CN103809615A - Precise output positioning speed reducer and precise output positioning method thereof - Google Patents
Precise output positioning speed reducer and precise output positioning method thereof Download PDFInfo
- Publication number
- CN103809615A CN103809615A CN201410065275.3A CN201410065275A CN103809615A CN 103809615 A CN103809615 A CN 103809615A CN 201410065275 A CN201410065275 A CN 201410065275A CN 103809615 A CN103809615 A CN 103809615A
- Authority
- CN
- China
- Prior art keywords
- reduction gear
- servomotor
- gear
- worm screw
- output
- 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.)
- Granted
Links
Images
Landscapes
- Control Of Position Or Direction (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a precise output positioning speed reducer and a precise output positioning method thereof. The precise output positioning speed reducer comprises a base, a load, speed reducing devices and a controlling device, wherein the load is installed on the base; the speed reducing devices comprise a first speed reducing device and a second speed reducing device, an output end of the first speed reducing device is connected with an input end of the load, and an input end of the second speed reducing device is connected with an output end of the load; an input shaft of the first speed reducing device is connected with an output shaft of a first servo motor, an input shaft of the second speed reducing device is connected with an output shaft of a second servo motor, and the first servo motor and the second servo motor are connected with the controlling device; the controlling device comprises a computer controlling device based on a database, and the computer controlling device based on the database controls the first speed reducing device and the second speed reducing device to operate so as to achieve load operation. By means of the precise output positioning speed reducer and the precise output positioning method thereof, the problem of positioning errors caused by own precision of the speed reducer is effectively solved.
Description
Technical field
The invention belongs to mechanical drive and control technology, be specifically related to a kind of accurate output location reduction gear and accurate output localization method thereof.
Technical background
At present, the specialization very of reduction gear industry, for different field, different application, reduction gear has formed scale, standardization, for production application brings great convenience.But in precision machine tool, medical supply, robot etc. require the accurate industry of controlling, common reduction gear just can not meet application requirements, the existing reduction gear form that can adopt is few, and choice is very little.Make a general survey of in industry existing harmonic speed changer or the RV type reduction gear of adopting more.But in existing market, the minimum deceleration of harmonic speed changer is greater than 40 than also, and it allows the power of input less than normal; RV type reduction gear, very high to the requirement of processing and manufacturing due to itself, cause processing and manufacturing difficulty, cause market in half monopolization state, selectable brand, version etc. are limited, cause market price too expensive.
In recent years, due to the widespread use of computer technology, in industry, also utilizing computing machine to improve the output accuracy of reduction gear, but the improvement of mostly doing on leading zero's is more, there is no too large improvement and method to eliminating the error that reduction gear self precision causes.
Summary of the invention
For the deficiencies in the prior art, the object of the invention is to, a kind of accurate output location reduction gear and accurate output localization method thereof are provided, to solve existing reduction gear, common form reduction gear precision is inadequate, harmonic speed changer reduction gear ratio, power selection are limited, RV reduction gear processing and manufacturing difficulty, expensive problem.
The technical scheme that the accurate output of the present invention location reduction gear adopts is as follows.
A kind of accurate output location reduction gear, described accurate output location reduction gear comprises base, load, reduction gear, control device; Described load is assemblied on base.
Described reduction gear comprises the first reduction gear, the second reduction gear, and the output terminal of described the first reduction gear is connected with the input end of load, and the input end of described the second reduction gear is connected with the output terminal of load.
The input shaft of described the first reduction gear is connected with the output shaft of the first servomotor, and the input shaft of the second reduction gear is connected with the output shaft of the second servomotor, and the first servomotor, the second servomotor are all connected with control device; Described control device comprises the Computer Control Unit based on database, by Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realizes load operation.
Between the first servomotor input end, the second servomotor input end and reduction gear input end, connecting of the output terminal of load and reduction gear, can adopt any form without the connecting mode relatively moving.Data transmission between the first servomotor, the second servomotor and control device, can adopt wired transmission, also can adopt wireless transmission mode.Based on the Computer Control Unit of database, can control separately reduction gear, also can use the system relevant to controlling other, the computer system based on database can be shared.Described reduction gear can be any one and has the transferring structure of speed change character.
Further, described load comprises column spinner, and the end face of column spinner is provided with the platform of assembly manipulator, and column spinner can rotate along its axle center; Described reduction gear also comprises turbine; Described the first reduction gear comprises the first worm screw, and the second reduction gear comprises the second worm screw; The medial surface of turbine is fixed on the lateral surface of column spinner.
Further, the gear of the first worm screw engages with the gear of turbine lateral surface; The gear of the second worm screw engages with the gear of turbine lateral surface.
Further, the gear of the first worm screw engages with the gear of turbine lateral surface by gear set; The gear of the second worm screw engages with the gear of turbine lateral surface by gear set.
Further, the lateral surface of described the first reduction gear, the second reduction gear is provided with fixed cover, and described the first servomotor, the second servomotor are fixed on fixed cover by flange respectively; The output shaft of the first servomotor is connected by flat key with the first worm screw; The output shaft of the second servomotor is connected by flat key with the second worm screw.
Further, described load comprises swingle, and one end of described swingle and base are hinged by jointed shaft, and the other end is provided with the platform of assembly manipulator; Described the first reduction gear comprises the first worm screw, and the second reduction gear comprises the second worm screw, and the first worm screw is meshed with the gear being fixedly connected with on swingle; The second worm screw is meshed with the gear being fixedly connected with on swingle; By Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realize swingle and rotate along jointed shaft.
Further, described load comprises and moves horizontally bar, described in move horizontally that bar is flexibly connected with base and can be along base tangential movement, the side that moves horizontally bar is provided with tooth bar, moves horizontally bar and be provided with away from one end of base the platform of assembly manipulator; The output terminal of described the first reduction gear engages with the tooth bar of the side that moves horizontally bar by gear, and the output terminal of described the second reduction gear engages with the tooth bar of the side that moves horizontally bar by gear; By Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realize and move horizontally bar tangential movement.
A kind of accurate output localization method, described accurate output localization method adopts above-mentioned accurate output location reduction gear to realize, and its concrete steps comprise:
Step 1: gather the operating condition data such as power, rotating speed, moment of torsion of the first servomotor, feed back to the Computer Control Unit based on database, analyze and produce the data source of controlling the second servomotor;
Step 2: the data source that the Computer Control Unit analysis based on database obtains, according to analysis result control the second servomotor running, by controlling the running of the second servomotor, control the load of the reduction gear output terminal being connected with the second servomotor, realize load without revolution interval work, realize the precision positioning of output.Now, only gather the supplemental characteristic of the first servomotor, only control the second servomotor by computer control system, adopt open loop control.
Further, in step 2, be also included in the supplemental characteristics such as the power that simultaneously gathers the second servomotor in control procedure, rotating speed, moment of torsion, feed back to the Computer Control Unit based on database, adjust the operating state of the first servomotor, form closed-loop control, make the first servomotor become the step of mutual Feedback control with the second servomotor.Now, on the basis of above-mentioned open loop control, gather the supplemental characteristic of the second servomotor simultaneously, by computer control system, control the first servomotor simultaneously, adopt closed-loop control.By the computer control system based on database, form closed loop control mode, control the first servomotor and the second servomotor, make the reduction gear gapless running all the time in running order, thereby that eliminates reduction gear self turns round gap, realizes the precision positioning of outlet terminal.
Accurate output location reduction gear provided by the present invention and accurate output localization method thereof, want to there is following effect for prior art:
1) will combine based on data base computer control system, servomotor and reduction gear, effectively eliminate the positioning error problem that reduction gear self precision reason produces.Can thoroughly eliminate the gap in gyration, solve when meeting obstructions in rotatablely moving creep, turn round cutting time the problem such as the discontinuity shake that produces, realize the continuous transmission of gapless.In addition, for reduction gear gearing, due to the permanent wearing and tearing that use generation, can carry out auto-compensation by control, extend the serviceable life of equipment.
2) because native system can be applied in any reduction gear system, be widely used, reduction gear ratio wide ranges, power input/output bound are large.
The present invention is less demanding to machining, can realize hi-Fix with common reductor, is suitable for extensive popularization, and cost significantly reduces with respect to harmonic speed changer and RV type reduction gear.
Accompanying drawing explanation
Fig. 1 is the structural representation of precision positioning reduction gear embodiment 1 of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the schematic diagram that in precision positioning reduction gear embodiment 2 of the present invention, the first worm screw, the second worm screw are connected with turbine.
Fig. 4 is the structural representation of precision positioning reduction gear embodiment 3 of the present invention.
Fig. 5 is the structural representation of precision positioning reduction gear embodiment 4 of the present invention.
Wherein: 1-column spinner; 2-fixed cover; 3-base; 4-flange; 5-the second servomotor; 6-the first servomotor; 7-servomotor data line; 8-control device; 9-flat key; 10-gear set; 11-gear set; 12-turbine; 13-the first worm screw; 14-the second worm screw;
210-the second worm screw; 211-the second servomotor; 212-the first servomotor; 213-swingle; 214-base; 215-jointed shaft; 216-platform; 217-gear; 218-gear; 219-the first worm screw;
311-gear; 312-gear; 313-base; 314-moves horizontally bar.
Embodiment
Below, the present invention will be further described in conjunction with the accompanying drawings and embodiments.
Embodiment 1.If Fig. 1 is to as shown in Fig. 2, a kind of accurate output location reduction gear, described accurate output location reduction gear comprises base 3, load, reduction gear, control device; Described load is assemblied on base 3.Described load comprises column spinner 1, and the end face of column spinner 1 is provided with the platform of assembly manipulator, and column spinner 1 can rotate along its axle center; Described reduction gear also comprises turbine 12, and the medial surface of turbine 12 is fixed on the lateral surface of column spinner 1.
Described reduction gear comprises the first reduction gear, the second reduction gear, and described the first reduction gear is that the first worm screw 13, the second reduction gear are the second worm screw 14; The gear of the first worm screw 13 engages with the gear of turbine 12 right flanks; The gear of the second worm screw 14 engages with the gear of turbine 12 left surfaces.The input shaft of described the first reduction gear is connected with the output shaft of the first servomotor 6, the input shaft of the second reduction gear is connected with the output shaft of the second servomotor 5, and the first servomotor 6, the second servomotor 5 are all connected and are connected by servomotor data line 7 with control device 8; Described control device is the Computer Control Unit based on database, by Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realizes load operation.
The lateral surface of described the first reduction gear, the second reduction gear is provided with fixed cover 2, and described the first servomotor 6, the second servomotor 5 are fixed on fixed cover by flange 4 respectively; The output shaft of the first servomotor 6 is connected by flat key 9 with the first worm screw 13; The output shaft of the second servomotor 5 is connected by flat key 9 with the second worm screw 14.
The basic thought of the present embodiment is to merge computer control system based on database and servomotor, the organic combination of reduction gear, realizes the precision positioning of reduction gear output terminal.In the present embodiment, the first servomotor is as power primary input, and the second servomotor is as auxiliary input.According to servomotor control principle, the first servomotor is adopted to speed control mode, the second servomotor is adopted to torque control mode.In the time of the first servomotor running, drive reductor running, reductor drives the second servomotor running, and now the second servomotor can detect the torque condition of reductor output turbine.In the time that the first servomotor state changes, the state of reductor also changes thereupon, the second servomotor just can be according to the variation of reductor torque condition, pass through computer control system, control the second servomotor input offset, can adjust the first servomotor running according to the state of the second servomotor input offset simultaneously, realize input and change steadily generation, make not turn round between worm screw and turbine generation, thereby the output positioning error of avoiding reductor revolution gap to bring, reaches the object that accurate output is located.Make the load can optional position precision positioning in 360 degree, met the needs of application.
In the present embodiment, because the reduction gear adopting is single-stage speed reducing, therefore the not obviously difference of the position of the first servomotor and the second servomotor.By by organic to servomotor, reduction gear and computer system combination, overcome general reduction gear output positioning precision low, be a kind of novel accurate reduction gear and method that can widespread use.
Embodiment 2.As shown in Figure 3, different being that the present embodiment is unique from embodiment, the gear of the first worm screw 13 engages with the gear of turbine 12 lateral surfaces by gear set 11; The gear of the second worm screw engages with the gear of turbine 12 lateral surfaces by gear set 10.Be provided with gear set, the scope of speed change is larger.
Embodiment 3.As shown in Figure 4, different being that the present embodiment is unique from embodiment, described load comprises swingle 213, and one end of described swingle 213 and base 214 are hinged by jointed shaft 215, and the other end is provided with the platform 216 of assembly manipulator; Described the first reduction gear comprises that the first worm screw 219, the second reduction gear comprise that the secondth worm screw 210, the first worm screws 219 are meshed with the gear 218 being fixedly connected with on swingle 216; The second worm screw 210 is meshed with the gear 217 being fixedly connected with on swingle 216.The input shaft of the first reduction gear is connected with the output shaft of the first servomotor 212, and the input shaft of the second reduction gear is connected with the output shaft of the second servomotor 211.By Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realize swingle and rotate along jointed shaft.
Embodiment 4.As shown in Figure 5, different being that the present embodiment is unique from embodiment, described load comprises and moves horizontally bar 314, the described bar 314 that moves horizontally is flexibly connected with base 313 and can be along base 313 tangential movements, the side that moves horizontally bar 314 is provided with tooth bar, moves horizontally bar 314 and be provided with away from one end of base 313 platform of assembly manipulator; The output terminal of described the first reduction gear engages with the tooth bar of the side that moves horizontally bar 314 by gear 311, and the output terminal of described the second reduction gear engages with the tooth bar of the side that moves horizontally bar 314 by gear 312.The input shaft of the first reduction gear is connected with the output shaft of the first servomotor, and the input shaft of the second reduction gear is connected with the output shaft of the second servomotor.By Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realize and move horizontally bar tangential movement.
Above example only, in order to technical scheme of the present invention to be described, is not intended to limit.Although the present invention is had been described in detail with reference to previous embodiment, those skilled in the art is to be understood that, its technical scheme that still can record previous embodiment is modified, or to wherein partly or entirely technology be equal to replacement, and these modifications or replacement do not make the essence of corresponding technical scheme depart from the technical scope of the embodiment of the present invention.
Claims (9)
1. an accurate output location reduction gear, is characterized in that: described accurate output location reduction gear comprises base, load, reduction gear, control device; Described load is assemblied on base;
Described reduction gear comprises the first reduction gear, the second reduction gear, and the output terminal of described the first reduction gear is connected with the input end of load, and the input end of described the second reduction gear is connected with the output terminal of load;
The input shaft of described the first reduction gear is connected with the output shaft of the first servomotor, and the input shaft of the second reduction gear is connected with the output shaft of the second servomotor, and the first servomotor, the second servomotor are all connected with control device; Described control device comprises the Computer Control Unit based on database, by Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realizes load operation.
2. a kind of accurate output as claimed in claim 1 location reduction gear, is characterized in that: described load comprises column spinner, and the end face of column spinner is provided with the platform of assembly manipulator, and column spinner can rotate along its axle center; Described reduction gear also comprises turbine; Described the first reduction gear comprises the first worm screw, and the second reduction gear comprises the second worm screw; The medial surface of turbine is fixed on the lateral surface of column spinner.
3. a kind of accurate output as claimed in claim 2 location reduction gear, is characterized in that: the gear of the first worm screw engages with the gear of turbine lateral surface; The gear of the second worm screw engages with the gear of turbine lateral surface.
4. a kind of accurate output as claimed in claim 2 location reduction gear, is characterized in that: the gear of the first worm screw engages with the gear of turbine lateral surface by gear set; The gear of the second worm screw engages with the gear of turbine lateral surface by gear set.
5. the accurate output of the one as described in a claim as any in claim 3 or 4 location reduction gear, it is characterized in that: the lateral surface of described the first reduction gear, the second reduction gear is provided with fixed cover, described the first servomotor, the second servomotor are fixed on fixed cover by flange respectively; The output shaft of the first servomotor is connected by flat key with the first worm screw; The output shaft of the second servomotor is connected by flat key with the second worm screw.
6. a kind of accurate output as claimed in claim 1 location reduction gear, is characterized in that: described load comprises swingle, and one end of described swingle and base are hinged by jointed shaft, and the other end is provided with the platform of assembly manipulator; Described the first reduction gear comprises the first worm screw, and the second reduction gear comprises the second worm screw, and the first worm screw is meshed with the gear being fixedly connected with on swingle; The second worm screw is meshed with the gear being fixedly connected with on swingle; By Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realize swingle and rotate along jointed shaft.
7. a kind of accurate output as claimed in claim 1 location reduction gear, it is characterized in that: described load comprises and moves horizontally bar, the described bar that moves horizontally is flexibly connected with base and can be along base tangential movement, the side that moves horizontally bar is provided with tooth bar, moves horizontally bar and be provided with away from one end of base the platform of assembly manipulator; The output terminal of described the first reduction gear engages with the tooth bar of the side that moves horizontally bar by gear, and the output terminal of described the second reduction gear engages with the tooth bar of the side that moves horizontally bar by gear; By Computer Control Unit control the first reduction gear based on database, the running of the second reduction gear, realize and move horizontally bar tangential movement.
8. an accurate output localization method, is characterized in that: described accurate output localization method adopts the precision output location reduction gear described in any claim of claim 1 to 7 to realize, and its concrete steps comprise:
Step 1: gather the operating condition data such as power, rotating speed, moment of torsion of the first servomotor, feed back to the Computer Control Unit based on database, analyze and produce the data source of controlling the second servomotor;
Step 2: the data source that the Computer Control Unit analysis based on database obtains, according to analysis result control the second servomotor running, by controlling the running of the second servomotor, control the load of the reduction gear output terminal being connected with the second servomotor, realize load without revolution interval work, realize the precision positioning of output.
9. a kind of accurate output localization method as claimed in claim 8, it is characterized in that: in step 2, be also included in the supplemental characteristics such as the power that simultaneously gathers the second servomotor in control procedure, rotating speed, moment of torsion, feed back to the Computer Control Unit based on database, adjust the operating state of the first servomotor, form closed-loop control, make the first servomotor become the step of mutual Feedback control with the second servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410065275.3A CN103809615B (en) | 2014-02-26 | 2014-02-26 | Precise output positioning speed reducer and precise output positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410065275.3A CN103809615B (en) | 2014-02-26 | 2014-02-26 | Precise output positioning speed reducer and precise output positioning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103809615A true CN103809615A (en) | 2014-05-21 |
| CN103809615B CN103809615B (en) | 2017-03-22 |
Family
ID=50706547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410065275.3A Expired - Fee Related CN103809615B (en) | 2014-02-26 | 2014-02-26 | Precise output positioning speed reducer and precise output positioning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103809615B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737642A (en) * | 2017-01-10 | 2017-05-31 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device, drive system and control method based on Dual-Servo Motor |
| CN107012483A (en) * | 2017-05-12 | 2017-08-04 | 珠海盛田实业有限公司 | The take-up of anode fixture |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201096174Y (en) * | 2007-09-26 | 2008-08-06 | 刘晓宇 | Electronic numerical control stepless transmission arrangement |
| CN101391377A (en) * | 2008-10-30 | 2009-03-25 | 上海大学 | Transmission mechanism of double-drive CNC rotary table |
| CN101733458A (en) * | 2008-11-13 | 2010-06-16 | 闫娟 | Novel numerical control turbine worm milling machine |
| CN202167939U (en) * | 2011-07-29 | 2012-03-14 | 上海先德机械工程有限公司 | Precision servo power transmission device |
| CN203720664U (en) * | 2014-02-26 | 2014-07-16 | 山东景昂机电有限公司 | Precision output positioning decelerator |
-
2014
- 2014-02-26 CN CN201410065275.3A patent/CN103809615B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201096174Y (en) * | 2007-09-26 | 2008-08-06 | 刘晓宇 | Electronic numerical control stepless transmission arrangement |
| CN101391377A (en) * | 2008-10-30 | 2009-03-25 | 上海大学 | Transmission mechanism of double-drive CNC rotary table |
| CN101733458A (en) * | 2008-11-13 | 2010-06-16 | 闫娟 | Novel numerical control turbine worm milling machine |
| CN202167939U (en) * | 2011-07-29 | 2012-03-14 | 上海先德机械工程有限公司 | Precision servo power transmission device |
| CN203720664U (en) * | 2014-02-26 | 2014-07-16 | 山东景昂机电有限公司 | Precision output positioning decelerator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737642A (en) * | 2017-01-10 | 2017-05-31 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device, drive system and control method based on Dual-Servo Motor |
| CN107012483A (en) * | 2017-05-12 | 2017-08-04 | 珠海盛田实业有限公司 | The take-up of anode fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103809615B (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108127685B (en) | A modular robot drive joint | |
| CN110554659A (en) | large-stroke high-precision micro-nano motion servo feeding system and control method | |
| CN103624794A (en) | Scara robot | |
| CN201997951U (en) | Double swinging mechanism | |
| CN101844317A (en) | Device and method for correcting transmission error of precise numerical control machine closed loop servo system | |
| CN104625771A (en) | Precise dual-driving heavy-load cutting dislodgement machine | |
| CN203416098U (en) | Power transmission device | |
| CN204504751U (en) | A kind of numerical control rotating platform system for Numerical Control Cam machining tool | |
| CN202634339U (en) | Dual-motor parallel drive device | |
| CN110549151B (en) | Track guide rail driving micro-feeding servo system and synchronous control method | |
| CN205766158U (en) | A high-precision five-axis manipulator | |
| CN103121168A (en) | Numerical-control large-scale precise dual-drive gap removing rotating working table | |
| CN104759929A (en) | Large precise heavy-load intelligent adjusting rotating table | |
| CN201807900U (en) | Double-worm closed loop rotary work table | |
| CN103809615A (en) | Precise output positioning speed reducer and precise output positioning method thereof | |
| CN203665186U (en) | Double-lead-screw moment synchronous driving structure | |
| CN203720664U (en) | Precision output positioning decelerator | |
| CN216505130U (en) | Novel be suitable for multiaxis servo manipulator | |
| CN204235546U (en) | Manipulator control device | |
| CN103692450A (en) | Robotic arm joint part for planar joint type robots | |
| CN102588649B (en) | Servo valve and zero compensation method for same | |
| CN204524978U (en) | A kind of precise heavy-load Intelligent adjustment huge revolving table | |
| CN201496736U (en) | Follow-up turntable device | |
| CN204843676U (en) | Two servo digit control machine tools | |
| CN101994893B (en) | Follow-up turntable device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170322 Termination date: 20180226 |