CA2195529A1 - Animal carcass support frame and dressing method - Google Patents
Animal carcass support frame and dressing methodInfo
- Publication number
- CA2195529A1 CA2195529A1 CA002195529A CA2195529A CA2195529A1 CA 2195529 A1 CA2195529 A1 CA 2195529A1 CA 002195529 A CA002195529 A CA 002195529A CA 2195529 A CA2195529 A CA 2195529A CA 2195529 A1 CA2195529 A1 CA 2195529A1
- Authority
- CA
- Canada
- Prior art keywords
- carcass
- cutting
- cutting tool
- support frame
- frame
- 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.)
- Abandoned
Links
Classifications
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/06—Slaughtering stands or spreaders for cattle
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
- A22B5/0029—Cutting through or detaching portions of a carcass
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/0017—Apparatus for cutting, dividing or deboning carcasses
- A22B5/0041—Electronic, robotic or computer assisted cutting, dividing or deboning carcasses
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/16—Skinning instruments or knives
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B5/00—Accessories for use during or after slaughtering
- A22B5/20—Splitting instruments
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
An animal carcass support frame for holding and positioning an animal carcass during operations thereon suspends the carcass in an inverted position from the front and rear hocks of the carcass. The frame comprises means to raise and/or lower the front and rear parts of the carcass. A dressing system is described comprising the frame and an industrial robot comprising a robotic arm equipped with a cutting tool for dressing the carcass and programmed to carry out dressing operations on the carcass. Also disclosed is a cutting tool for equipping to a robotic arm of an industrial robot, to be manipulated by the robot.
Description
~ Wo961~2145 .~~
ANI~AL CARCASS SUPPOXT FRAME AMD Dh~SSl~ MET~OD
FIE~D OF l~v~.~ lU~
The invention comprises an animal carcass support frame and dressing method.
p7.. 'KliKI 11 INI~ ART
Currently in a meat works animal carcasses are dressed manually by meat workers, which i5 labour intensive. Further ~ nication of the dreasing process is inhibited by the fact that no one animal carcass is ;~Pn~ in size and shape to another, and eUV~L in a conventional meat works chain carcasses are Sn~r~n~ from above in a way that allows for a relatively large amount of ~; L of the carcass so that a particular point on each carcass proceeding along the chain, such as the point at which the Y-cut iB begun, will never be in the same position from one carcass to the next.
S~MMARY OF INVENTION
The present invention provides a frame which supports a carcass and which presents it in a uniform way. The frame of the invention may be used to present a carcass ~ln; f~rmly to different m~-h;n~5 along a processing chain or in different ways to a stationary dressing machine, such as a robotic arm e~1;rr~
with various tools for example. The frame may hold the carcass to present it to each set of tools at a prs~csing station so that a number of operations can be carried out at the same station. The frame of the invention allows for the orientation ~o g610~14S ~ 1 9 5 5 2 9 or position of the carcass to be determined or maintained or altered with respect to the frame and hence with respect to other devices or objects.
The invention also provides a carcass dressing method using an industrial robot.
- In broad terms in one aspect of the invention cQmprises an animal carcass support frame for holding and positioning an animal carcass during operations thereon, comprising a front frame part comprising means to suspend the carcass in an inverted position from the front hocks of the carcass and a neck support part to support the inverted carcass below the neck or shoulders, a rear frame part ~ ing means to suspend the rear hocks of the carcass, and means to move the rear and/or front frame parts relative to one another to raise and~or lower the rear part of the carcass relative to the front part of the carcass or the front part of the carcass relative to the rear part of the carcass.
Preferably the rear frame part is pivotally mounted to the front fr me part along a substantially horizontal axis for ~ WO9G/02145 P~~
pivotal ~. l to raise and lower the rear frame part relative to the front frame part.
