CN214356694U - Live working intelligence operative employee based on unmanned aerial vehicle - Google Patents
Live working intelligence operative employee based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN214356694U CN214356694U CN202022922280.5U CN202022922280U CN214356694U CN 214356694 U CN214356694 U CN 214356694U CN 202022922280 U CN202022922280 U CN 202022922280U CN 214356694 U CN214356694 U CN 214356694U
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- fixing piece
- storage box
- fixed
- linear 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
- 238000005452 bending Methods 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims 1
- 238000005070 sampling Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010079 rubber tapping Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Images
Landscapes
- Forklifts And Lifting Vehicles (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to an intelligent manipulator for live working based on an unmanned aerial vehicle, which comprises a clamping jaw function module and a clamping jaw auxiliary module; the clamping jaw function module comprises: the clamping jaw, the connecting rod, the upper fixing piece, the lower fixing piece and the linear motor are arranged on the upper fixing piece and the lower fixing piece; the jaw assist module includes: the device comprises a tension rod, a storage box, an L-shaped connecting piece, a movable seal, a fixed seal, a battery, a controller, a hanging bracket and a remote controller; the utility model discloses make anchor clamps can accomplish the normal work of clamping jaw according to specific demand at suitable opportunity, remote control task has been accomplished to high quality, has wide application prospect in the occasion that mankind can not direct contact or can't direct contact.
Description
Technical Field
The utility model relates to an live working intelligence operative hand based on unmanned aerial vehicle. The utility model can be used for clamping/sampling the power grid or the high-altitude foreign matters, in particular to a clamping tool field which can realize that the high-altitude foreign matters can be clamped firmly and can also be used for multifunctional clamping in the field of robot automatic sampling
Background
In recent years, the erection scale of overhead transmission lines is gradually enlarged, and due to the wide coverage area, the complex terrain of the crossing area and the bad natural environment, the requirement of safe and stable operation of modern power systems cannot be met more and more by adopting a manual regular inspection mode. The development of unmanned aerial vehicle technique provides new platform for overhead transmission line patrols and examines work, and unmanned aerial vehicle can satisfy the detection demand of taking photo by plane basically, but how to take off the foreign matter safety that hangs on high tension transmission line and become important subject.
Disclosure of Invention
An object of the utility model is to provide a high quality accomplishes remote control's firm clamp and gets/a live working intelligence manipulator based on unmanned aerial vehicle of sample according to current market demand part.
The purpose of the utility model is realized through the following ways:
an unmanned aerial vehicle-based hot-line work intelligent manipulator is composed of a clamping jaw function module and a clamping jaw auxiliary module; the clamping jaw function module comprises: the clamping jaw, the connecting rod, the upper fixing piece, the lower fixing piece and the linear motor are arranged on the upper fixing piece and the lower fixing piece; the jaw assist module includes: the device comprises a tension rod, a storage box, an L-shaped connecting piece, a movable seal, a fixed seal, a battery, a controller, a hanging bracket and a remote controller;
the clamping jaws are at least three and are uniformly distributed on the periphery of the linear motor, one end of each clamping jaw is a clamping end of an inward hook, and the other end of each clamping jaw is a bending end; the tail end of the bending end is hinged with the lower part of the fixing piece, and the starting part of the bending end is hinged with the connecting rod;
the clamping jaw is gradually reduced in size from the starting part of the bending end to the terminal of the clamping end through the starting part of the clamping end;
the upper part and the lower part of the fixed part are distributed in a star shape; the fixed piece is provided with 2 groups of 3 cantilever beam structures which are uniformly distributed, one group is hinged with the connecting rod, and the other group is connected with the tension rod through a nut; three cantilever beam structures which are uniformly distributed are arranged below the fixing piece and hinged with the tail end of the bending end of the clamping jaw;
the upper fixing piece and the linear motor base body are fixed through a jackscrew, and the lower fixing piece is fixed through the jackscrew and a linear motor driving shaft; the L-shaped connecting piece is provided with 3 holes, one side of the L-shaped connecting piece is provided with 2 holes, and the other side of the L-shaped connecting piece is provided with 1 hole; one section with 2 holes is connected with the storage box through a screw, and one end with 1 hole is connected with the linear motor through a bolt; the tension rod is connected with the storage box through threads and is firmly connected through the nut. The tension rod and the fixed piece are fixed through two opposite locknuts; the hanging bracket is firmly connected with the storage box through four screws; the battery and the controller are stacked inside the storage box; the fixed seal is of a channel steel structure, is sleeved on the storage box and is firmly connected with the storage box through 4 screws; the movable seal is of a channel steel structure and is sleeved on the storage box; the connecting part on the movable seal is different from the hole of the fixed seal and is an L-shaped sliding chute; 2 under the condition that the screws are not screwed down, the movable seal can slide out through the sliding groove to be taken down.
