CN101214659A - Tendon rope gear under-driven robot finger device - Google Patents
Tendon rope gear under-driven robot finger device Download PDFInfo
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- CN101214659A CN101214659A CNA2008100563951A CN200810056395A CN101214659A CN 101214659 A CN101214659 A CN 101214659A CN A2008100563951 A CNA2008100563951 A CN A2008100563951A CN 200810056395 A CN200810056395 A CN 200810056395A CN 101214659 A CN101214659 A CN 101214659A
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- Prior art keywords
- gear
- finger
- transition
- tendon rope
- rope
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- 239000002965 rope Substances 0.000 title claims abstract description 91
- 210000002435 Tendons Anatomy 0.000 title claims abstract description 65
- 239000003638 reducing agent Substances 0.000 claims abstract description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 210000003811 Fingers Anatomy 0.000 abstract description 78
- 230000005540 biological transmission Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 8
- 210000003813 Thumb Anatomy 0.000 abstract description 2
- 210000001503 Joints Anatomy 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 230000005167 amoeboid movement Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003044 adaptive Effects 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
Belonging to the technical field of anthropomorphic robots, an underactuated robot finger device with tendons and gears comprises a base seat, a motor, a reducer, a first gear, a second gear, a near joint shaft, a middle finger section, a far joint shaft and a terminal finger section. The device also comprises a driving rope pulley, a transitional rope pulley, a transitional gear, a transitional shaft, a first tendon, a second tendon, a driven gear and a spring part. The device utilizes the gear and tendon transmission mechanism, the movably socketed middle finger section and the decoupling function of the spring part to comprehensively realize the special effect that the double-joint underactuated fingers are bent to grasp an object. Similar to a human finger, the device has the advantages of simple and reliable structure, low cost, convenient assembly and maintenance, small volume and light weight. The device is particularly used as the thumb or one part of other fingers of an anthropomorphic robot hand, so that the anthropomorphic robot hand can use less actuators to drive more rotating joints, and can be self-adapted to the shape and size of the grasped object.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of tendon rope gear under-driven robot finger device.
Background technology
With the mankind seemingly, most functions of anthropomorphic robot will realize by operation by human hand, thereby hand structure is anthropomorphic robot's important component part, its design is one of key technology of anthropomorphic robot.In order to increase personalizing of hand, hand will design more joint freedom degrees, yet, in order to alleviate the control difficulty of anthropomorphic robot's hand, and the volume, the weight that reduce hand, need to reduce the driver number, the two has certain contradiction, in addition, in order to grasp object better, also need to point and when grasping object, have certain adaptivity.Robot humanoid provided by the invention finger owes that drive unit can better be realized more joint freedom degrees, less driver number, these three targets of stronger adaptivity when grasping the object of difformity, size.
Existing a kind of under-driven adaptive mechanical arm device as U.S. patent of invention US5762390A, comprises that first refers to that section, second refers to that section, the 3rd refers to section, motor, belt wheel transmission mechanism, lead screw transmission mechanism, base, linkage, spring.First knuckle, second knuckle, third knuckle are connected hinged with base, and are provided with spring between any two and link to each other with connecting rod, form a plurality of quadric chains, and motor, belt wheel transmission mechanism, lead screw transmission mechanism are in series and are arranged in the base.This device is converted into the rotation of motor by belt wheel transmission mechanism, lead screw transmission mechanism the motion of linkage by self-contained motor-driven.Because the effect of spring, first, second, third dactylus initially keeps straight configuration.Its operation principle is: motor rotates, and by the motion of belt wheel transmission mechanism and lead screw transmission mechanism, promotes first parallel motion, rotates simultaneously thereby promote first, second, third dactylus.When first knuckle touched object, first knuckle no longer rotated, and motor is rotated further, and the spring that is arranged between first and second dactylus begins distortion, and simultaneously, first quadric chain amoeboid movement is rotated further thereby promote second and third dactylus.When second knuckle also touches object, second knuckle no longer rotates, and motor is rotated further, the spring that is arranged between second and third dactylus begins distortion, promote second quadric chain amoeboid movement simultaneously, be rotated further thereby promote third knuckle, till third knuckle also contacts object.
The weak point of this device is: a plurality of linkage device complexity, volume is big, manufacturing cost is high, and finger outward appearance and finger have than big-difference.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of tendon rope gear under-driven robot finger device is provided, simple in structure, reliable, cost is low, profile is similar to people's finger, and the finger that can be used as anthropomorphic robot's hand uses, to realize that robot adopts the more finger of less driver drives cradle head, need lower control system requirement, and have the adaptivity of the object that grasps difformity, size.
Technical scheme of the present invention is as follows:
Tendon rope gear under-driven robot finger device of the present invention comprises pedestal, motor, decelerator, first gear, second gear, nearly joint shaft, the middle part section of finger, joint shaft far away and the end section of finger; Said motor and decelerator are all affixed with pedestal, the output shaft of motor links to each other with input shaft of speed reducer, the output shaft of decelerator and first gear are affixed, first gear is meshed with second gear, second gear is fixed in nearly joint shaft, said nearly joint shaft is set in the pedestal, said joint shaft far away is set in the section of finger of middle part, the said end section of finger is fixed on the joint shaft far away, it is characterized in that: this tendon rope gear under-driven robot finger device also comprises rim pulley, the transition rope sheave, transition gear, transition axis, the first tendon rope, the second tendon rope, driven gear and spring spare; The said middle part section of finger is socketed on the nearly joint shaft; Said rim pulley is fixed on the nearly joint shaft, said transition axis is set in the section of finger of middle part, said transition rope sheave is fixed on the transition axis, said driven gear is fixed on the joint shaft far away, said transition gear is fixed on the transition axis and with driven gear and meshes, the said first tendon rope is wrapped on rim pulley and the transition rope sheave and becomes " Z " font, the two ends of the first tendon rope respectively with rim pulley, the transition rope sheave is affixed, the said second tendon rope is wrapped on rim pulley and the transition rope sheave and becomes " S " font, the two ends of the second tendon rope respectively with rim pulley, the transition rope sheave is affixed, the first tendon rope and the second tendon rope are crossed as the figure of eight, and the two ends of said spring spare connect middle part section of finger and the end section of finger respectively.
Tendon rope gear under-driven robot finger device of the present invention is characterized in that: the said first tendon rope two ends are connected with first end block, second end block respectively, and the said second tendon rope two ends are connected with the 3rd end block, the 4th end block respectively; Said first end block is inlayed in the groove that is fixed on rim pulley, and said second end block is inlayed in the groove that is fixed on the transition rope sheave; Said the 3rd end block is inlayed in the groove that is fixed on rim pulley, and said the 4th end block is inlayed in the groove that is fixed on the transition rope sheave.
Tendon rope gear under-driven robot finger device of the present invention is characterized in that: said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, rubber band or elastic threads.
Tendon rope gear under-driven robot finger device of the present invention is characterized in that: the said first tendon rope adopts steel wire, and the said second tendon rope adopts steel wire.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention utilize gear and tendon rope transmission mechanism, the middle part section of finger of socket activity and the decoupling zero effect that spring spare had comprehensively to realize the crooked special-effect that grasps object of doublejointed under-actuated finger, simple in structure, reliable, cost is low, be convenient to installation and maintenance, similar to people's finger, volume is little, in light weight, be particularly suitable as the part of thumb or other fingers of anthropomorphic robot's hand, with the more cradle head of less driver drives, only need lower control system requirement, and have the very strong adaptivity that grasps difformity, big wisp.
Description of drawings
Fig. 1 is the front appearance figure of the embodiment of tendon rope gear under-driven robot finger device provided by the invention.
Fig. 2 is the side view of present embodiment, also is the left side view of Fig. 1.
Fig. 3 is the front section view of present embodiment, also is the cutaway view of Fig. 1.
Fig. 4 is the side sectional view of present embodiment, also is the cutaway view of Fig. 2.
Fig. 5 is the installation site schematic diagram of the spring spare of present embodiment, also is the part figure of the right side view of Fig. 1.
Fig. 6, Fig. 7, Fig. 8, Figure 12 are several key positions side schematic appearance of present embodiment grasping object process.
Fig. 9, Figure 10, Figure 11 are several key position side sectional views of present embodiment grasping object process, respectively the cutaway view of corresponding diagram 6, Fig. 7, Fig. 8.
In Fig. 1 to Figure 12:
The 1-pedestal, the 2-motor, the nearly joint shaft of 3-,
The 4-middle part section of finger, 5-joint shaft far away, the 6-end section of finger,
The 7-rim pulley, the 81-first tendon rope, the 82-second tendon rope,
The 9-driven gear,
10-spring spare, 11-first gear, 12-second gear,
The 21-decelerator, 31-first pin, 32-second pin,
33-the 3rd pin,
41-first end block, 42-second end block, 43-the 3rd end block,
44-the 4th end block,
51-transition rope sheave, the 52-transition gear, the 53-transition axis,
The specific embodiment
Be described in further detail the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
The embodiment of a kind of tendon rope gear under-driven robot finger device of the present invention's design, as Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, comprise pedestal 1, motor 2, decelerator 21, first gear 11, second gear 12, nearly joint shaft 3, the middle part section of finger 4, joint shaft 5 far away and the end section of finger 6; Said motor 2 and decelerator 21 are all affixed with pedestal 1, the output shaft of motor 2 links to each other with the power shaft of decelerator 21, the output shaft of decelerator 21 and first gear 11 are affixed, first gear 11 is meshed with second gear 12, second gear 12 is fixed in nearly joint shaft 3, and said nearly joint shaft 3 is set in the pedestal 1; Said joint shaft far away 5 is set in the section of finger 4 of middle part, and the said end section of finger 6 is fixed on the joint shaft 5 far away.This tendon rope gear under-driven robot finger device also comprises rim pulley 7, transition rope sheave 51, transition gear 52, transition axis 53, the first tendon rope 81, the second tendon rope 82, driven gear 9 and spring spare 10; The said middle part section of finger 4 is socketed on the nearly joint shaft 3; Said rim pulley 7 is fixed on the nearly joint shaft 3 by first pin 31, said transition axis 53 is set in the section of finger 4 of middle part, said transition rope sheave 51 is fixed on the transition axis 53 by second pin 32, said driven gear 9 is fixed on the joint shaft 5 far away by the 3rd pin 33, said transition gear 52 is fixed on the transition axis 53 and with driven gear and meshes, the said first tendon rope 81 is wrapped on rim pulley 52 and the transition rope sheave 51 and becomes " Z " font, the two ends of the first tendon rope 81 respectively with rim pulley 52, transition rope sheave 51 is affixed, the said second tendon rope 82 is wrapped on rim pulley 52 and the transition rope sheave 51 and becomes " S " font, the two ends of the second tendon rope 82 respectively with rim pulley 52, transition rope sheave 51 is affixed, the first tendon rope 81 and the second tendon rope 82 are crossed as the figure of eight, the two ends of said spring spare 10 connect middle part section of finger 4 and the end section of finger 6 respectively, one end of spring spare 10 inserts in the section of finger 4 of middle part, the other end inserts in the end section of finger 6, as shown in Figure 5.
In the present embodiment, the said first tendon rope 81 two ends are connected with first end block 41, second end block 42 respectively, and the said second tendon rope 82 two ends are connected with the 3rd end block 43, the 4th end block 44 respectively; Said first end block 41 is inlayed in the groove that is fixed on rim pulley 52, and said second end block 42 is inlayed in the groove that is fixed on transition rope sheave 51; Said the 3rd end block 43 is inlayed in the groove that is fixed on rim pulley 52, and said the 4th end block 44 is inlayed in the groove that is fixed on transition rope sheave 51.
In the tendon rope gear under-driven robot finger device of the present invention, said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, rubber band or elastic threads.
In the present embodiment, said spring spare 10 adopts torsion spring.
In the present embodiment, the said first tendon rope 81 adopts steel wire, and the said second tendon rope 82 adopts steel wire.
The operation principle of present embodiment as Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, is described below:
The initial position of this device such as Fig. 6, shown in Figure 9, this moment middle part section of finger 4 and the end section of finger 6 and pedestal 1 are a straight line, promptly are equivalent to the state that people's finger stretches.When the robot extracting object of present embodiment was equipped with in use, the output shaft of motor 2 rotated, and drove the nearly joint shaft 3 that is connected with second gear 12 by first gear 11 and rotated, and rim pulley 7 is rotated.Because the effect of contraction of spring spare 10, the middle part section of finger 4 is fixed together seemingly with the end section of finger 6, therefore the rotation of rim pulley 7 will be by the transmission of the second tendon rope 82, transition rope sheave 51, transition axis 53, transition gear 52 and driven gear 9 etc., preferential middle part section of finger 4 and the end section of finger 6 of making rotated around nearly joint shaft 3 together, this process is run into object up to the middle part section of finger 4, as Fig. 7, shown in Figure 10.
When the middle part section of finger 4 runs into that object is blocked and can't continue to rotate the time, the rotation of rim pulley 7 at this moment, pulling by the second tendon rope 82, to drive the rotation of transition rope sheave 51, transition axis 53 and transition gear 52 rotate, and driven gear 9 is rotated, the rotation direction of driven gear 9 is identical with the rotation direction of rim pulley 7, make joint shaft far away 5 rotate, thereby make the end section of finger 6 overcome the elastic force of spring spare 10 and rotate spring spare 10 deflections increase simultaneously.This process is also run into object up to the end section of finger 6, as Fig. 8, shown in Figure 11.So far, the present embodiment device has been firmly grasped object.
Even body form varies in size, this installs also envelope object smoothly.When if this device middle part section of finger 4 and the end section of finger 6 are rotated simultaneously, the end section of finger 6 has precedence over the middle part section of finger 4 and touches body surface, owing to being subjected to stopping of the middle part section of finger 4, the terminal section of finger 6 is difficult to counter-rotating, therefore this device will no longer move and firmly firmly grasp object with the end section of finger, as shown in figure 12.
When decontroling object, motor 2 backward rotation drive nearly joint shaft 3 counter-rotatings, drive rim pulley 7 counter-rotatings, pulling by the first tendon rope 81, make 51 counter-rotatings of transition rope sheave, make transition axis 53 and transition gear 52 counter-rotatings, thus driven gear 9 backward rotation, this moment, the deflection of spring spare 10 reduced gradually, the end section of finger 6 go the long way round joint shaft 5 axis counter-rotating and leave body surface, arrived straight configuration up to the end section of finger 6, as Fig. 7, shown in Figure 10 with respect to the middle part section of finger 4.Because being stopped by the middle part section of finger 4, the end section of finger 6 can not continue counter-rotating again, motor 2 continues backward rotation at this moment, to drive the whole middle section of finger 4, joint shaft 5 far away, driven gear 9 and the terminal section of finger 6 together around the near axis backward rotation of joint shaft 3, the middle part section of finger 4 is left body surface, up to returning to the position that initial finger stretches, as Fig. 6, shown in Figure 9.
The present invention utilizes gear and tendon rope transmission mechanism, the middle part section of finger of socket activity and the decoupling zero effect that spring spare had comprehensively to realize the crooked special-effect that grasps object of doublejointed under-actuated finger.
Claims (4)
1. a tendon rope gear under-driven robot finger device comprises pedestal (1), motor (2), decelerator (21), first gear (11), second gear (12), nearly joint shaft (3), the middle part section of finger (4), joint shaft (5) far away and the end section of finger (6); Said motor and decelerator are all affixed with pedestal, the output shaft of motor links to each other with input shaft of speed reducer, the output shaft of decelerator and first gear are affixed, first gear is meshed with second gear, second gear is fixed in nearly joint shaft, said nearly joint shaft is set in the pedestal, said joint shaft far away is set in the section of finger of middle part, the said end section of finger is fixed on the joint shaft far away, it is characterized in that: this tendon rope gear under-driven robot finger device also comprises rim pulley (7), transition rope sheave (51), transition gear (52), transition axis (53), the first tendon rope (81), the second tendon rope (82), driven gear (9) and spring spare (10); The said middle part section of finger is socketed on the nearly joint shaft; Said rim pulley is fixed on the nearly joint shaft, said transition axis is set in the section of finger of middle part, said transition rope sheave is fixed on the transition axis, said driven gear is fixed on the joint shaft far away, said transition gear is fixed on the transition axis and with driven gear and meshes, the said first tendon rope is wrapped on rim pulley and the transition rope sheave and becomes " Z " font, the two ends of the first tendon rope respectively with rim pulley, the transition rope sheave is affixed, the said second tendon rope is wrapped on rim pulley and the transition rope sheave and becomes " S " font, the two ends of the second tendon rope respectively with rim pulley, the transition rope sheave is affixed, the first tendon rope and the second tendon rope are crossed as the figure of eight, and the two ends of said spring spare connect middle part section of finger and the end section of finger respectively.
2. tendon rope gear under-driven robot finger device as claimed in claim 1, it is characterized in that: the said first tendon rope two ends are connected with first end block (41), second end block (42) respectively, and the said second tendon rope two ends are connected with the 3rd end block (43), the 4th end block (44) respectively; Said first end block is inlayed in the groove that is fixed on rim pulley, and said second end block is inlayed in the groove that is fixed on the transition rope sheave; Said the 3rd end block is inlayed in the groove that is fixed on rim pulley, and said the 4th end block is inlayed in the groove that is fixed on the transition rope sheave.
3. tendon rope gear under-driven robot finger device as claimed in claim 1 is characterized in that: said spring spare adopts torsion spring, extension spring, stage clip, sheet spring, rubber band or elastic threads.
4. tendon rope gear under-driven robot finger device as claimed in claim 1 is characterized in that: the said first tendon rope adopts steel wire, and the said second tendon rope adopts steel wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100563951A CN100551640C (en) | 2008-01-18 | 2008-01-18 | The tendon rope gear under-driven robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100563951A CN100551640C (en) | 2008-01-18 | 2008-01-18 | The tendon rope gear under-driven robot finger device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101214659A true CN101214659A (en) | 2008-07-09 |
| CN100551640C CN100551640C (en) | 2009-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100563951A Expired - Fee Related CN100551640C (en) | 2008-01-18 | 2008-01-18 | The tendon rope gear under-driven robot finger device |
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| CN (1) | CN100551640C (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| WO2011036626A2 (en) | 2009-09-22 | 2011-03-31 | Ariel - University Research And Development Company, Ltd. | Orientation controller, mechanical arm, gripper and components thereof |
| CN102514016A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Soft piece coupling type handyman finger device |
| CN102794772A (en) * | 2012-08-08 | 2012-11-28 | 清华大学 | Motor-centered compound under-actuated gripping robot finger device |
| CN104162892A (en) * | 2014-06-26 | 2014-11-26 | 南京航空航天大学 | Hand-shaped manipulator |
| CN106182052A (en) * | 2016-08-12 | 2016-12-07 | 欢乐飞（上海）机器人有限责任公司 | A kind of intelligent machine human hand system and operational approach thereof |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN112372645A (en) * | 2020-11-10 | 2021-02-19 | 广东电网有限责任公司 | Robot for power distribution station |
| CN112656641A (en) * | 2020-12-11 | 2021-04-16 | 天津大学 | Wearing formula outer limb finger of cerebral apoplexy patient |
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| CN101774176B (en) * | 2010-01-21 | 2011-07-20 | 清华大学 | Rack-flexible piece coupling underactuated double-joint robot finger device |
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2008
- 2008-01-18 CN CNB2008100563951A patent/CN100551640C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486191B (en) * | 2009-02-26 | 2012-11-21 | 清华大学 | Displacement under-actuated robot hand apparatus |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| US9039057B2 (en) | 2009-09-22 | 2015-05-26 | Ariel-University Research And Development Company Ltd. | Orientation controller, mechanical arm, gripper and components thereof |
| WO2011036626A2 (en) | 2009-09-22 | 2011-03-31 | Ariel - University Research And Development Company, Ltd. | Orientation controller, mechanical arm, gripper and components thereof |
| CN102514016A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Soft piece coupling type handyman finger device |
| CN102514016B (en) * | 2011-12-23 | 2014-09-24 | 清华大学 | Soft piece coupling type handyman finger device |
| CN102794772A (en) * | 2012-08-08 | 2012-11-28 | 清华大学 | Motor-centered compound under-actuated gripping robot finger device |
| CN104162892A (en) * | 2014-06-26 | 2014-11-26 | 南京航空航天大学 | Hand-shaped manipulator |
| CN104162892B (en) * | 2014-06-26 | 2015-12-30 | 南京航空航天大学 | A kind of anthropomorphic manipulator |
| CN106182052A (en) * | 2016-08-12 | 2016-12-07 | 欢乐飞（上海）机器人有限责任公司 | A kind of intelligent machine human hand system and operational approach thereof |
| CN106182052B (en) * | 2016-08-12 | 2018-12-25 | 欢乐飞（上海）机器人有限责任公司 | A kind of intelligence machine human hand system and its operating method |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN106826907B (en) * | 2017-02-28 | 2019-11-26 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN112372645A (en) * | 2020-11-10 | 2021-02-19 | 广东电网有限责任公司 | Robot for power distribution station |
| CN112656641A (en) * | 2020-12-11 | 2021-04-16 | 天津大学 | Wearing formula outer limb finger of cerebral apoplexy patient |
Also Published As
| Publication number | Publication date |
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| CN100551640C (en) | 2009-10-21 |
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Granted publication date: 20091021 Termination date: 20110118 |