CN208913547U - A kind of robot shaft coupling joint automatic producing device - Google Patents
A kind of robot shaft coupling joint automatic producing device Download PDFInfo
- Publication number
- CN208913547U CN208913547U CN201821282221.2U CN201821282221U CN208913547U CN 208913547 U CN208913547 U CN 208913547U CN 201821282221 U CN201821282221 U CN 201821282221U CN 208913547 U CN208913547 U CN 208913547U
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- China
- Prior art keywords
- filling
- slide
- shaft coupling
- coupling joint
- column
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- 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
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- 230000008878 coupling Effects 0.000 title claims abstract description 16
- 238000010168 coupling process Methods 0.000 title claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 16
- 230000001050 lubricating effect Effects 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims abstract description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 239000000945 filler Substances 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000007547 defect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 229910021389 graphene Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Automatic Assembly (AREA)
Abstract
The utility model relates to a kind of robot shaft coupling joint automatic producing devices, including fixing seat, and the device for filling A for installing lubricating sleeve, the device for filling B for connecting cylinder installation, pressurizing unit are successively arranged in fixing seat.The utility model passes through the combination between two device for filling, two layers of shell and force-summing element are grouped together, finally cleverly pass through the shape of pressurizing unit foundation stress spherical, three is secured together, it is efficiently convenient, exempt conventional housings and utilize fastened by screw bring defect during installation, promotes the efficiency of manufacture.
Description
Technical field
The utility model relates to the automatic productions in the technical field of robot, especially a kind of robot shaft coupling joint to set
It is standby.
Background technique
In well known technical field, plane articulation robot is generally by least three rotary shafts parallel to each other, rotation
It is parallel to each other between the cross section of axis.Main application fields have loading, unloading, welding, packaging, fixation, coating, spray painting, bonding,
Encapsulation, extraordinary carry operate, assemble etc..The rotation axis joint of robot is more, and the space and range of operation are bigger, but this
When whole projecting end self weight and operation needed for torque or other load, the joint of rotary shaft can be caused serious negative
Load, the precision of required assembly, the intensity of material and other processing requests are higher, it will greatly increase the cost of manufacture
With the cost of subsequent maintenance, also it is unfavorable for expanding more rotary shafts.Simultaneously plane articulation robot routine use occasion,
Generally it is mainly used for loading article, needs to bear certain impact and vibration, traditional robot joint structure is to heavy load
Ability to bear it is bad, the rigidity to entire mechanical mechanism is a kind of greatly challenge.
A kind of device of robot shaft coupling joint as disclosed in Figure of description 1, needs for lubricating sleeve 2 to be embedded in
It connects in shell 3, while connecting cylinder and needing to be embedded in lubricating sleeve 2, while needing for three to be sealed well, pass
The device of system does not have good adaptability, and according to artificial manufacture, efficiency is more low.
Utility model content
Technical problem to be solved by the utility model is: overcoming the above problem, a kind of robot shaft coupling joint is provided and is used certainly
Dynamic production equipment, can efficiently complete the installation of two shell structures and sphere structure.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of automatic life in robot shaft coupling joint
Equipment, including fixing seat are produced, the device for filling A for installing lubricating sleeve is successively arranged in fixing seat, for connecting cylinder peace
Device for filling B, the pressurizing unit of dress.
Further, as a kind of specific embodiment, device for filling A described in the utility model has for conveying
Feed device, the filling rod assembly of lubricating sleeve, the feed device have linearly feeding track A, the filler rod group
Part has the limit pedestal for the end that feeding track A is arranged in, and the lubricating sleeve can slide into along the side wall of limit pedestal, in institute
The top for stating limit pedestal is equipped with the filler rod that can be moved back and forth along the vertical direction and can run through limit pedestal, the filler rod
The cone stick of same central axis rotary setting is surrounded there are three at least having, and is equipped with gap between two adjacent cone sticks.
Further, as a kind of specific embodiment, there are four the tools of cone stick quantity described in the utility model, four
The top of a cone stick is equipped with connection body, the fixing head for connecting cylinder is equipped in the top of the connection body, described
The center of connection body is inlaid with adjustable column, and pre-compressed spring, the adjustable column are equipped between fixing head in the adjustable column
Lower end in bulb shape and resist cone stick top, it is described cone stick top be equipped with it is embeddable in connection body fixinig plate, institute
Fixinig plate is stated to be bolted on connection body.
Further, as a kind of specific embodiment, device for filling B described in the utility model has feeding track
B and overturning mounting assembly, the feeding track B have three horizontally disposed guide rods, and the cross section of the guide rod is perpendicular
Histogram is in the distribution of isoceles triangle shape upwards, and wherein two guide rods are located at same level, and a remaining guide rod is located at two
The top of horizontal plane where root guide rod, the overturning mounting assembly have and can move back and forth back and forth along the extension direction of guide rod
First slide, be equipped in the first slide and with the moving direction of first slide keep vertical second slide, described
Second slide is equipped with the third slide that can be moved back and forth back and forth along the vertical direction, is equipped on the third slide along level side
To stretching and rotatable mechanical gripper.
Further, as a kind of specific embodiment, pressurizing unit described in the utility model has fixed setting
Rectangle skeleton frame, in the lower part of the rectangle skeleton frame be fixed with cylinder beam barrel, be slidably fitted in the cylinder beam barrel
Studding is fixedly connected with the connecting column by Driven by Hydraulic Cylinder in the upper end of the intermediolateral column, is equipped on the connecting column along perpendicular
Histogram is rotatably equipped with outer turning set to perforative evacuation chamber in the intermediolateral column, passes through key in the outer turning set
Connection is nested with drive shaft, and the upper end of the drive shaft extends into evacuation chamber and is connected with driving electricity by belt wheel
Machine is equipped with compression assemblies in the lower end of the outer turning set, and the compression assemblies have the center of turning set other than at least three
Axis is the limit sheet body of center rotary setting, is equipped with crushing block at the center in the region that the limit sheet body surrounds and constitutes,
Squeezing roller is equipped between each limit sheet body and crushing block.
Further, in order to mating with whole equipment, convenient for automated production, the utility model also has at least three use
In place connection shell mounting base, and the initial position of the mounting base respectively with device for filling A, device for filling B, squeeze
Device is corresponding.
The beneficial effects of the utility model are: the utility model passes through the combination between two device for filling, by two layers of shell
Body and force-summing element are grouped together, and are finally cleverly consolidated three by the shape of pressurizing unit foundation stress spherical
Fixed to together, efficiently convenient, release conventional housings utilize fastened by screw bring defect during installation, promote the efficiency of manufacture.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of structural schematic diagram in the shaft coupling joint of robot；
Fig. 2 is the overall structure diagram of the utility model；
Fig. 3 is the structural schematic diagram of device for filling A in the utility model；
Fig. 4 is the structural schematic diagram of filler rod in the utility model；
Fig. 5 is the perspective view of the explosion of filler rod in the utility model；
Fig. 6 is the structural schematic diagram of device for filling B in the utility model；
Fig. 7 is the partial enlargement diagram in Fig. 6 at A；
Fig. 8 is the structural schematic diagram one of pressurizing unit in the utility model；
Fig. 9 is the structural schematic diagram two of pressurizing unit in the utility model；
Figure 10 is the perspective view of the explosion of pressurizing unit in the utility model；
Figure 11 is the partial enlargement diagram in Figure 10 at B；
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
A kind of shaft coupling joint of robot as shown in Figure 1, has connection cylinder 1, and the upper end of connection cylinder 1 is in bulb
Shape, lower end are in bar shape, and lower end cylinder can be provided directly as stud, in the upper end of connection cylinder 1 in the outside of bulb shape by interior
To lubricating sleeve 2, connection shell 3 is successively arranged outside, the inner cavity of lubricating sleeve 2 is coated with graphene in hollow sphere shape and its surface
Wearing layer, and the lower end of lubricating sleeve 2 envelopes the upper end of connection cylinder 1, the entire bulb end for connecting cylinder 1 is covered by
In the inner cavity of lubricating sleeve 2, it is equipped with annular convex platform in the outside of connection shell 3, the top of the annular convex platform is set as interconnecting piece, even
Socket part can be directly connected to other mechanical arms or device, and the lower end of annular convex platform envelopes the lower end of lubricating sleeve 2, moistens simultaneously
Sliding sleeve 2 is embodied directly in connection shell 3.Plane articulation robot is bearing static load, i.e., in the rotary shaft of planar contact pair
The self weight in multiple joints can directly substitute traditional ball bearing part, pass through graphene by the pivoting friction of direct bulb
The effect of wearing layer also avoids needing after filling lubricant grease under conventional situation, is easy that the blocking of greasy dirt is be easy to cause to ask into ash
Topic, the contact of large area can be obviously improved the ability of carrying, while in order to prevent when bearing cargo load, may be in moment
The α angle of play is generated, spring bearing 4, the spring bearing can be equipped in the junction of the top and bottom of connection cylinder 1
4 are located at the lower section of lubricating sleeve 2, the better effect being implemented.In order to further enhance the stability of support, in spring bearing 4
Between lubricating sleeve 2 be equipped with limit lantern ring 5, while limit lantern ring 5 can play sealing lubrication set 2 inner surface with connect cylinder
The effect in the region that 1 bulb is constituted.
A kind of preferred embodiment of robot shaft coupling of the utility model as shown in Figure 2 joint automatic producing device, packet
Fixing seat is included, the device for filling A9 for installing lubricating sleeve 2 is successively arranged in fixing seat, for connecting filling for the installation of cylinder 1
Action B11, pressurizing unit 12.
As shown in Fig. 3~Fig. 5, the device for filling A9 has feed device 91, the filler rod group for conveying lubricating sleeve 2
Part 92, the feed device 91 have linearly feeding track A911, and the filling rod assembly 92, which has, to be arranged in feeding
The limit pedestal 921 of the end of track A911, and lubricating sleeve 2 can slide into along the side wall of limit pedestal 921, in limit pedestal 921
Top be equipped with and can move back and forth and can have through the filler rod 922 of limit pedestal 921, the filler rod 922 along the vertical direction
There are four the cone sticks 9221 for surrounding same central axis rotary setting, and are equipped with gap between two adjacent cone sticks 9221,
The top that stick 9221 is bored at four is equipped with connection body 9224, is equipped in the top of connection body 9224 for connecting cylinder
Fixing head 9222 is inlaid with adjustable column 9223 at the center of connection body 9224, adjustable column 9223 and fixing head 9222 it
Between be equipped with pre-compressed spring, the lower end of the adjustable column 9223 is in bulb shape and resists the top of cone stick 9221, the cone stick 9221
Top be equipped with it is embeddable in connection body 9224 fixinig plate, the fixinig plate be bolted on connection body 9224
On.
As shown in Figure 6 and Figure 7, the device for filling B11 has feeding track B111 and overturning mounting assembly 112, described
Feeding track B111 has three horizontally disposed guide rods 1111, and the cross section of the guide rod 1111 is in the vertical direction
The distribution of isoceles triangle shape, and wherein two guide rods 1111 are located at same level, a remaining guide rod 1111 is located at two
The top of 1111 place horizontal plane of guide rod, the overturning mounting assembly 112 have and can come along the extension direction of guide rod 1111
The first slide 1121 moved back and forth is returned, is equipped in first slide 1121 vertical with the holding of the moving direction of first slide 1121
Second slide 1122, the third slide 1123 that can move back and forth back and forth along the vertical direction is equipped in second slide 1122,
Third slide 1123 is equipped with stretching and rotatable mechanical gripper 1124 in the horizontal direction.
As shown in Figure 8 to Figure 11, the pressurizing unit 12 has the rectangle skeleton frame 121 of fixed setting, in rectangle skeleton frame 121
Lower part be fixed with cylinder beam barrel 122, intermediolateral column 123 is slidably fitted in cylinder beam barrel 122, in the upper of intermediolateral column 123
End is fixedly connected with the connecting column 124 by Driven by Hydraulic Cylinder, and perforative evacuation chamber along the vertical direction is equipped on connecting column 124
Room is rotatably equipped with outer turning set 125 in intermediolateral column 123, is connected by key in outer turning set 125 and is nested with drive shaft
128, the upper end of the drive shaft 128 extends into evacuation chamber and is connected with driving motor 127 by belt wheel, turns outside
The lower end of dynamic set 125 is equipped with compression assemblies 126, and the compression assemblies 126 have the central axis of turning set 125 other than at least three
Line is the limit sheet body 1261 of center rotary setting, is equipped with crushing block at the center in the region that limit sheet body 1261 surrounds and constitutes
1262, squeezing roller 1263 is equipped between each limit sheet body 1261 and crushing block 1262.
Above-described embodiment at work, the initial position of three mounting bases 14 respectively with device for filling A9, device for filling
B11, pressurizing unit 12 are corresponding.Directly connection shell 3 can be directly placed into first mounting base 14 by mechanical arm.
First mounting base 14 at this time equipped with connection shell 3 is moved to the lower section of limit pedestal 921, feeding track A911
Lubricating sleeve 2 is pushed into limit pedestal 921, stick 9221 is then bored and resists lubricating sleeve 2 together and move downwardly together, until will
In the filling of lubricating sleeve 2 to connection shell 3, since there are certain intervals between cone stick 9221, lubricating sleeve 2 is being squeezed into connection shell
During body 3, cone stick 9221 will be merged into cylindrical body in shape is collapsed, until adapting to the size of connection 3 port of shell, finally
So that lubricating sleeve 2 completely with connect shell 3 be in close contact, then bore stick 9221 on lift, resetted under the action of pre-compressed spring.
First mounting base 14 for accommodating lubricating sleeve 2, connection shell 3 is moved under mechanical gripper 1124 at this time
Side, mechanical gripper 1124 passes through the effect of first slide 1121, second slide 1122, first horizontal towards the end of guide rod 1111
It moves, due to the guide rod 1111 in the distribution of isoceles triangle shape, being sent into connection cylinder 1 therein for every will be the case where being self-possessed
Under, upper end bulb is located between three guide rods 1111, and lower end columnar part freely hangs down, when mechanical gripper 1124 is traversing to even
After connecing 1 lower section of cylinder, mechanical gripper 1124 is moved up, and is then locked, and traversing round about, so that connection cylinder 1 is de-
From guide rod 1111, then tool handgrip 1124 is overturn, so that the bulb part of connection cylinder 1 is downward, is then proceeded to traversing to peace
14 top of seat is filled, is then filled in the bulb part for connecting cylinder 1 in lubricating sleeve 2 by third slide 1123, then filling dress
Set B11 reset.
Then accommodate lubricating sleeve 2, connection shell 3, connect cylinder 1 first mounting base 14 be moved to compression assemblies
126 lower section, Driven by Hydraulic Cylinder connecting column 124, intermediolateral column 123 move down, so that squeezing roller 1263 touches connection shell
Edge on the outside of the upper end of body 3 then proceedes to move down, and squeezing roller 1263 will to connect shell 3, lubricating sleeve 2 one
It plays that deformation occurs, makes full use of the arc shape of bulb, then outer turning set 125 rotates, so that the rotation of squeezing roller 1263, most
Connect shell 3 at last, lubricating sleeve 2 squeezes the arc that bending is in coated together, the reset of pressurizing unit 12.
Shaft coupling joint tentatively after the assembly is completed can be sent into next station by first mounting base 14, directly sequentially be set with
Limiting lantern ring 5, spring bearing 4 can completely final assembly.Other two or the mounting bases 14 more being arranged again can be followed
The variation of the station position of first mounting base 14, is recycled.
It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model
Member can carry out various changes and amendments in the range of without departing from this item utility model technical idea completely.This item is real
It is not limited to the contents of the specification with novel technical scope, it is necessary to its technology is determined according to scope of the claims
Property range.
Claims (5)
1. a kind of robot shaft coupling joint automatic producing device, including fixing seat, it is characterised in that: on the fixing seat according to
The secondary device for filling A (9) being equipped with for installing lubricating sleeve (2), it the device for filling B (11) for connecting cylinder (1) installation, squeezes
Device (12).
2. a kind of robot shaft coupling joint as described in claim 1 automatic producing device, it is characterised in that: the filling dress
Set A (9) have for convey lubricating sleeve (2) feed device (91), filling rod assembly (92),
The feed device (91) has linearly feeding track A (911), and there is the filling rod assembly (92) setting to exist
The limit pedestal (921) of the end of feeding track A (911), and the lubricating sleeve (2) can be slided along the side wall of limit pedestal (921)
Enter, being equipped in the top of limit pedestal (921) can move back and forth and can be through limit pedestal (921) along the vertical direction
Filler rod (922), the filler rod (922) at least have there are three the cone stick (9221) for surrounding same central axis rotary setting,
And gap is equipped between two adjacent cone sticks (9221).
3. a kind of robot shaft coupling joint as claimed in claim 2 automatic producing device, it is characterised in that: the cone stick
(9221) there are four quantity tools, the top that stick (9221) are bored at four is equipped with connection body (9224), in the connection body
(9224) top is equipped with the fixing head (9222) for connecting cylinder, is inlaid with tune at the center of connection body (9224)
Segmented column (9223) is equipped with pre-compressed spring, the adjustable column in the adjustable column (9223) between fixing head (9222)
(9223) lower end is in bulb shape and the top for resisting cone stick (9221), and the top of cone stick (9221) is equipped with embeddable in even
The fixinig plate of female connector body (9224), the fixinig plate are bolted in connection body (9224).
4. a kind of robot shaft coupling joint as described in claim 1 automatic producing device, it is characterised in that: the filling dress
B (11) are set with feeding track B (111) and overturn mounting assembly (112),
The feeding track B (111) has three horizontally disposed guide rods (1111), the cross section of the guide rod (1111)
It is distributed in the vertical direction in isoceles triangle shape, and wherein two guide rods (1111) are located at same level, remaining one is led
The top of horizontal plane where being located at two guide rods (1111) to bar (1111),
Overturning mounting assembly (112) has the first slide that can be moved back and forth back and forth along the extension direction of guide rod (1111)
(1121), it is equipped on the first slide (1121) and keeps vertical second slide with the moving direction of first slide (1121)
(1122), the third slide (1123) that can be moved back and forth back and forth along the vertical direction is equipped on the second slide (1122),
The third slide (1123) is equipped with stretching and rotatable mechanical gripper (1124) in the horizontal direction.
5. a kind of robot shaft coupling joint as described in claim 1 automatic producing device, it is characterised in that: the extruding dress
The rectangle skeleton frame (121) that (12) have fixed setting is set, is fixed with cylinder beam barrel in the lower part of the rectangle skeleton frame (121)
(122), intermediolateral column (123) are slidably fitted in the cylinder beam barrel (122), are fixed in the upper end of the intermediolateral column (123)
It is connected with the connecting column (124) by Driven by Hydraulic Cylinder, perforative evacuation chamber along the vertical direction is equipped on the connecting column (124)
Room is rotatably equipped with outer turning set (125) in the intermediolateral column (123), is connected by key in the outer turning set (125)
It is nested with drive shaft (128), the upper end of the drive shaft (128) extends into evacuation chamber and is connected with by belt wheel
Driving motor (127) is equipped with compression assemblies (126) in the lower end of the outer turning set (125), compression assemblies (126) tool
The central axis for having turning set (125) other than at least three is the limit sheet body (1261) of center rotary setting, in the limit
The center in region that sheet body (1261) is surrounded and constituted is equipped with crushing block (1262), in each limit sheet body (1261) and crushing block
(1262) squeezing roller (1263) are equipped between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821282221.2U CN208913547U (en) | 2018-08-09 | 2018-08-09 | A kind of robot shaft coupling joint automatic producing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821282221.2U CN208913547U (en) | 2018-08-09 | 2018-08-09 | A kind of robot shaft coupling joint automatic producing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208913547U true CN208913547U (en) | 2019-05-31 |
Family
ID=66701822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821282221.2U Expired - Fee Related CN208913547U (en) | 2018-08-09 | 2018-08-09 | A kind of robot shaft coupling joint automatic producing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208913547U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705307A (en) * | 2018-08-09 | 2018-10-26 | 常州市知豆信息科技有限公司 | A kind of robot shaft coupling joint automatic producing device |
| CN115890179A (en) * | 2022-11-21 | 2023-04-04 | 成都环泰睿诚科技有限公司 | Self-adaptive mounting fixing pin device for aero-engine |
-
2018
- 2018-08-09 CN CN201821282221.2U patent/CN208913547U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705307A (en) * | 2018-08-09 | 2018-10-26 | 常州市知豆信息科技有限公司 | A kind of robot shaft coupling joint automatic producing device |
| CN115890179A (en) * | 2022-11-21 | 2023-04-04 | 成都环泰睿诚科技有限公司 | Self-adaptive mounting fixing pin device for aero-engine |
| CN115890179B (en) * | 2022-11-21 | 2023-09-26 | 成都环泰睿诚科技有限公司 | Self-adaptive fixing pin installation device for aero-engine |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190531 Termination date: 20200809 |
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| CF01 | Termination of patent right due to non-payment of annual fee |