Further, the articulation is achieved by a snap-pin.
Further, the storage box, the fixed seal and the movable seal are all hollowed out in the side direction.
Further, the controller can receive a control signal sent by the remote controller and output different signals to drive the linear motor to enter different working states.
To sum up, the utility model provides a live working intelligence operation hand for unmanned aerial vehicle, linear electric motor's control possesses along with the nature of calling along with stopping, can make the clamping jaw be in one of all operating condition at any moment again. The utility model discloses make anchor clamps can accomplish the normal work of clamping jaw according to specific demand at suitable opportunity, remote control task has been accomplished to high quality, has wide application prospect in the occasion that mankind can not direct contact or can't direct contact. In addition, the whole clamping/sampling device is divided into a clamping jaw function module and a clamping jaw auxiliary module which can not interfere with each other and work in coordination with each other. Therefore, different clamping jaw function modules can be configured under different requirements, the same clamping jaw auxiliary module is practical, the application range of the mechanical equipment clamp is enlarged, and the purchase cost of the clamp is reduced to a certain extent.
Drawings
FIG. 1 is a schematic axonometric drawing of hot-line work intelligent manipulator structure based on unmanned aerial vehicle
FIG. 2 is a local schematic diagram of hot-line work intelligent manipulator L-shaped connecting piece and linear motor connection based on unmanned aerial vehicle
In the figure, a clamping jaw 1, a remote controller 2, a snap nail 3, a connecting rod 4, a nut 5, a tension rod 6, a movable seal 7, a controller 8, a hanging bracket 9, a screw 10, a fixed seal 11, a storage box 12, a battery 13, a bolt 14, a linear motor 15, a fixed part upper 16, a driving shaft 17, a fixed part lower 18, a jackscrew 19 and an L-shaped connecting piece 20 are arranged.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The best embodiment is as follows:
for an electrified operation intelligence operation hand based on unmanned aerial vehicle.
Referring to fig. 1 and fig. 2, the utility model aims to provide a high quality accomplishes remote control's firm clamp and gets/a live working intelligence operative hand who takes a sample for unmanned aerial vehicle according to current market demand part.
The purpose of the utility model is realized through the following ways:
the utility model provides a live working intelligence manipulator for unmanned aerial vehicle, comprises clamping jaw functional module and clamping jaw auxiliary module two parts.
The clamping jaw function module comprises: the clamping jaw comprises a clamping jaw 1, a connecting rod 4, a fixing piece upper part 16, a fixing piece lower part 18, a linear motor 15 and a driving shaft 17. The jaw assist module includes: the tension rod 6, the storage box 12, the L-shaped connecting piece 20, the movable seal 7, the fixed seal 11, the battery 13, the controller 8, the hanging bracket 9 and the remote controller 2.
As shown in fig. 1, the clamping jaws are three (or at least three) and are uniformly distributed around the linear motor 15, one end of each clamping jaw is a clamping end of an inward hook, and the other end of each clamping jaw is a bending end. The distal end of the bending end is hinged to the lower fastener 18 and the initial portion of the bending end (or bend as shown in figure 1) is hinged to the connecting rod 4.
The clamping jaw 1 gradually changes from wide to thin in size in the process of passing through the initial part of the clamping end from the initial part of the bending end to the tip of the clamping end. The size of the initial portion of the bending end is significantly larger than the distal portion of the bending end.
The connecting rod 4 is a Y-shaped part on the whole, and the head and the tail of the connecting rod 4 are provided with round corners.
The upper fastener 16 and the lower fastener 18 are arranged in a star-like pattern. There are 2 cantilever beam structures of 3 equipartitions of group on the mounting, and the structural setting of cantilever beam has seted up connect the through-hole. One group is hinged with the connecting rod 4, the other group is connected with the tension rod 6 through a nut 5, and the nuts 5 are arranged on two sides of the fixing piece 16. There are three cantilever beam structures of equipartition under the mounting 18, and the cantilever beam is structural also to be provided with the connect the through-hole, and end tip is articulated to buckle with clamping jaw 1. The middle part of the fixing part upper 16 is provided with a through hole which is sleeved on the linear motor 15, the fixing part lower 18 is connected with a driving shaft 17 of the linear motor 15,
the articulation is achieved by means of a snap-pin 3.