In broad terms in another aspect the invention _ _ C~5 an animal carcass support frame as ~r~5~rihr~ together ~ with an industrial robot comprising a robotic arm equipped with a cutting tool for dressing the carcass and p- U~L -' to carry out dressing operations on the carcass.
Preferably the robot is programmed to carry out at least the front Y-cut down the front legs and chest of the carcass.
The invention also comprises a cutting tool for equipping to a robotic arm of an industrial robot, the cutting tool being ~-nip~ table and operable under control of the industrial robot, comprising two parallel adjacent cutting blades reciprocally movable in the same plane each beside the other and a motor which drives the cutting blades, the cutting blades and motor being formed as a unit attachable to the robot arm, and means to attach the cutting tool to the robot arm.
In broad terms in a further aspect the invention comprises a method of dressing a carcass comprising s~1cp~n~; n~
the carcass in an inverted position from the front and rear hocks of the carcass, and carrying out dressing operations on the W096~ 5 F~ L~
carcass by an industrial robot comprising a robotic arm iqnirpod with a cutting tool for dressing the carca~s.
~cnL~lON OF DRAWIMGS
The invention will be further d~srr;h~d with reference to the ~ nying drawinga by way of an example, wherein:
Fig. 1 is a perspective view of a preferred form of frame of the invention, Figs 2A and 2B show the preferred form frame of Fig.
1 in a forward position, Figs 3A and 3B show the preferred form frame in an intermediate position, Figs 4A and 4B ahow the preferred form frame in a rear position, Fig. 5 shows a robotic arm of an indu~trial robot making a front Y-cut on a carcass sll~p~n~ in inverted position, and Fig. 6 shows a preferred form cutting tool of the invention for r-nirnl~tion by an industrial robot.
21 9552~
~ WO96/01145 ~ScKls~lON OF ~K~ KK~ EMBODIMENTS
Referring to Figs 1 to 4, the frame in~ a front part which _ Re~ a top transverse member 1 to which the carcass's front hocks are held by suitable clamps or spikes for example, or other means for holding the front hocks of the carcass. There are two downwardly ~Yt~n~; ng members 2a and 2b on either side and a lower transverse member 3 which forms a neck support part of the frame to support a carcass behind the neck or shoulders. The neck support member 3 is carried by vertical members 4a and 4b t~ copic~lly mcunted in the members 2a and 2b and controlled by hydraulic rams or similar to raise and lower the neck support part 3.
A rear frame part comprises a top transverse member 5 to which the carcass's rear hocks are held, again by suitable clamps or spikes or similar, which is pivotally connected to the front frame part at pivot points 7. Movement of the rear frame part is controlled by the hydraulic or pneumatic ram 8.
In use of the frame to support a carcass during dressing operations on the carcass, the front hocks of a carcass are first attached to the top transverse member 1 and the rear hocks of a carcass are attached to the top transverse memcer 5.
The frame is then used to position the carcass as desired. For example, the rear frame part may be elevated by the ram 8 to the position shown in Figs 2A and 2B to aid the draininq of blood from the neck cut and sticking. The rear frame part may then be wos6~02l4s F~ .~ L
dropped to the poaition shown in Fig. 3A and 3B BO that the stomach contents do not drain out of the o~50ph~gnc. After the oesophagus is clipped, the rear frame part may be raised to the intermediate position shown in Figs. 4A and 4B so that the carcass briskct region is horizontal. At this stage the front Y-cut may be carried out (see Fig. 5), the brisket flaps pulled back and the neck, shoulders and forelegs cleared. In this position further operations may be carried out including hock removal, belly oror~ti~n~ rear Y cutting and splitting of the brisket flap.
Pig. 5 shows the preferred ~orm frame together with an industrial robot comprising a robotic arm 10. The robotic arm is shown as a roof or ceiling mounted robotic arm or the arm 10 may be mounted from a beam above, but the robot may be of any suitable type such as a robot which stands on the floor, comprising two or more robot arms for example. The robot i& U5ed to make the dressing cuts in the carcass. The frame of the invention poaitions each carcasa in a substantially identical position when compared to conventional means of Sll~p~n~ing a carcass from a moving pnOC~CcinrJ chain for example. Thus the point at which the robot starts a cut such as the front Y-cut shown in Fig. 5, ic always in a similar spatial position. Fig.
5 shows the robotic arm 10 ; ng a cutting tool 11 on the end thereof comprising cutting blades 12 making the front Y-cut down the front legs and chest of the carcass. The robot may be ~ WO s6~02~4s p~UyL 1 to make other dressing cuts and Fig. 5 shows the robot arm making the front Y-cut by way of example.
Fig. 6 shows a pIefuLLud form cutting tool. The tool comprises two parallel adjacent cutting blades 13 and a motor within the cutting tool body unit 14 which drives the cutting blades 13. The motor may be connected to the cutting blades through a gearbox within the cutting tool body unit 14. The motor is controlled by the robot. When the motor is op~rPt~d, the cutting blades 13 reciprocate back and forth together in a cutting action. In the preferred form the cutting blades move with a rotary reciprocal action as indicated by the arrows in Fig. 6. This has been found most effective for cutting through the pelt of an animal carcass.
It is also preferred that the cutting blades 13 are cranked as shown, _ ~;ng a first cutting edge portion 13a and a second cutting edge portion 13b which has shark tooth shaped teeth. The shark tooth teeth point back towards the first blade portion 13a as shown.
In use the robot having the cutting tool of Fig. 6 mounted to the end of the robotic arm inserts the cutting tool through an initial puncture made through the pelt of the carcass.
The robot then energises the motor to cause the cutting blades 13 to operate, and the robot arm moves the cutting tool upwardly to make for example the front Y-cut as shown in Fig. 5.
, I I ~ . ~
Wo96~14~
In the preferred form cutting tool the motor is an air motor but it could alternatively be an eleatric or hydraulic motor for ex~ple.
The foregoing ~c~rih~c the invention in~~ ing ~
preferred form thereof. Alterations and I 'ifi~ati~n~ as will be obvious to those skilled in the art are intended to be incorporated in the scope hereof as defined in the following claims.
ANI~AL CARCASS SUPPOXT FRAME AMD Dh~SSl~ MET~OD
FIE~D OF l~v~.~ lU~
The invention comprises an animal carcass support frame and dressing method.
p7.. 'KliKI 11 INI~ ART
Currently in a meat works animal carcasses are dressed manually by meat workers, which i5 labour intensive. Further ~ nication of the dreasing process is inhibited by the fact that no one animal carcass is ;~Pn~ in size and shape to another, and eUV~L in a conventional meat works chain carcasses are Sn~r~n~ from above in a way that allows for a relatively large amount of ~; L of the carcass so that a particular point on each carcass proceeding along the chain, such as the point at which the Y-cut iB begun, will never be in the same position from one carcass to the next.
S~MMARY OF INVENTION
The present invention provides a frame which supports a carcass and which presents it in a uniform way. The frame of the invention may be used to present a carcass ~ln; f~rmly to different m~-h;n~5 along a processing chain or in different ways to a stationary dressing machine, such as a robotic arm e~1;rr~
with various tools for example. The frame may hold the carcass to present it to each set of tools at a prs~csing station so that a number of operations can be carried out at the same station. The frame of the invention allows for the orientation ~o g610~14S ~ 1 9 5 5 2 9 or position of the carcass to be determined or maintained or altered with respect to the frame and hence with respect to other devices or objects.
The invention also provides a carcass dressing method using an industrial robot.
- In broad terms in one aspect of the invention cQmprises an animal carcass support frame for holding and positioning an animal carcass during operations thereon, comprising a front frame part comprising means to suspend the carcass in an inverted position from the front hocks of the carcass and a neck support part to support the inverted carcass below the neck or shoulders, a rear frame part ~ ing means to suspend the rear hocks of the carcass, and means to move the rear and/or front frame parts relative to one another to raise and~or lower the rear part of the carcass relative to the front part of the carcass or the front part of the carcass relative to the rear part of the carcass.
Preferably the rear frame part is pivotally mounted to the front fr me part along a substantially horizontal axis for ~ WO9G/02145 P~~
pivotal ~. l to raise and lower the rear frame part relative to the front frame part.
In broad terms in another aspect the invention _ _ C~5 an animal carcass support frame as ~r~5~rihr~ together ~ with an industrial robot comprising a robotic arm equipped with a cutting tool for dressing the carcass and p- U~L -' to carry out dressing operations on the carcass.
Preferably the robot is programmed to carry out at least the front Y-cut down the front legs and chest of the carcass.
The invention also comprises a cutting tool for equipping to a robotic arm of an industrial robot, the cutting tool being ~-nip~ table and operable under control of the industrial robot, comprising two parallel adjacent cutting blades reciprocally movable in the same plane each beside the other and a motor which drives the cutting blades, the cutting blades and motor being formed as a unit attachable to the robot arm, and means to attach the cutting tool to the robot arm.
In broad terms in a further aspect the invention comprises a method of dressing a carcass comprising s~1cp~n~; n~
the carcass in an inverted position from the front and rear hocks of the carcass, and carrying out dressing operations on the W096~ 5 F~ L~
carcass by an industrial robot comprising a robotic arm iqnirpod with a cutting tool for dressing the carca~s.
~cnL~lON OF DRAWIMGS
The invention will be further d~srr;h~d with reference to the ~ nying drawinga by way of an example, wherein:
Fig. 1 is a perspective view of a preferred form of frame of the invention, Figs 2A and 2B show the preferred form frame of Fig.
1 in a forward position, Figs 3A and 3B show the preferred form frame in an intermediate position, Figs 4A and 4B ahow the preferred form frame in a rear position, Fig. 5 shows a robotic arm of an indu~trial robot making a front Y-cut on a carcass sll~p~n~ in inverted position, and Fig. 6 shows a preferred form cutting tool of the invention for r-nirnl~tion by an industrial robot.
21 9552~
~ WO96/01145 ~ScKls~lON OF ~K~ KK~ EMBODIMENTS
Referring to Figs 1 to 4, the frame in~ a front part which _ Re~ a top transverse member 1 to which the carcass's front hocks are held by suitable clamps or spikes for example, or other means for holding the front hocks of the carcass. There are two downwardly ~Yt~n~; ng members 2a and 2b on either side and a lower transverse member 3 which forms a neck support part of the frame to support a carcass behind the neck or shoulders. The neck support member 3 is carried by vertical members 4a and 4b t~ copic~lly mcunted in the members 2a and 2b and controlled by hydraulic rams or similar to raise and lower the neck support part 3.
A rear frame part comprises a top transverse member 5 to which the carcass's rear hocks are held, again by suitable clamps or spikes or similar, which is pivotally connected to the front frame part at pivot points 7. Movement of the rear frame part is controlled by the hydraulic or pneumatic ram 8.
In use of the frame to support a carcass during dressing operations on the carcass, the front hocks of a carcass are first attached to the top transverse member 1 and the rear hocks of a carcass are attached to the top transverse memcer 5.
The frame is then used to position the carcass as desired. For example, the rear frame part may be elevated by the ram 8 to the position shown in Figs 2A and 2B to aid the draininq of blood from the neck cut and sticking. The rear frame part may then be wos6~02l4s F~ .~ L
dropped to the poaition shown in Fig. 3A and 3B BO that the stomach contents do not drain out of the o~50ph~gnc. After the oesophagus is clipped, the rear frame part may be raised to the intermediate position shown in Figs. 4A and 4B so that the carcass briskct region is horizontal. At this stage the front Y-cut may be carried out (see Fig. 5), the brisket flaps pulled back and the neck, shoulders and forelegs cleared. In this position further operations may be carried out including hock removal, belly oror~ti~n~ rear Y cutting and splitting of the brisket flap.
