CN102248540A - Robot driving joint - Google Patents
Robot driving joint Download PDFInfo
- Publication number
- CN102248540A CN102248540A CN2011102037276A CN201110203727A CN102248540A CN 102248540 A CN102248540 A CN 102248540A CN 2011102037276 A CN2011102037276 A CN 2011102037276A CN 201110203727 A CN201110203727 A CN 201110203727A CN 102248540 A CN102248540 A CN 102248540A
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- joint
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- input shaft
- power input
- rolling bearing
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Abstract
The invention discloses a robot driving joint. The joint comprises a driving joint shell, a power input shaft, twin coupling outer arc shaped crowned teeth and a power output gear, wherein a first rolling bearing is sleeved outside the power input shaft, and the first rolling bearing and the power input shaft are in eccentric arrangement; the twin coupling outer arc shaped crowned teeth are sleeved outside the first rolling bearing, the first coupling crowned tooth is engaged with an inner crowned gear on the driving joint shell in a small teeth difference mode, and the second coupling crowned tooth is engaged with the power output gear in a small teeth difference mode; a drive motor, a brake, a vibration attenuation unit and a sensor are integrated on the driving joint. By adopting transmission of the twin coupling outer arc shaped crowned teeth, the non-linear fluctuation of a transmission can be attenuated, the strength and rigidity of a carrying gear can be ensured, the system reliability and stability under the actions of overloading and long-term circular alternating stress can be guaranteed; and the functions of driving, torque increasing, vibration attenuating, braking, monitoring and the like are integrated into a whole; in addition, the robot driving joint is multifunctional and has the advantages of concise structure, short transmission chain, high transmission efficiency, small system vibration and noise.
Description
Technical field
The present invention relates to a kind of driving joint, particularly a kind of robot drives the joint.
Background technology
Be accompanied by the develop rapidly of automobile, chemical industry, electronics, food processing, plastics, research and life science, especially the developing rapidly of robot equipment field, harsh more standard has been proposed for the transmission accuracy that drives the joint transmission system, reliability, small size, vibration and noise reducing, lightweight, performance such as non-maintaining.
In in the past the design concept and engineering practice, driver element, brake unit, damping assembly, driving joint, sensing technology all are separately designs in the transmission system, modular organization.This transmission system inevitably need be considered each other connecting mode of each module, arrangement, rigging error etc., more, the complicated integral structure of system unit.And complicated matching relationship can make reductions such as system reliability, transmission accuracy, influences the overall performance of transmission system.
Driving the joint is one of core component in the robot system, is used for changing high rotating speed, the low torque power of power end into slow-revving, high pulling torque power output.But rigidity fluctuation and bearing or the distortion of housing supporting system, the component wear etc. nibbled out because of the manufacturing rigging error, the gear pair that drive joint component are engaging-in, must cause torque and rotating speed in the transmission process to produce nonlinear wave, add parts wear, these factors all will strengthen vibration and the noise in the transmission system running, reduce the life-span and the system reliability of drive disk assembly.
At above-mentioned deficiency, design the driving joint of a kind of compact conformation, function admirable, have great importance to improving the robot power performance.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of robot and drive the joint, advantage such as its compact conformation is simplified, and vibration noise is little, transmission accuracy is high, braking is steady.
Robot of the present invention drives the joint, comprises the power output gear that drives joint housing, power input shaft, duplex outer arcuate drum tooth and be provided with the arc drum gear,
Described driving joint housing is provided with the arc drum gear,
Fixed jacket has first rolling bearing on the described power input shaft, and first rolling bearing is provided with power input shaft is eccentric, and described duplex outer arcuate is roused gear cover in first rolling bearing and setting coaxial with it,
First barreled tooth flank of described duplex outer arcuate drum tooth is with the few tooth difference engagement of interior rack barrel that drives on the joint housing, and second barreled tooth flank of duplex outer arcuate drum tooth is with the few tooth difference engagement of interior rack barrel of power output gear.
Further, also comprise drive motors, the rotor fixed jacket of drive motors in power input shaft and with its coaxial cooperation, the stator of drive motors is arranged at and drives on the joint housing;
Further, the rotor of described drive motors is an induction coil;
Further, also comprise brake, described brake comprises the clutch body that is provided with friction material and is arranged at compression spring between clutch body and the rotor, the external power input shaft that is placed in of described clutch also can slide along its axial single-degree-of-freedom, and described compression spring is used to promote the clutch body and drives joint housing applying realization braking;
Further, also comprise the unit that shakes that declines, the described unit that shakes of declining comprises vibration-damped component and vibration-damped component is fixed to the connector that drives on the joint housing, and described vibration-damped component comprises housing and be arranged on damping material on the housing that damping material is pressed in by connector and drives on the joint housing;
Further, also be provided with the velocity sensor that is used for the detection rotor rotating speed, the temperature sensor that is used to detect the acceleration transducer of duplex outer arcuate drum tooth oscillation intensity and is used to detect the drive motors temperature on the described driving joint housing;
Further, be fixed with the external spline teeth cover on the described power input shaft, described clutch body overlaps spline fitted with external spline teeth;
Further, the first row barreled tooth flank and the secondary series barreled tooth flank of described duplex outer arcuate drum tooth are the opposite helical gear of rotation direction, and the apical tooth of the first row barreled tooth flank and secondary series barreled tooth flank becomes cambered surface with tooth root normal profile tip relief to K type tolerance range and teeth directional;
Further, described first rolling bearing is a sphere biserial four-point contact ball;
Further, described driving joint housing comprises the housing seat and is fixed on case lid on the housing seat by screw, one end of power input shaft is rotatably assorted by the endoporus of second rolling bearing and power output gear, the other end of power input shaft is rotatably assorted with case lid by the 3rd rolling bearing, the middle part of power input shaft is rotatably assorted with the housing seat by the 4th rolling bearing, and the cylindrical of power output gear is rotatably assorted with the housing seat by the 5th rolling bearing.
Beneficial effect of the present invention:
1, robot of the present invention drives the joint, adopt the transmission of duplex outer arcuate drum tooth, the nonlinear wave of the transmission system that can decay and can guarantee carrier gear intensity and rigidity has guaranteed system reliability and stationarity under heavy duty and long-time repeat stress effect, and transmission vibration, noise are little.
2, robot of the present invention drives the joint, with the integrated design of drive motors, terminal with compact integral structure, directly connect between the rotor of drive motors and the power input shaft, driving-chain is short, and rigging error is little, the transmission efficiency height, system vibration and the noise of having avoided rigging error to bring.
3, robot of the present invention drives the joint, designs in one brake and drive motors synchronization action with brake is integrated; Rotor energising rotation, the clutch body of brake is subjected to the rotor electromagnetic attracting force to leave the driving joint housing, and do not brake this moment; Rotor no power, clutch body are fitted with driving joint housing under the thrust of compression spring, braking this moment; The brake corresponding speed is fast, good braking effect, security of system height.
4, robot of the present invention drives the joint, and it drives joint housing and is provided with the unit that shakes that declines, and can further reduce the vibration of transmission system, reduces noise transmission and radiation.
5, robot of the present invention drives the joint, drives the information such as transmission speed, system vibration state and drive motors temperature of the sensor energy measurement transmission system that is provided with on the joint housing, is convenient to monitor its duty, and security reliability is higher.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described.
Fig. 1 drives the overall structure cutaway view in joint for robot of the present invention;
Fig. 2 is the cutaway view of Fig. 1 along A-A;
Fig. 3 is a B portion enlarged diagram among Fig. 1.
The specific embodiment
Fig. 1 drives the overall structure cutaway view in joint for robot of the present invention; Fig. 2 is the cutaway view of Fig. 1 along A-A; Fig. 3 is a B portion enlarged diagram among Fig. 1.
As shown in the figure, the present embodiment robot drives the joint, comprises the power output gear 4 that drives joint housing 1, power input shaft 2, duplex outer arcuate drum tooth 3 and be provided with the arc drum gear,
Described driving joint housing 1 is provided with arc drum gear 1a,
Fixed jacket has first rolling bearing, 5, the first rolling bearings 5 to be provided with power input shaft is eccentric on the described power input shaft 2, and eccentric throw is e, and described duplex outer arcuate drum tooth 3 is coated at first rolling bearing and setting coaxial with it,
The first barreled tooth flank 3a of described duplex outer arcuate drum tooth 3 is with the few tooth difference engagement of interior rack barrel 1a that drives on the joint housing 1, and the second barreled tooth flank 3b of duplex outer arcuate drum tooth is with the few tooth difference engagement of interior rack barrel of power output gear 4.
Adopt the transmission of duplex outer arcuate drum tooth, the nonlinear wave of the transmission system that can decay also can guarantee carrier gear intensity and rigidity, has guaranteed system reliability and stationarity under heavy duty and long-time repeat stress effect, and transmission vibration, noise are little.
As the improvement to the present embodiment, this robot drives the joint and also comprises drive motors, rotor 6 fixed jackets of drive motors in power input shaft 2 and with its coaxial cooperation, the stator 7 of drive motors is arranged at and drives on the joint housing 1.With the integrated design of drive motors, terminal with compact integral structure directly connects between the rotor of drive motors and the power input shaft, and driving-chain is short, and rigging error is little, transmission efficiency height, system vibration and the noise of having avoided rigging error to bring.
In the present embodiment, the rotor 6 of described drive motors is an induction coil.
As improvement to the present embodiment, this robot drives the joint and also comprises brake, described brake comprise the clutch body 8 that is provided with friction material 9 and be arranged at clutch body 8 and rotor 7 between compression spring 10, described clutch body 8 is coated at power input shaft 2 and can slides along its axial single-degree-of-freedom, and described compression spring 10 is used to promote clutch body 8 and realizes braking with the applying of driving joint housing.Design in one brake and drive motors synchronization action with brake is integrated; Rotor is an induction coil, and its energising rotation also generates an electromagnetic field, and the clutch body is subjected to the rotor electromagnetic attracting force to leave the driving joint housing, and do not brake this moment; Rotor no power, clutch body are fitted with driving joint housing under the thrust of compression spring, braking this moment; The brake response speed is fast, good braking effect, security of system height.
It is integrated with driving, deceleration and braking function that the present embodiment robot drives the joint, compact overall structure, succinct, and parts are few, and transmission connects weak point, mismatch error is little, the transmission efficiency height, vibration and noise are little, and kinetic energy is many.
As improvement to the present embodiment, also comprise the unit that shakes that declines, described declining shaken that the unit comprises vibration-damped component and vibration-damped component is fixed to the connector 11 that drives on the joint housing 1, described vibration-damped component comprises housing 12 and the damping material 13 that is arranged on the housing 12, and damping material 13 is pressed in by connector and drives on the joint housing 1.Damping material 13 is integral by fluid sealant is bonding in the present embodiment, and shock attenuation result is good; Connector is bolt, and is easy to assembly.By the vibration and the noise of damping material absorption transmission system, can further improve transmission stability and reduce noise pollution.
As improvement, also be provided with the velocity sensor 14 that is used for detection rotor 7 rotating speeds, the temperature sensor 16 that is used to detect the acceleration transducer 15 of duplex outer arcuate drum tooth oscillation intensity and is used to detect the drive motors temperature on the described driving joint housing 1 to the present embodiment.By the information such as transmission speed, system vibration state and drive motors temperature of sensor energy measurement transmission system, be convenient to monitoring and drive the joint duty, make its security reliability higher.
As improvement to the present embodiment, be fixed with external spline teeth cover 17 on the described power input shaft 2, described clutch body 8 overlaps 17 spline fitted with external spline teeth.Certainly in different embodiments, on power input shaft, directly process spline, also can realize the present invention.But it is more convenient that this structure is made.
As improvement to the present embodiment, the first row barreled tooth flank 3a and the secondary series barreled tooth flank 3b of described duplex outer arcuate drum tooth 3 are the opposite helical gear of rotation direction, helical gear vibration than spur gear in transmission process is littler, noise is lower, the apical tooth of the first row barreled tooth flank and secondary series barreled tooth flank becomes cambered surface with the tip relief of tooth root normal profile to K type tolerance range and teeth directional, accuracy of gear height, and root stress is concentrated little, flank of tooth stress-bearing capability is strong, strength of gear teeth height.
As the improvement to the present embodiment, described first rolling bearing 5 is a sphere biserial four-point contact ball, and the aligning ability is strong, be convenient to guarantee assembly precision, make the stressed bearing two ends that concentrate on of power input shaft simultaneously, help improving stress performance, reduce the off-centre vibration of axle.
As improvement to the present embodiment, described driving joint housing 1 comprises housing seat 1b and is fixed on case lid 1c on the housing seat 1b by screw, one end of power input shaft 2 is rotatably assorted by the endoporus of second rolling bearing 18 with power output gear 4, the other end of power input shaft 2 is rotatably assorted with case lid 1c by the 3rd rolling bearing 19, the middle part of power input shaft 2 is rotatably assorted with housing seat 1b by the 4th rolling bearing 20, and the cylindrical of power output gear 4 is rotatably assorted with housing seat 1b by the 5th rolling bearing 21.The power input shaft 2 and power output gear 4 strong points are more, good rigidly, stable drive.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (10)
1. a robot drives the joint, it is characterized in that: comprise the power output gear that drives joint housing, power input shaft, duplex outer arcuate drum tooth and be provided with the arc drum gear,
Described driving joint housing is provided with the arc drum gear,
Fixed jacket has first rolling bearing on the described power input shaft, and first rolling bearing is provided with power input shaft is eccentric, and described duplex outer arcuate is roused gear cover in first rolling bearing and setting coaxial with it,
First barreled tooth flank of described duplex outer arcuate drum tooth is with the few tooth difference engagement of interior rack barrel that drives on the joint housing, and second barreled tooth flank of duplex outer arcuate drum tooth is with the few tooth difference engagement of interior rack barrel of power output gear.
2. robot according to claim 1 drives the joint, it is characterized in that: also comprise drive motors, the rotor fixed jacket of drive motors in power input shaft and with its coaxial cooperation, the stator of drive motors is arranged at and drives on the joint housing.
3. robot according to claim 2 drives the joint, and it is characterized in that: the rotor of described drive motors is an induction coil.
4. robot according to claim 3 drives the joint, it is characterized in that: also comprise brake, described brake comprises the clutch body that is provided with friction material and is arranged at compression spring between clutch body and the rotor, the external power input shaft that is placed in of described clutch also can slide along its axial single-degree-of-freedom, and described compression spring is used to promote the clutch body and drives joint housing applying realization braking.
5. drive the joint according to the described robot of arbitrary claim among the claim 1-4, it is characterized in that: also comprise the unit that shakes that declines, described declining shaken that the unit comprises vibration-damped component and vibration-damped component is fixed to the connector that drives on the joint housing, described vibration-damped component comprises housing and the damping material that is arranged on the housing, and damping material is pressed in by connector and drives on the joint housing.
6. robot according to claim 5 drives the joint, it is characterized in that: also be provided with the velocity sensor that is used for the detection rotor rotating speed, the temperature sensor that is used to detect the acceleration transducer of duplex outer arcuate drum tooth oscillation intensity and is used to detect the drive motors temperature on the described driving joint housing.
7. robot according to claim 5 drives the joint, and it is characterized in that: be fixed with the external spline teeth cover on the described power input shaft, described clutch body overlaps spline fitted with external spline teeth.
8. robot according to claim 1 drives the joint, it is characterized in that: the first row barreled tooth flank and the secondary series barreled tooth flank of described duplex outer arcuate drum tooth are the opposite helical gear of rotation direction, and the apical tooth of the first row barreled tooth flank and secondary series barreled tooth flank becomes cambered surface with tooth root normal profile tip relief to K type tolerance range and teeth directional.
9. robot according to claim 1 drives the joint, and it is characterized in that: described first rolling bearing is a sphere biserial four-point contact ball.
10. robot according to claim 1 drives the joint, it is characterized in that: described driving joint housing comprises the housing seat and is fixed on case lid on the housing seat by screw, one end of power input shaft is rotatably assorted by the endoporus of second rolling bearing and power output gear, the other end of power input shaft is rotatably assorted with case lid by the 3rd rolling bearing, the middle part of power input shaft is rotatably assorted with the housing seat by the 4th rolling bearing, and the cylindrical of power output gear is rotatably assorted with the housing seat by the 5th rolling bearing.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201110203727 CN102248540B (en) | 2011-07-20 | 2011-07-20 | Robot driving joint |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN 201110203727 CN102248540B (en) | 2011-07-20 | 2011-07-20 | Robot driving joint |
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CN102248540A true CN102248540A (en) | 2011-11-23 |
CN102248540B CN102248540B (en) | 2013-09-11 |
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CN 201110203727 Expired - Fee Related CN102248540B (en) | 2011-07-20 | 2011-07-20 | Robot driving joint |
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103802125A (en) * | 2014-01-27 | 2014-05-21 | 武汉大学 | Single-degree-of-freedom rotary joint module |
CN103846924A (en) * | 2013-08-14 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Electromechanical connecting interface of robot modularized joint with adjustable rigidity |
TWI502861B (en) * | 2013-11-18 | 2015-10-01 | Kuok Wa Ho | A ball joint universal rotary motor, a manufacturing method and a working mechanism thereof |
CN105922285A (en) * | 2016-06-18 | 2016-09-07 | 朱旭红 | Robot rotary joint of full freedom wireless control union joint |
CN106132641A (en) * | 2014-04-03 | 2016-11-16 | 纳博特斯克有限公司 | The articulation mechanism of humanoid robot |
CN106163746A (en) * | 2014-04-03 | 2016-11-23 | 纳博特斯克有限公司 | The articulation mechanism of humanoid robot |
CN108081256A (en) * | 2017-12-07 | 2018-05-29 | 南京航空航天大学 | Detect brake integration robot articular driver |
CN110861120A (en) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
CN112236662A (en) * | 2018-06-04 | 2021-01-15 | 日产自动车株式会社 | Abnormality detection device and abnormality detection method |
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CN101699756A (en) * | 2009-10-28 | 2010-04-28 | 上海电器科学研究所(集团)有限公司 | Braking part for motor |
CN101725673A (en) * | 2010-02-01 | 2010-06-09 | 重庆大学 | Filter speed reducer |
CN201656873U (en) * | 2010-04-01 | 2010-11-24 | 宁波沪江电机有限公司 | Electromotor with brake device |
CN102062176A (en) * | 2010-11-24 | 2011-05-18 | 重庆航天职业技术学院 | Speed reducer |
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2011
- 2011-07-20 CN CN 201110203727 patent/CN102248540B/en not_active Expired - Fee Related
Patent Citations (4)
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CN101699756A (en) * | 2009-10-28 | 2010-04-28 | 上海电器科学研究所(集团)有限公司 | Braking part for motor |
CN101725673A (en) * | 2010-02-01 | 2010-06-09 | 重庆大学 | Filter speed reducer |
CN201656873U (en) * | 2010-04-01 | 2010-11-24 | 宁波沪江电机有限公司 | Electromotor with brake device |
CN102062176A (en) * | 2010-11-24 | 2011-05-18 | 重庆航天职业技术学院 | Speed reducer |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103846924A (en) * | 2013-08-14 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Electromechanical connecting interface of robot modularized joint with adjustable rigidity |
TWI502861B (en) * | 2013-11-18 | 2015-10-01 | Kuok Wa Ho | A ball joint universal rotary motor, a manufacturing method and a working mechanism thereof |
CN103802125A (en) * | 2014-01-27 | 2014-05-21 | 武汉大学 | Single-degree-of-freedom rotary joint module |
CN103802125B (en) * | 2014-01-27 | 2016-04-27 | 武汉大学 | A kind of rotary joint module of single-degree-of-freedom |
CN106132641A (en) * | 2014-04-03 | 2016-11-16 | 纳博特斯克有限公司 | The articulation mechanism of humanoid robot |
CN106163746A (en) * | 2014-04-03 | 2016-11-23 | 纳博特斯克有限公司 | The articulation mechanism of humanoid robot |
CN105922285A (en) * | 2016-06-18 | 2016-09-07 | 朱旭红 | Robot rotary joint of full freedom wireless control union joint |
CN108081256A (en) * | 2017-12-07 | 2018-05-29 | 南京航空航天大学 | Detect brake integration robot articular driver |
CN112236662A (en) * | 2018-06-04 | 2021-01-15 | 日产自动车株式会社 | Abnormality detection device and abnormality detection method |
CN110861120A (en) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
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Effective date of registration: 20170713 Address after: 400039 Jiulongpo District of Chongqing Science Park Road No. 200 C-22 Patentee after: CHONGQING BENTENG TECHNOLOGY Co.,Ltd. Address before: 400044 Shapingba street, Shapingba District, Chongqing, No. 174 Patentee before: Chongqing University |
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