The fixing part upper 16 is fixedly connected with the base body of the linear motor 15, and the fixing part lower 18 is fixed with the driving shaft 17 of the linear motor 15 through a jackscrew 19.
The receiver 12 is a section tubular product, controls the trompil, and upper surface distribution has 7 tapping holes, 10 tapping holes of lower surface.
As shown in fig. 2, the L-shaped connector 20 has 3 holes, 2 holes on one side and 1 hole on one side. A section where 2 holes exist is connected to the housing case 12 by a screw 10, and one end where 1 hole exists is connected by a bolt 14 and a linear motor 15.
One end of 2 holes of the L-shaped connecting piece 20 is subjected to large chamfering treatment near one side of the tension rod 6.
The tension rod 6 is connected with the storage box 12 through threads, and the firm connection is ensured through the nut 5. The tension rod 6 is fixed with the fixing piece 16 through two opposite locknuts 5.
The fixed seal 11 is a channel steel structure, is sleeved on the storage box 12, and is firmly connected with the storage box through 4 screws 10.
The movable seal 7 is also of a channel steel structure and is sleeved on the storage box 12. The connection part on the movable seal 7 is not a hole like the fixed seal 11 but an L-shaped sliding groove. As shown in fig. 1, the movable seal 7 can be slid out through the sliding groove and removed without tightening the 2 screws 10.
The storage box 12, the fixed seal 11 and the movable seal 7 are all hollowed out in the side direction.
The hanging bracket 9 is similar to two back-to-back L-shaped plates in structure, hole digging processing is carried out on a vertical surface, and chamfering processing is carried out on the edge of a hole. The hanging bracket 9 is firmly connected with the storage box 12 through four screws 10.
The battery 13 and the controller 8 are stacked inside the storage case 12.
The remote controller 2 can issue two or more kinds of signals that the controller 8 can receive by human operation within a certain range. The remote controller 2 and the controller can communicate with each other in a wireless mode such as Bluetooth and wifi, but the wireless control mode belongs to the existing wireless control mode in the prior art.
The controller 8 can receive different signals sent by the remote controller 2 and output different signals to drive the linear motor 15 to enter different working states. The utility model provides a send, receive, control drive linear electric motor evenly belongs to among the prior art to control signal's processing procedure, does not belong to the utility model discloses the mechanism of key protection, so do not do the detailed description, as long as can play the mode of above-mentioned function all can.
A live working intelligence operative arm for unmanned aerial vehicle also can be used for the automatic sampling field of robot article press from both sides get/sample.
The specific working principle of the clamping jaw functional module and the clamping jaw auxiliary module is as follows:
1) taking out the linear motor 15 to be sleeved in the fixing piece upper 16, and utilizing a hexagonal wrench or a screwdriver to firmly connect the base body of the linear motor 15 with the fixing piece upper 16 through a jackscrew in the linear motor 15;
2) aligning a thinner section of a Y-shaped connecting rod 4 with hole positions on two parts on a fixed part, and screwing a snap nail 3 for hinging;
3) aligning the other end of the connecting rod 4 with a hole at the starting part of the bent end of the clamping jaw 1, and hinging the connecting rod with a snap nail 3;
4) aligning the bent end tip of the clamping jaw 1 with the hole position of the lower fixing piece 18, hinging the bent end tip with a snap nail 3, penetrating the lower fixing piece 18 through a driving shaft 17 of a linear motor 15, and fixing the lower fixing piece with the driving shaft 17 by using a jackscrew 19;
5) sleeving the movable seal 7 and the fixed seal 11 on the storage box 12, and sequentially screwing 6 screws 10 into the storage box by using a screwdriver and screwing the screws tightly; the screws 10 on each part of the movable seal 7 and the fixed seal 11 are not screwed down when being screwed up for the first time, and the screws 10 are symmetrically screwed down after all the screws 10 are screwed up;
6) accurately positioning the hanging bracket 9 on the storage box 12, and sequentially screwing 4 screws 10 diagonally by using a screwdriver and screwing tightly; the screws 10 are not screwed down when being screwed up for the first time, and the screws are symmetrically screwed down after all the screws 10 are screwed up;
7) positioning an L-shaped connector on the storage box 12, and sequentially screwing 2 screws 10 into the storage box by using a screwdriver and screwing the screws tightly; after one L-shaped connector is installed, another L-shaped connector is arranged back to back according to a similar method; the screws 10 are not screwed down when being screwed up for the first time, and the screws are symmetrically screwed down after all the screws 10 are screwed up;
8) screwing one end of each tension rod 6 into one nut 5, and screwing the three tension rods 6 into the storage box 12; finally, the nut 5 is screwed back to be abutted against the storage box 12;
9) the other ends of the three tension rods 6 are respectively screwed into a nut 5 and are connected into a fixed part 16 in series according to the designed position;
10) a bolt 14 penetrates through the upper end of the linear motor 15 and the two L-shaped connecting pieces 20 and is locked by a nut 14;
11) the lowest ends of the three tension rods 6 are respectively screwed into the nuts 5, and the two nuts 5 at the lower part of each tension rod 6 are screwed and tightly pressed on the fixing piece 16;
12) loosening the screw 10, taking off the movable seal 7 by using the chute, and installing the movable seal 7 after placing the battery 13 and the controller 8 in sequence;
13) the lines are connected in the order of the battery 13, the controller 8 and the linear motor 15, and the operating conditions are debugged with the remote controller 2.