Pig. 5 shows the preferred ~orm frame together with an industrial robot comprising a robotic arm 10. The robotic arm is shown as a roof or ceiling mounted robotic arm or the arm 10 may be mounted from a beam above, but the robot may be of any suitable type such as a robot which stands on the floor, comprising two or more robot arms for example. The robot i& U5ed to make the dressing cuts in the carcass. The frame of the invention poaitions each carcasa in a substantially identical position when compared to conventional means of Sll~p~n~ing a carcass from a moving pnOC~CcinrJ chain for example. Thus the point at which the robot starts a cut such as the front Y-cut shown in Fig. 5, ic always in a similar spatial position. Fig.
5 shows the robotic arm 10 ; ng a cutting tool 11 on the end thereof comprising cutting blades 12 making the front Y-cut down the front legs and chest of the carcass. The robot may be ~ WO s6~02~4s p~UyL 1 to make other dressing cuts and Fig. 5 shows the robot arm making the front Y-cut by way of example.
Fig. 6 shows a pIefuLLud form cutting tool. The tool comprises two parallel adjacent cutting blades 13 and a motor within the cutting tool body unit 14 which drives the cutting blades 13. The motor may be connected to the cutting blades through a gearbox within the cutting tool body unit 14. The motor is controlled by the robot. When the motor is op~rPt~d, the cutting blades 13 reciprocate back and forth together in a cutting action. In the preferred form the cutting blades move with a rotary reciprocal action as indicated by the arrows in Fig. 6. This has been found most effective for cutting through the pelt of an animal carcass.
It is also preferred that the cutting blades 13 are cranked as shown, _ ~;ng a first cutting edge portion 13a and a second cutting edge portion 13b which has shark tooth shaped teeth. The shark tooth teeth point back towards the first blade portion 13a as shown.
In use the robot having the cutting tool of Fig. 6 mounted to the end of the robotic arm inserts the cutting tool through an initial puncture made through the pelt of the carcass.
The robot then energises the motor to cause the cutting blades 13 to operate, and the robot arm moves the cutting tool upwardly to make for example the front Y-cut as shown in Fig. 5.
, I I ~ . ~
Wo96~14~
In the preferred form cutting tool the motor is an air motor but it could alternatively be an eleatric or hydraulic motor for ex~ple.
The foregoing ~c~rih~c the invention in~~ ing ~
preferred form thereof. Alterations and I 'ifi~ati~n~ as will be obvious to those skilled in the art are intended to be incorporated in the scope hereof as defined in the following claims.
Claims (20)
1. An animal carcass support frame for holding and positioning an animal carcass during operations thereon, comprising a front frame part comprising means to suspend the carcass in an inverted position from the front hocks of the carcass and a neck support part to support the inverted carcass below the neck or shoulders, a rear frame part comprising means to suspend the rear hocks of the carcass, and means to move the rear and/or front frame parts relative to one another to raise and/or lower the rear part of the carcass relative to the front part of the carcass or the front part of the carcass relative to the rear part of the carcass.
2. An animal carcass support frame as claimed in claim 1, wherein the rear frame part is pivotally mounted to the front frame part along a substantially horizontal axis for pivotal movement to raise and lower the rear frame part relative to the front frame part.
3. An animal carcass support frame as claimed in either one of claims 1 and 2, wherein the front frame part comprises an upper transverse member and means on said upper member to hold the front hocks of the carcass and members extending downwardly on either side from the upper transverse member and wherein said neck support part bridges the lower ends of said downward members on either side.
4. An animal carcass support frame as claimed in any one of claims 1 to 3, wherein the neck support part is raisable and/or lowerable to raise and/or lower the front part of the carcass on the front frame part from below the neck or shoulders thereof.
5. An animal carcass support frame as claimed in any one of claims 2, 3 and 4 when dependent directly or indirectly on claim 2, wherein pivotal movement of the rear frame part is actuated by a hydraulic or pneumatic ram.
6. An animal carcass support frame for holding and positioning a carcass substantially as illustrated in Figs 1 to 4 of the accompanying drawings and described herein with reference thereto.
7. An animal carcass support frame as claimed in any one of claims 1 to 6, together with an industrial robot comprising a robotic arm equipped with a cutting tool for dressing the carcass and programmed to carry out dressing operations on the carcass.
8. An animal carcass support frame and industrial robot as claimed in claim 7, wherein the robot is programmed to carry out at least the front Y-cut down the front legs and chest of the carcass.
9. An animal carcass support frame and industrial robot as claimed in either one of claims 7 and 8, wherein the robotic arm is equipped with a cutting tool comprising two parallel, adjacent cutting blades reciprocally movable in the same plane each beside the other, and a motor under control of the robot which drives the cutting blades during cutting operations.
10. An animal carcass support frame and industrial robot as claimed in claim 9, wherein the cutting blades are reciprocally movable in the same plane beside each other with a rotary action.
11. A cutting tool for equipping to a robotic arm of an industrial robot, the cutting tool being manipulatable and operable under control of the industrial robot, comprising two longitudinally extending parallel adjacent cutting blades reciprocally movable in the same plane each beside the other and a motor which drives the cutting blades, the cutting blades and motor being formed as a unit attachable to the robot arm, and means to attach the cutting tool to the robot arm.
12. A cutting tool as claimed in claim 11, wherein the cutting blades are reciprocally movable in the same plane beside each other with a rotary action.
13. A cutting tool as claimed in either one of claims 11 and 12, wherein the cutting blades each comprise a first blade portion providing a first part of the cutting edge of the cutting blade and a second blade portion cranked relative to the first blade portion and providing a second part of the cutting edge of the cutting blade.
14. A cutting tool as claimed in claim 13, wherein said second blade portion of each cutting blade is formed with a shark tooth cutting edge, the teeth of which point back towards the first blade portion of the cutting blade.
15. A cutting tool as claimed in any one of claims 1 to 14, wherein the motor which drives the cutting blades is an air motor.
16. A cutting tool for equipping to a robotic arm of an industrial robot, substantially as illustrated in Fig. 6 of the accompanying drawings and described herein with reference thereto.
17. A method of dressing a carcass comprising suspending the carcass in an inverted position from the front and rear hocks of the carcass, and carrying out dressing operations on the carcass by an industrial robot programmed to carry out one or a series of dressing cuts on the carcass by an independent robotic arm equipped with a cutting tool and able to move the cutting tool about the exterior of the carcass.
18. A method as claimed in claim 17, including carrying out a Y-cut down the front legs and chest of the carcass by said industrial robot.
19. A method as claimed in either one of claims 17 and 18, wherein the robot is equipped with a cutting tool as claimed in any one of claims 11 to 16.
20. A method as claimed in any one of claims 17 to 19, wherein the carcass is suspended in said inverted position and is raised and lowered by a frame as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002195529A CA2195529A1 (en) | 1994-07-20 | 1994-07-20 | Animal carcass support frame and dressing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002195529A CA2195529A1 (en) | 1994-07-20 | 1994-07-20 | Animal carcass support frame and dressing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2195529A1 true CA2195529A1 (en) | 1996-02-01 |
Family
ID=4159701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002195529A Abandoned CA2195529A1 (en) | 1994-07-20 | 1994-07-20 | Animal carcass support frame and dressing method |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2195529A1 (en) |
-
1994
- 1994-07-20 CA CA002195529A patent/CA2195529A1/en not_active Abandoned
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |