, two sliding block 2-28 are screwed on body base 2-1, and sliding rail A2-29 is mounted on by screw and is slided
The back side of movable plate 2-12, sliding rail B2-20 are mounted on the front of sliding panel 2-12, and low packaging sliding block 2-32 is slided with sliding rail B2-20
Dynamic cooperation；Sliding panel B2-33 is screwed on low packaging sliding block 2-32, and drivening piece 2-17 is fixed on sliding panel B2-
On 33, belt geometrical clamp B is screwed in after clamping synchronous belt 2-5 on drivening piece 2-17, and sliding rail C2-15 is screwed
On sliding panel B2-33, sliding block C2-26 is slidably matched with sliding rail C2-15, and sliding panel C2-14 is screwed in sliding block
On C2-26, sensing chip B2-35 is screwed on sliding panel C2-14, and inductor B2-18 is fixed on sliding panel C2-14
Upper sensitive piece B2-12, jig plate 2-13 are screwed on sliding panel C2-14, and 2-25 is solid in two Pneumatic manipulators
It is scheduled on jig plate 2-13.Inductor A induction origins position, inductor B incude feeding situation not in place.Active synchronization wheel is fixed
In stepper motor, main synchronizing wheel is connect with from toothed belt transmission, and synchronous belt is indirectly fixed on sliding panel and pedestal, synchronous belt from
And generate pulling force to sliding panel and generate thrust to pedestal simultaneously, therefore, arm configuration disconnected in this way can generate ultralong-stroke.
In addition, the adjustable pedestal 4 includes footed glass 4-1, bottom plate 4-2, Adjustable device panel seat 4-3, adjustable damper column 4-
4, supplied materials guide plate 4-5, support plate 4-7, substrate 4-8, guide post 4-9, adjustable pedestal bearing block 4-12, supplied materials baffle 4-15, straight
Spool holds 4-18 and nut fixed seat 4-10, and bottom plate 4-2 bottom four corners are provided with footed glass 4-1, and one end is provided on bottom plate 4-2
Adjustable device panel seat 4-3, Adjustable device panel seat 4-3 are provided with supplied materials guide plate 4-5, supplied materials guide plate by adjustable damper column 4-4
4-5 is matched with supplied materials baffle 4-15, and is provided on induction supplied materials sensor 4-6, support plate 4-7 and is set on supplied materials baffle 4-15
Be equipped with substrate 4-8, be provided with adjustable pedestal bottom plate 4-11 on substrate 4-8, adjustable pedestal bottom plate 4-11 be equipped with guide post 4-9 and
Nut fixed seat 4-10, guide post 4-9 are slidably matched with linear bearing 4-18, and T shape silks are fixed on adjustable pedestal bearing block 4-12
The front ends thick stick 4-13, T shape leading screw 4-13 lock has handwheel 4-14, set lever 4-17 to be connect with adjustable pedestal bottom plate 4-11, and four straight
Spool holds 4-18 and is separately positioned on the adjustable both sides pedestal bearing block 4-12.T shape feed screw nuts 4-16 is arranged in nut fixed seat 4-
On 10, therefore swinging handle, the position that user wants can be transferred to by making all accessories on substrate that can be moved forward and backward, and finally be used
Set lever fixes entirety.
The equipment running process of present embodiment：1, block blocks the supplied materials on assembly line, and sensor sensing arrives
Material；Manipulator is in origin position at this time；2, Z axis is moved downwardly to program designated position, and pneumatic machinery clamps product；3, Z axis is upward
Move to program specific bit；4, X-axis moves quickly into finished goods crawl position, captures finished goods；5, X-axis moves quickly into feeding
Position, above enters product；6, it is quickly returning to original position, bleed off finished goods while capturing unfinished work；7, program automatic cycle is to the first rank
Section.
Present embodiment generates high-precision left and right using the switching of the thrust and pulling force of the belt bidirectional force of X-axis
It is mobile, it is twice of conventional belt axis movement velocity, and commonly twice of stroke of module type mechanical arm；Ensure in the case
Tooling energy automatic high speed loads and unloads, to reduce human cost, improve production efficiency；The tooling of arbitrary reasonable length can arbitrarily be picked and placeed
And product is to process equipment, to meet the automatic loading/unloading of the process equipment in producing line.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (4)
1. industry feeding Liang Zhou robots, which is characterized in that including control panel host (1), X-axis (2), Z axis ball-screw fortune
Moving axis (3) and adjustable pedestal (4), X-axis (2) are screwed on the carrier plate of Z axis ball-screw kinematic axis (3)；Z axis rolls
Ballscrew kinematic axis (3) is fixed on the adjustable pedestal bottom plate on adjustable pedestal (4), is set at the top of Z axis ball-screw kinematic axis (3)
It is equipped with touch screen control panel host (1).
2. industry feeding Liang Zhou robots according to claim 1, which is characterized in that the Z axis ball-screw movement
Axis (3) includes the stepper motor (3-1) of strap brake, motor fixing plate (3-2), the first synchronizing wheel (3-3), synchronous belt (3-4),
Two synchronizing wheels (3-5), ball-screw (3-6), ball screw nut (3-7), carrier plate (3-8), ontology (3-9), nut drive
Plate (3-10), sliding rail (3-11), ontology tailgate (3-12), lead screw tail end bearing (3-13) and Z axis bearing block (3-14), strap brake
Stepper motor (3-1) by screwed lock on motor fixing plate (3-2), the first synchronizing wheel (3-3) by synchronous belt (3-4) with
Second synchronizing wheel (3-5) transmission cooperation, the second synchronizing wheel (3-5), which links, is fixed on the ball-screw (3- of Z axis bearing block (3-14)
6) on, ball-screw (3-6) coordinates with ball screw nut (3-7) transmission, ball screw nut (3-7) and carrier plate (3-8)
On nut band movable plate (3-10) up and down match resultant motion, the both sides ontology (3-9) are both provided with sliding rail (3-11), ontology (3-9) tail
Portion is provided with ontology tailgate (3-12), and lead screw tail end bearing (3-13) is fixed on ontology tailgate (3-12).
3. industry feeding Liang Zhou robots according to claim 1, which is characterized in that the X-axis (2) includes ontology base
Seat (2-1), stepper motor (2-2), wire casing drag chain A (2-3), drag chain fixed plate (2-33) are fixed on body base (2-1), line
Slot drag chain B (2-24) and wire casing drag chain C (2-23) are fixed in drag chain fixed plate (2-33), and synchronizing wheel (2-4) is fixed on stepping
On motor (2-2), synchronous belt (2-5) is sequentially connected with driven synchronizing wheel (2-11), and driven wheel is screwed (2-21) by plug
It is fixed on driven wheel fixing piece (2-30), driven wheel fixing piece (2-30) is fixed on sliding panel (2-12), reinforcer (2-7)
It is screwed on body base (2-1), belt geometrical clamp A (2-6) is fixed on reinforcer (2- after clamping synchronous belt (2-5)
7) on, sensor (2-8) is screwed in the end face of reinforcer (2-7), and sensor (2-8) induction is fixed on sliding panel (2-
12) on sensing chip (2-10), two sliding blocks (2-28) are screwed on body base (2-1), and sliding rail A (2-29) is logical
The back side that screw is mounted on sliding panel (2-12) is crossed, sliding rail B (2-20) is mounted on the front of sliding panel (2-12), low packaging cunning
Block (2-32) is slidably matched with sliding rail B (2-20)；Sliding panel B (2-33) is screwed in low packaging sliding block (2-32)
On, drivening piece (2-17) is fixed on sliding panel B (2-33), and belt geometrical clamp B is screwed in after clamping synchronous belt (2-5)
On drivening piece (2-17), sliding rail C (2-15) is screwed on sliding panel B (2-33), sliding block C (2-26) and sliding rail C (2-
15) it is slidably matched, sliding panel C (2-14) is screwed on sliding block C (2-26), and sensing chip B (2-35) is solid by screw
It is scheduled on sliding panel C (2-14), inductor B (2-18) is fixed on sliding panel C (2-14), and jig plate (2-13) is screwed
On sliding panel C (2-14), two Pneumatic manipulators (2-25) are fixed on jig plate (2-13).
4. industry feeding Liang Zhou robots according to claim 1, which is characterized in that the adjustable pedestal (4) includes
Footed glass (4-1), bottom plate (4-2), Adjustable device panel seat (4-3), adjustable damper column (4-4), supplied materials guide plate (4-5), support plate
(4-7), substrate (4-8), guide post (4-9), adjustable pedestal bearing block (4-12), supplied materials baffle (4-15), linear bearing (4-18)
With nut fixed seat (4-10), bottom plate (4-2) bottom four corners are provided with footed glass (4-1), and one end is provided with adjustable on bottom plate (4-2)
Apron block (4-3), Adjustable device panel seat (4-3) are provided with supplied materials guide plate (4-5) by adjustable damper column (4-4), and supplied materials is led
It is matched to plate (4-5) with supplied materials baffle (4-15), and is provided with induction supplied materials sensor (4-6) on supplied materials baffle (4-15),
It is provided with substrate (4-8) in support plate (4-7), adjustable pedestal bottom plate (4-11), adjustable pedestal bottom plate are provided on substrate (4-8)
(4-11) is equipped with guide post (4-9) and nut fixed seat (4-10), and guide post (4-9) is slidably matched with linear bearing (4-18), can
It adjusts and is fixed with T shapes leading screw (4-13) on base bearing seat (4-12), the front end T shapes leading screw (4-13) lock has handwheel (4-14), locks
Handle (4-17) is connect with adjustable pedestal bottom plate (4-11), and four linear bearings (4-18) are separately positioned on adjustable pedestal bearing block
The both sides (4-12), T shapes feed screw nut (4-16) are arranged in nut fixed seat (4-10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721331580.8U CN207606577U (en) | 2017-10-17 | 2017-10-17 | Industrial feeding Liang Zhou robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721331580.8U CN207606577U (en) | 2017-10-17 | 2017-10-17 | Industrial feeding Liang Zhou robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207606577U true CN207606577U (en) | 2018-07-13 |
Family
ID=62792501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721331580.8U Expired - Fee Related CN207606577U (en) | 2017-10-17 | 2017-10-17 | Industrial feeding Liang Zhou robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207606577U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109954809A (en) * | 2019-03-31 | 2019-07-02 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of white goods cabinet full-automatic machine people's precision stamping riveting production line |
-
2017
- 2017-10-17 CN CN201721331580.8U patent/CN207606577U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109954809A (en) * | 2019-03-31 | 2019-07-02 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of white goods cabinet full-automatic machine people's precision stamping riveting production line |
| CN109954809B (en) * | 2019-03-31 | 2024-01-30 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Full-automatic robot precision stamping riveting production line for large household appliance box |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108016806A (en) | A kind of high precision small storage robot carried suitable for large space | |
| CN106964745B (en) | A kind of PCB automatic riveter | |
| CN203236480U (en) | Two-arm intelligent control type mechanical arm | |
| CN103921158B (en) | A kind of automatic loading and unloading system based on robot | |
| CN205324914U (en) | Automatic unloader that goes up of special high stability of LED lamp accessory tooth stopper tapping | |
| CN207606577U (en) | Industrial feeding Liang Zhou robots | |
| CN103434077A (en) | Automatic manipulator production line production method and apparatus thereof | |
| CN106736599A (en) | A kind of refrigerator reinforcing frame punch welding production line | |
| CN103606592A (en) | A same-side material loading and blanking method and an automatic material loading and blanking mechanism for realizing the above method | |
| CN107838313A (en) | The manipulator and collaboration working method of quick crawl sheet workpiece | |
| CN106181379A (en) | The die-cut automation production flow line of precision positioning five metals | |
| CN106001305B (en) | A kind of adjustable Intelligent punch press charging and discharging mechanism | |
| CN203330832U (en) | Composite type light guiding plate processing machine | |
| CN203184389U (en) | Automatic calendaring mechanical arm | |
| CN207044165U (en) | Z adds double X-axis high speed loading and unloading manipulators | |
| CN203343796U (en) | Rectangular coordinate manipulator takeout device for numerical control machine tool | |
| CN208391623U (en) | Automatic Gear rack-and-pinion feeding mechanical hand | |
| CN205572022U (en) | Cantilever type manipulator and digit control machine tool | |
| CN105328460A (en) | Numerically-controlled key tooth-punching and ring-perforating combined machine | |
| CN206435987U (en) | A kind of refrigerator reinforcing frame punch welding production line | |
| CN103625867B (en) | Power lead automation conveying equipment | |
| CN209062149U (en) | A kind of positive vertical numerical controlled lathe of double main shafts, double knife towers | |
| CN205520676U (en) | Automatic reloading device | |
| CN207447137U (en) | Manipulator auxiliary aluminium foil squeezes assembling line | |
| CN207656677U (en) | A kind of automatic clamping and placing material three-axis robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180713 Termination date: 20211017 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |