CN102059369A - Feeding drill applicable to quick change arrangement of joint of robot - Google Patents
Feeding drill applicable to quick change arrangement of joint of robot Download PDFInfo
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- CN102059369A CN102059369A CN 201010545389 CN201010545389A CN102059369A CN 102059369 A CN102059369 A CN 102059369A CN 201010545389 CN201010545389 CN 201010545389 CN 201010545389 A CN201010545389 A CN 201010545389A CN 102059369 A CN102059369 A CN 102059369A
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- 238000005553 drilling Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 21
- 239000002173 cutting fluid Substances 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 230000006698 induction Effects 0.000 claims description 10
- 239000002184 metal Substances 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000005461 lubrication Methods 0.000 claims description 3
- 238000003754 machining Methods 0.000 abstract description 3
- 230000035611 feeding Effects 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 241000256856 Vespidae Species 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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Abstract
The invention discloses a feeding drill applicable to the quick change arrangement of a joint of a robot, which comprises a quick change flange, a laser target flange, an automatic feeding mechanism, a power head, a pre-pressing mechanism, a cutting fluid pipe and a chip breaking processing mechanism, wherein one end of the quick change flange is positioned on an industrial robot flange, and the other end of the quick change flange is connected with one end of the laser target flange; the other end of the laser target flange is connected with a bottom plate of a platform of the automatic feeding mechanism; the power head is arranged on a guide rail of the automatic feeding mechanism; the pre-pressing mechanism is arranged at the front end of the automatic feeding mechanism; and the cutting fluid pipe and the chip breaking processing mechanism are arranged on a presser foot head of the pre-pressing mechanism. The feeding drill has the advantages of (1) realizing automatic drilling, achieving high machining efficiency and reducing the labor intensity of workers, (2) performing pre-pressing before machining and adjusting a cutter to make the cutter vertical to the surface of a work piece so as to improve the drilling efficiency, and (3) avoiding broken chip residues and conveniently keeping clean and tidy the work piece.
Description
Technical field
The present invention relates to feeding and bore, relate in particular to a kind of feeding that is applicable to that the joint of robot quick change is installed and bore.
Background technology
In whole fault sums of aircraft, the number of faults of structural member damage generally accounts for 12%～13%, and still, because airborne finished product can replace with new finished product after breaking down, so the life-span of aircraft structure has just determined the entire life of aircraft.The main method of attachment of aircraft structure employing at present is still mechanical connection, nearly 150～2,000,000 connectors on the large aircraft.Depend mainly on the life-span of body the entire life of aircraft, fatigue rupture is the basic reason of aircraft disablement, and according to statistics, 75%～80% fatigue rupture occurs on the connecting portion of housing construction, and visible quality of connection is to aircraft life-span important influence.Drilling in traditional aircraft assembling is mainly based on air drill boring, and process sequence is: line, and------thick hinge (or reaming)---is finish reamed---and is separated cleaning in boring.The common shortcoming of traditional-handwork drilling is: (1) easily forms defective; (2) position, hole low precision; (3) drilling step is many; (4) need the secondary assembling; (5) the human factor influence can't be avoided.In order to improve the aircraft life-span, can be by improving the quality of connection (fit form of aircraft structure, connected mode etc.), this just need carry out the high speed and precision drilling by automation equipment, improve the system quality, improve circularity, perpendicularity, inner wall surface roughness, the positional precision of drilling, reduce residual stress, burr and the smear metal of drilling.
Solving automatic drilling by Robotics is the hot issue that the field is made in aviation, and external at present existing matured product occurs.Web as aircrafts such as F-16, F-22, F-2 and T-50, behind the Boeing F/A-18E/F Super Hornet along wing flap, F-35 aircraft wing wainscot, the engine room floor of aircrafts such as Boeing B-747, C-17, A380 wing wallboard etc. has all adopted the automatic hole fabrication techniques of robot.
The automatic hole fabrication techniques of China is started late, and does not also have ripe automatic hole fabrication techniques and system now.The automatic hole fabrication techniques of robot not only can quick and precisely be finished a series of drill processes such as brill, expansion, fraising, is suitable for the workplace that repeatability is strong, labour intensity is big, environment is abominable.Because robot absolute fix precision is not high enough, had a strong impact on the positional precision of cutter and surface of the work (particularly curved surface) perpendicularity, drilling, design novel auto-feed bores for this reason, laser tracker and robot are integrated, constitute closed-loop control system, can improve the positional precision of cutter and surface of the work (particularly curved surface) perpendicularity, drilling greatly, and apply pretightning force, thereby improve the drilling quality of robot greatly.
Summary of the invention
The objective of the invention is at robot drilling cutter and surface of the work (particularly curved surface) perpendicularity, drilling positional precision, compress problem in advance, provide a kind of feeding that is applicable to that the joint of robot quick change is installed to bore.
Being applicable to that feeding that the joint of robot quick change is installed is bored comprises quick change flange, laser target flange, automatic feed mechanism, unit head, compresses mechanism, cutting fluid pipe, chip breaking processing mechanism in advance; Quick change flange one end is installed on the industrial robot flange, the quick change flange other end links to each other with laser target flange one end, the laser target flange other end links to each other with the automatic feed mechanism platform floor, unit head is installed on the automatic feed mechanism guide rail, compress the front end that mechanism is installed in automatic feed mechanism in advance, cutting fluid pipe and chip breaking processing mechanism are installed on the presser feet head that compresses mechanism in advance.
Described unit head comprises AC induction motor and the clamping cutter on AC induction motor; The rotation that drives cutter by AC induction motor realizes cutting movement.
Described automatic feed mechanism comprises automatic feed mechanism platform floor, AC servo motor, ball screw, automatic feed mechanism guide rail, grating chi, power control sensor, photoelectric limit switch; AC servo motor, ball screw, automatic feed mechanism guide rail, grating chi, power control sensor, photoelectric limit switch all are installed on the automatic feed mechanism platform floor; AC servo machinery driving ball screw drive unit head slides on the automatic feed mechanism guide rail and realizes feed motion, grating chi feedback tool position status information, realize the full cut-off ring control of tool position, power control sensor rotatablely moves by force signal control AC servo motor, thereby control the feed motion of ball-screw indirectly, destroy workpiece when preventing process medium power head stall, photoelectric limit switch is realized positive and negative soft spacing control to feed motion, drive the unit head feeding by automatic feed mechanism, the rotation of compound tool realizes drilling and counter boring.
The described mechanism that compresses in advance comprises presser feet head, cylinder, compresses mechanism's guide rail, displacement transducer in advance; Compress mechanism's guide rail and cylinder in advance, displacement transducer is installed on the automatic feed mechanism platform floor, the presser feet head is installed in and compresses in advance on mechanism's guide rail; 2 air cylinder driven presser feet heads slide along compressing mechanism's guide rail in advance, make to compress mechanism in advance and can compress covering and structural frames, eliminate the gap between covering and the structural frames, and compress distance so that compensation processing displacement by displacement sensor.
Described laser target flange is adjusted robot to desirable pose by laser tracker, makes cutter vertical with surface of the work, and the posture adjustment precision reaches 0.004423 °.
Described chip breaking processing mechanism cuts off smear metal by the chip breaking baffle plate, and the vavuum pump suction pipe siphons away chip breaking.
The using method that the described feeding that is applicable to that the joint of robot quick change is installed is bored is characterized in that its step is as follows:
When 1) robot arrives each position, to be processed hole,, adjust robot, make cutter vertical with surface of the work to desirable pose according to the physical location of 3～6 targets of laser tracker measurement;
2) air cylinder driven compresses mechanism in advance and makes the presser feet head compress covering and structural frames, and compresses distance so that the processing bit shift compensation by displacement sensor;
3) treat to compress in advance finish after, connect unit head, be used for the principal cutting movement of drilling;
4) AC servo machinery driving ball screw drive unit head slides on the automatic feed mechanism guide rail, grating chi feedback position status information realizes the full cut-off ring, the feed motion of power control sensor protection is the feed-disabling motion when the unit head stall, and photoelectric limit switch is realized positive and negative soft spacing to feed motion;
5) in the process, cut off smear metal by the chip breaking baffle plate, the vavuum pump suction pipe siphons away chip breaking;
6) finish the processing of each position, hole after, cutting fluid pipe oil jet lubrication cutter, automatic feed mechanism resets, and closes unit head.
This device can integrate laser tracker and robot automatically, constitute closed-loop control system, can improve the positional precision of cutter and surface of the work (particularly curved surface) perpendicularity, drilling greatly, and apply pretightning force, thereby improve the drilling quality of robot greatly.
The advantage that the present invention compared with prior art has:
1) solve automation drilling problem by means of the industrial robot platform, applying flexible, the working (machining) efficiency height alleviates labor strength;
2) laser tracker and robot are integrated, constitute closed-loop control system, can improve the positional precision of cutter and surface of the work (particularly curved surface) perpendicularity, drilling greatly, and apply pretightning force, thereby improve the drilling quality of robot greatly;
3) by laser tracker quick measurement target drone position and cutter feature, realized digitization modeling, be convenient to quick robot measurement pose, set up robot tool coordinate system;
4) by the quick change flange, realized " a tractor serves several purposes " of robot, be convenient to the quick change installation that the automation feeding is bored;
5) by the chip breaking processing mechanism, realized that no chip breaking is residual, be convenient to keep the neat and tidy of workpiece.
Description of drawings
Fig. 1 is the novel automatic feeding auger spindle mapping that is applicable to that the joint of robot quick change is installed.
Fig. 2 (a) is the front view that is applicable to the novel automatic feeding brill of joint of robot quick change installation.
Fig. 2 (b) is the A-A cutaway view of Fig. 2 (a).
Fig. 2 (c) is that the front view of removing the presser feet head is bored in the novel automatic feeding that is applicable to the installation of joint of robot quick change.
Among the figure: quick change flange 1, laser target flange 2, automatic feed mechanism 3, unit head 4, compress mechanism 5 in advance, cutting fluid pipe 6, chip breaking processing mechanism 7, displacement transducer 8, automatic feed mechanism platform floor 9, power control sensor 10, AC induction motor 11, vavuum pump 12, presser feet head 13, cutter 14, chip breaking block 15, cylinder 16, driver 17, AC servo motor 18, ball screw 19, compress mechanism's guide rail 20 in advance, photoelectric limit switch 21, automatic feed mechanism guide rail 22, grating chi 23.
The specific embodiment
Being applicable to that feeding that the joint of robot quick change is installed is bored comprises quick change flange 1, laser target flange 2, automatic feed mechanism 3, unit head 4, compresses mechanism 5, cutting fluid pipe 6, chip breaking processing mechanism 7 in advance; Quick change flange 1 one ends are installed on the industrial robot flange, quick change flange 1 other end links to each other with laser target flange 2 one ends, laser target flange 2 other ends link to each other with automatic feed mechanism platform floor 9, unit head 4 is installed on the automatic feed mechanism guide rail 22, compress the front end that mechanism 5 is installed in automatic feed mechanism 3 in advance, cutting fluid pipe 6 and chip breaking processing mechanism 7 are installed on the presser feet head 13 that compresses mechanism 5 in advance.
Described unit head 4 comprises AC induction motor 11 and the clamping cutter 14 on AC induction motor 11; The rotation that drives cutter 14 by AC induction motor 11 realizes cutting movement.
Described automatic feed mechanism 3 comprises automatic feed mechanism platform floor 9, AC servo motor 18, ball screw 19, automatic feed mechanism guide rail 22, grating chi 23, power control sensor 10, photoelectric limit switch 21; AC servo motor 18, ball screw 19, automatic feed mechanism guide rail 22, grating chi 23, power control sensor 10, photoelectric limit switch 21 all are installed on the automatic feed mechanism platform floor 9; AC servo motor 18 driving ball screws 19 drive unit heads 4 slide on automatic feed mechanism guide rail 22 and realize feed motion, grating chi 23 feedback cutters 14 location status information, realize the full cut-off ring control of cutter 14 positions, power control sensor 10 rotatablely moves by force signal control AC servo motor 18, thereby control the feed motion of ball-screw 19 indirectly, destroy workpiece when preventing process medium power head 4 stalls, 21 pairs of feed motions of photoelectric limit switch realize positive and negative soft spacing control, drive unit head 4 feedings by automatic feed mechanism 3, the rotation of compound tool 14 realizes drilling and counter boring.
The described mechanism 5 that compresses in advance comprises presser feet head 13, cylinder 16, compresses mechanism's guide rail 20, displacement transducer 8 in advance; Compress mechanism's guide rail 20 and cylinder 16 in advance, displacement transducer 8 is installed on the automatic feed mechanism platform floor 9, presser feet head 13 is installed in and compresses in advance on mechanism's guide rail 20; 2 cylinders 16 drive presser feet heads 13 and slide along compressing mechanism's guide rail 20 in advance, make to compress mechanism 5 in advance and can compress covering and structural frames, eliminate the gap between covering and the structural frames, and measure by displacement transducer 8 and to compress distance so that compensation processing displacement.
Described laser target flange 2 is adjusted robot to desirable pose by laser tracker, makes cutter 14 vertical with surface of the work, and the posture adjustment precision reaches 0.004423 °.
Described chip breaking processing mechanism 7 cuts off smear metal by chip breaking baffle plate 15, and vavuum pump 12 suction pipes siphon away chip breaking.
The using method that the described feeding that is applicable to that the joint of robot quick change is installed is bored is characterized in that its step is as follows:
When 1) robot arrives each position, to be processed hole,, adjust robot, make cutter vertical with surface of the work to desirable pose according to the physical location of 3～6 targets of laser tracker measurement;
2) air cylinder driven compresses mechanism in advance and makes the presser feet head compress covering and structural frames, and compresses distance so that the processing bit shift compensation by displacement sensor;
3) treat to compress in advance finish after, connect unit head, be used for the principal cutting movement of drilling;
4) AC servo machinery driving ball screw drive unit head slides on the automatic feed mechanism guide rail, grating chi feedback position status information realizes the full cut-off ring, the feed motion of power control sensor protection is the feed-disabling motion when the unit head stall, and photoelectric limit switch is realized positive and negative soft spacing to feed motion;
5) in the process, cut off smear metal by the chip breaking baffle plate, the vavuum pump suction pipe siphons away chip breaking;
6) finish the processing of each position, hole after, cutting fluid pipe oil jet lubrication cutter, automatic feed mechanism resets, and closes unit head.
Claims (7)
1. a feeding that is applicable to that the joint of robot quick change is installed is bored, it is characterized in that, comprise quick change flange (1), laser target flange (2), automatic feed mechanism (3), unit head (4), compress mechanism (5), cutting fluid pipe (6), chip breaking processing mechanism (7) in advance; Quick change flange (1) one end is installed on the industrial robot flange, quick change flange (1) other end links to each other with laser target flange (2) one ends, laser target flange (2) other end links to each other with automatic feed mechanism platform floor (9), unit head (4) is installed on the automatic feed mechanism guide rail (22), compress the front end that mechanism (5) is installed in automatic feed mechanism (3) in advance, cutting fluid pipe (6) and chip breaking processing mechanism (7) are installed on the presser feet head (13) that compresses mechanism (5) in advance.
2. a kind of feeding that is applicable to that the joint of robot quick change is installed according to claim 1 is bored, and it is characterized in that described unit head (4) comprises AC induction motor (11) and the clamping cutter (14) on AC induction motor (11); The rotation that drives cutter (14) by AC induction motor (11) realizes cutting movement.
3. a kind of feeding that is applicable to that the joint of robot quick change is installed according to claim 1 is bored, and it is characterized in that described automatic feed mechanism (3) comprises automatic feed mechanism platform floor (9), AC servo motor (18), ball screw (19), automatic feed mechanism guide rail (22), grating chi (23), power control sensor (10), photoelectric limit switch (21); AC servo motor (18), ball screw (19), automatic feed mechanism guide rail (22), grating chi (23), power control sensor (10), photoelectric limit switch (21) all are installed on the automatic feed mechanism platform floor (9); AC servo motor (18) drives ball screw (19) and drives unit head (4) in upward slip realization feed motion of automatic feed mechanism guide rail (22), grating chi (23) feedback cutter (14) location status information, realize the full cut-off ring control of cutter (14) position, power control sensor (10) rotatablely moves by force signal control AC servo motor (18), thereby control the feed motion of ball-screw (19) indirectly, destroy workpiece when preventing process medium power head (4) stall, photoelectric limit switch (21) is realized positive and negative soft spacing control to feed motion, drive unit head (4) feeding by automatic feed mechanism (3), the rotation of compound tool (14) realizes drilling and counter boring.
4. a kind of feeding that is applicable to that the joint of robot quick change is installed according to claim 1 is bored, and it is characterized in that the described mechanism (5) that compresses in advance comprises presser feet head (13), cylinder (16), compresses mechanism's guide rail (20), displacement transducer (8) in advance; Compress mechanism's guide rail (20) and cylinder (16) in advance, displacement transducer (8) is installed on the automatic feed mechanism platform floor (9), presser feet head (13) is installed in and compresses in advance on mechanism's guide rail (20); 2 cylinders (16) drive presser feet head (13) and slide along compressing mechanism's guide rail (20) in advance, make and compress mechanism (5) in advance and can compress covering and structural frames, eliminate the gap between covering and the structural frames, and compress distance so that compensation processing displacement by displacement transducer (8) measurement.
5. a kind of feeding that is applicable to that the joint of robot quick change is installed according to claim 1 is bored, it is characterized in that described laser target flange (2) arrives desirable pose by laser tracker adjustment robot, make cutter (14) vertical with surface of the work, the posture adjustment precision reaches 0.004423 °.
6. a kind of feeding that is applicable to that the joint of robot quick change is installed according to claim 1 is bored and be it is characterized in that described chip breaking processing mechanism (7), cuts off smear metal by chip breaking baffle plate (15), and vavuum pump (12) suction pipe siphons away chip breaking.
7. a using method that is applicable to the feeding brill that the joint of robot quick change is installed according to claim 1 is characterized in that its step is as follows:
When 1) robot (1) arrives each position, to be processed hole,, adjust robot, make cutter vertical with surface of the work to desirable pose according to the physical location of 3～6 targets of laser tracker measurement;
2) cylinder (16) drives and to compress mechanism (5) in advance and make presser feet head (13) compress covering and structural frames, and measures by displacement transducer (8) and to compress distance so that process bit shift compensation;
3) treat to compress in advance finish after, connect unit head (4), be used for the principal cutting movement of drilling;
4) AC servo motor (18) drives ball screw (19) and drives unit head (4) in upward slip of automatic feed mechanism guide rail (22), grating chi (23) feedback position status information realizes the full cut-off ring, power control sensor (10) protection feed motion feed-disabling motion when unit head (4) stall, photoelectric limit switch (21) is realized positive and negative soft spacing to feed motion;
5) in the process, cut off smear metal by chip breaking baffle plate (15), vavuum pump (12) suction pipe siphons away chip breaking;
6) finish the processing of each position, hole after, cutting fluid pipe (6) oil jet lubrication cutter, automatic feed mechanism (3) resets, and closes unit head (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010545389 CN102059369B (en) | 2010-11-12 | 2010-11-12 | Feeding drill applicable to quick change arrangement of joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010545389 CN102059369B (en) | 2010-11-12 | 2010-11-12 | Feeding drill applicable to quick change arrangement of joint of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102059369A true CN102059369A (en) | 2011-05-18 |
| CN102059369B CN102059369B (en) | 2013-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010545389 Expired - Fee Related CN102059369B (en) | 2010-11-12 | 2010-11-12 | Feeding drill applicable to quick change arrangement of joint of robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581333A (en) * | 2012-03-23 | 2012-07-18 | 浙江大学 | Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes |
| CN104014850A (en) * | 2014-06-09 | 2014-09-03 | 清华大学 | Hole making device |
| CN104289946A (en) * | 2014-09-26 | 2015-01-21 | 浙江大学 | Press pin control method and system of automatic robot hole-making equipment |
| CN107322361A (en) * | 2016-04-28 | 2017-11-07 | 南京工程学院 | A kind of adaptive compression chip removal device and method for airframe laminated construction spiral drilling |
| CN110340683A (en) * | 2019-07-31 | 2019-10-18 | 成都航空职业技术学院 | A kind of robot end's drilling actuator |
| CN112589159A (en) * | 2020-11-17 | 2021-04-02 | 江苏悦达兴业汽车配件有限公司 | High-precision drilling equipment for machining automobile parts |
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| US4332066A (en) * | 1980-01-07 | 1982-06-01 | General Dynamics Corporation | Compliance mechanism |
| DE4124078A1 (en) * | 1990-07-23 | 1992-02-06 | Fuji Heavy Ind Ltd | DRILLING UNIT OF AN ASSEMBLY ROBOT |
| JP2007175827A (en) * | 2005-12-28 | 2007-07-12 | Nachi Fujikoshi Corp | Drilling device for resin part, drilling robot system for resin part and drilling method for resin part |
| CN101417348A (en) * | 2008-11-24 | 2009-04-29 | 北京航空航天大学 | Drill end actuator |
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2010
- 2010-11-12 CN CN 201010545389 patent/CN102059369B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4332066A (en) * | 1980-01-07 | 1982-06-01 | General Dynamics Corporation | Compliance mechanism |
| DE4124078A1 (en) * | 1990-07-23 | 1992-02-06 | Fuji Heavy Ind Ltd | DRILLING UNIT OF AN ASSEMBLY ROBOT |
| JP2007175827A (en) * | 2005-12-28 | 2007-07-12 | Nachi Fujikoshi Corp | Drilling device for resin part, drilling robot system for resin part and drilling method for resin part |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581333A (en) * | 2012-03-23 | 2012-07-18 | 浙江大学 | Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes |
| CN102581333B (en) * | 2012-03-23 | 2013-09-11 | 浙江大学 | Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes |
| CN104014850A (en) * | 2014-06-09 | 2014-09-03 | 清华大学 | Hole making device |
| CN104014850B (en) * | 2014-06-09 | 2016-04-13 | 清华大学 | Punching device |
| CN104289946A (en) * | 2014-09-26 | 2015-01-21 | 浙江大学 | Press pin control method and system of automatic robot hole-making equipment |
| CN107322361A (en) * | 2016-04-28 | 2017-11-07 | 南京工程学院 | A kind of adaptive compression chip removal device and method for airframe laminated construction spiral drilling |
| CN110340683A (en) * | 2019-07-31 | 2019-10-18 | 成都航空职业技术学院 | A kind of robot end's drilling actuator |
| CN112589159A (en) * | 2020-11-17 | 2021-04-02 | 江苏悦达兴业汽车配件有限公司 | High-precision drilling equipment for machining automobile parts |
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|---|---|
| CN102059369B (en) | 2013-05-08 |
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Inventor after: Dong Huiyue Inventor after: Ke Yinglin Inventor after: Huang Xiaodong Inventor after: Yu Jinhai Inventor after: Qu Weiwai Inventor after: Xie Kun Inventor after: Guo Yingjie Inventor before: Ke Yinglin Inventor before: Huang Xiaodong Inventor before: Dong Huiyue Inventor before: Yu Jinhai Inventor before: Qu Weiwai Inventor before: Xie Kun Inventor before: Guo Yingjie |
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Free format text: CORRECT: INVENTOR; FROM: KE YINGLIN HUANG XIAODONG DONG HUIYUE YU JINHAI QU WEIWAI XIE KUN GUO YINGJIE TO: DONG HUIYUE KE YINGLIN HUANG XIAODONG YU JINHAI QU WEIWAI XIE KUN GUO YINGJIE |
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Granted publication date: 20130508 Termination date: 20131112 |