Thus, the work installation and the test of the hot-line work intelligent manipulator for the unmanned aerial vehicle are completed, and the clamping jaw 1 can be in one of all working states at any time due to the nature of the follow-up and stop of the linear motor 15. Related workers can complete normal work of the clamping jaw 1 at a proper time according to specific requirements, a remote control task is completed with high quality, and the clamp has a wide application prospect in occasions where people cannot directly contact or cannot directly contact.
After the clamping/sampling task is completed, an intelligent manipulator for live working of the unmanned aerial vehicle can be detached, and the specific operation steps are as follows:
1) disconnecting the power supply and removing the circuit, and taking out the battery 13 and the controller 8;
2) screwing off the linear motor 15 and the nut 5 at the L-shaped connecting piece 20, and taking down the bolt 14;
3) the nut 5 at the lowest end of the tension rod 6 is unscrewed, the tension rod 6 is taken out from the fixing piece 16, and the clamping jaw function module and the clamping jaw auxiliary module are separated at the moment;
4) screwing off the tension rod 6 on the storage box 12 and screwing off the nut 5 on the tension rod 6;
5) screwing down the storage box 12, the hanging bracket 9, the movable seal 7, the fixed seal 11 and the screw 10 connected between the L-shaped seals by using a screwdriver;
6) screwing off and recovering the snap nails 3 hinged among the upper fixing part 16, the lower fixing part 18 and the clamping jaws 1;
7) screwing down the jackscrew 19 by using a screwdriver or a hexagonal wrench, and taking down the upper fixing piece 16 and the lower fixing piece 18 from the linear motor 15;
8) and reasonably accommodating the components.
The part of the utility model which is not described is the same as the prior art.
Claims (4)
1. The utility model provides an electrified operation intelligence manipulator based on unmanned aerial vehicle which characterized in that: the clamping jaw auxiliary module is composed of a clamping jaw functional module and a clamping jaw auxiliary module; the clamping jaw function module comprises: the clamping jaw, the connecting rod, the upper fixing piece, the lower fixing piece and the linear motor are arranged on the upper fixing piece and the lower fixing piece; the jaw assist module includes: the device comprises a tension rod, a storage box, an L-shaped connecting piece, a movable seal, a fixed seal, a battery, a controller, a hanging bracket and a remote controller;
the clamping jaws are at least three and are uniformly distributed on the periphery of the linear motor, one end of each clamping jaw is a clamping end of an inward hook, and the other end of each clamping jaw is a bending end; the tail end of the bending end is hinged with the lower part of the fixing piece, and the starting part of the bending end is hinged with the connecting rod;
the clamping jaw is gradually reduced in size from the starting part of the bending end to the terminal of the clamping end through the starting part of the clamping end;
the upper part and the lower part of the fixed part are distributed in a star shape; the fixed piece is provided with 2 groups of 3 cantilever beam structures which are uniformly distributed, one group is hinged with the connecting rod, and the other group is connected with the tension rod through a nut; three cantilever beam structures which are uniformly distributed are arranged below the fixing piece and hinged with the tail end of the bending end of the clamping jaw;
the upper fixing piece and the linear motor base body are fixed through a jackscrew, and the lower fixing piece is fixed through the jackscrew and a linear motor driving shaft; the L-shaped connecting piece is provided with 3 holes, one side of the L-shaped connecting piece is provided with 2 holes, and the other side of the L-shaped connecting piece is provided with 1 hole; one section with 2 holes is connected with the storage box through a screw, and one end with 1 hole is connected with the linear motor through a bolt; the tension rod is connected with the storage box through threads and is firmly connected through a nut; the tension rod and the fixed piece are fixed through two opposite locknuts; the hanging bracket is firmly connected with the storage box through four screws; the battery and the controller are stacked inside the storage box; the fixed seal is of a channel steel structure, is sleeved on the storage box and is firmly connected with the storage box through 4 screws; the movable seal is of a channel steel structure and is sleeved on the storage box; the connecting part on the movable seal is different from the hole of the fixed seal and is an L-shaped sliding chute; 2 under the condition that the screws are not screwed down, the movable seal can slide out through the sliding groove to be taken down.
2. The unmanned aerial vehicle-based hot-line work intelligent manipulator as claimed in claim 1, characterized in that: the articulation is achieved by means of a snap-pin.
3. The unmanned aerial vehicle-based hot-line work intelligent manipulator as claimed in claim 1, characterized in that: receiver, fixed seal, activity seal all carried out the fretwork on the side direction and handled.
4. The unmanned aerial vehicle-based hot-line work intelligent manipulator as claimed in claim 1, characterized in that: the controller can receive a control signal sent by the remote controller and output different signals to drive the linear motor to enter different working states.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022922280.5U CN214356694U (en) | 2020-12-09 | 2020-12-09 | Live working intelligence operative employee based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022922280.5U CN214356694U (en) | 2020-12-09 | 2020-12-09 | Live working intelligence operative employee based on unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214356694U true CN214356694U (en) | 2021-10-08 |
Family
ID=77983178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022922280.5U Expired - Fee Related CN214356694U (en) | 2020-12-09 | 2020-12-09 | Live working intelligence operative employee based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214356694U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194799A (en) * | 2021-11-30 | 2022-03-18 | 贵州电网有限责任公司 | High altitude object presss from both sides and gets ware based on unmanned aerial vehicle |
-
2020
- 2020-12-09 CN CN202022922280.5U patent/CN214356694U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194799A (en) * | 2021-11-30 | 2022-03-18 | 贵州电网有限责任公司 | High altitude object presss from both sides and gets ware based on unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109447157B (en) | Movable power grid operation inspection system | |
| CN214356694U (en) | Live working intelligence operative employee based on unmanned aerial vehicle | |
| US8893591B2 (en) | Fastener attachment system and methods of use | |
| CN110165603B (en) | Device for installing T-shaped wire clamp of high-voltage wire in live-line operation | |
| CN108638079A (en) | A kind of power line connecting plate disconnects robot automatically | |
| CN212311337U (en) | Be suitable for new energy automobile power battery package module snatch anchor clamps | |
| CN219477447U (en) | Device for long-distance dismounting of drainage plate of transmission cable terminal rod | |
| CN114770524B (en) | Live working robot for power distribution network | |
| CN116493917A (en) | Flexible assembly system based on rope-driven super-redundant mechanical arm | |
| CN217256289U (en) | End picking device | |
| JP3886302B2 (en) | Solar cell module fixing device and solar cell power generator | |
| JP2001065119A (en) | Solar cell module fixing device and solar cell generator | |
| CN210037985U (en) | Unmanned aerial vehicle lightning protection detection device based on manipulator realizes high accuracy control | |
| CN214870156U (en) | Nut tightening tool | |
| CN213289233U (en) | Novel welding tool jig | |
| CN209755229U (en) | Machine cabinet equipment single-board maintenance device based on vision and six-degree-of-freedom robot | |
| CN202125946U (en) | Oil gun air cylinder assembly | |
| CN219163647U (en) | Quick connector for battery post without tool | |
| CN2529277Y (en) | Quick connecting structure of spherical camera rack | |
| CN220775781U (en) | Solar module power test fixture | |
| CN217641697U (en) | Battery module sampling system connection structure and battery module sampling system thereof | |
| CN220007839U (en) | Six-axis mechanical arm | |
| CN216530218U (en) | Overhead line inspection robot mechanism | |
| CN216030819U (en) | Boundary acquisition device of boundary controller of flexible mechanical arm | |
| CN220392555U (en) | Visual guide grabbing mechanism for automatic picking of photovoltaic junction box |
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: 20211008 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |