CN103801967A - Computer numerical control machining center based on automatic manipulator arms - Google Patents

Computer numerical control machining center based on automatic manipulator arms Download PDF

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Publication number
CN103801967A
CN103801967A CN201210448352.4A CN201210448352A CN103801967A CN 103801967 A CN103801967 A CN 103801967A CN 201210448352 A CN201210448352 A CN 201210448352A CN 103801967 A CN103801967 A CN 103801967A
Authority
CN
China
Prior art keywords
tool
control
changing
forearm
manipulator
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.)
Pending
Application number
CN201210448352.4A
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Chinese (zh)
Inventor
周晓丽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Kuoli Mechanical and Electrical Technology Co Ltd
Original Assignee
Xian Kuoli Mechanical and Electrical Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Xian Kuoli Mechanical and Electrical Technology Co Ltd filed Critical Xian Kuoli Mechanical and Electrical Technology Co Ltd
Priority to CN201210448352.4A priority Critical patent/CN103801967A/en
Publication of CN103801967A publication Critical patent/CN103801967A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/15513Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/1554Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore

Abstract

The invention discloses a computer numerical control machining center based on automatic manipulator arms. The computer numerical control machining center comprises a machine tool body, an automatic tool changing system, a servo driving device and a control system, wherein the automatic tool changing system comprises a tool magazine, a tool magazine rotation driving mechanism, a tool magazine controller, an installation supporting seat which is arranged in the middle of a space between the tool magazine and a machine tool main shaft, a rotating shaft which is arranged on the installation supporting seat through a bearing, two manipulator arms which are symmetrically arranged on the rotating shaft, and a manipulator arm control device which is used for controlling the two manipulator arms, wherein the two tool changing arms are a manipulator arm I and a manipulator arm II; a tool changing structure I which is used for changing tools is arranged at the front end of a forearm I; a tool changing structure II which is used for changing the tools is arranged at the front end of a forearm II; the tool magazine controller and the manipulator arm control device are connected with the control system. The computer numerical control machining center is reasonable in design, simple and convenient to use and operate, high in intelligence degree, good in using effect, flexible in motion, quick in tool changing, simple and easy to control, and high in machining efficiency.

Description

A kind of numerical control machining center based on automatic operation arm
Technical field
The present invention relates to a kind of Omnibearing numerical control machining center, especially relate to a kind of numerical control machining center based on automatic operation arm.
Background technology
Numerical control machining center is the Digit Control Machine Tool with tool magazine and automatic tool changer.Typical lathe has boring-milling center and turning center.At numerical control machining center, behind part by one-step clamping location, can carry out the processing continuously of concentrating of kinds of processes, multiple working procedure, this has just greatly reduced the number of units of lathe.Owing to having reduced the non-cutting time of workpiece loading and unloading, replacing and adjustment cutter and having greatly reduced frock, therefore further shorten production time.Meanwhile, owing to having reduced, the position error causing is repeatedly installed, thereby has significantly improved the positional precision between each machined surface.Wherein, automatic tool changer is the important executing agency of Digit Control Machine Tool, and its form is varied, common are at present circular cutter holder tool changing, the tool changing of row's formula knife rest, changes main tapping tool changing and the automatic tool changer with tool magazine.In actual process, automatic tool changer can help Digit Control Machine Tool to save non-cutting time, and meets and in once mounting, complete multiple operation, Simulation Based On Multi-step processing request.The above-mentioned automatic tool changer with tool magazine comprises automatic tool changer with manipulator and the automatic tool changer of machinery-free hand, and wherein, the automatic tool changer with manipulator adopts manipulator to carry out tool changing.Nowadays the manipulator that adopted mainly comprises hook-type, armful hand, the hand etc. of cupping one hand in the other before the chest, stretch, in actual use procedure, because existing machinery hand all exists number of drawbacks and the deficiencies such as action is dumb, tool-changing speed is slower, intelligent degree is low to some extent, thereby largely, affect the working (machining) efficiency of Digit Control Machine Tool.
Summary of the invention
Technical problem to be solved by this invention is for above-mentioned deficiency of the prior art, a kind of numerical control machining center based on automatic operation arm is provided, it is reasonable in design, use that easy and simple to handle and intelligent degree is high, result of use good, flexible movements and tool-changing speed are fast, control simple and easyly, working (machining) efficiency is high.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of numerical control machining center based on automatic operation arm, comprise machine body, be arranged on the automatic tool changer on described machine body, the servo drive that machine tool chief axis is driven and be laid in the control system on described machine body, between described machine tool chief axis and servo drive, be in transmission connection by transmission mechanism, described servo drive is controlled by control system and itself and control system are joined, it is characterized in that: described automatic tool changer comprises tool magazine, the tool magazine rotary drive mechanism that drives described tool magazine to horizontally rotate, the tool magazine controller that tool magazine rotary drive mechanism is controlled, the erection support at middle part between described tool magazine and described machine tool chief axis, be arranged on the rotating shaft on described erection support by bearing, symmetry is arranged on two motion arms on rotating shaft and the manipulator control device that two described motion arms are controlled, described rotating shaft is driven by motor, and be in transmission connection by transmission mechanism between rotating shaft and the power output shaft of motor, two described tool change arms are respectively motion arm one and motion arm two, the forearm one that described motion arm one comprises postbrachium one and swings up and down on energy vertical plane under the drive of hydraulic cylinder one, between described postbrachium one and forearm one, be connected in hinged way, the cylinder body rear portion of described hydraulic cylinder one is fixed on postbrachium one and its hydraulically extensible bar leading section is fixed on forearm one, the forearm two that described motion arm two comprises postbrachium two and swings up and down on energy vertical plane under the drive of hydraulic cylinder two, between described postbrachium two and forearm two, be connected in hinged way, the cylinder body rear portion of described hydraulic cylinder two is fixed on postbrachium two and its hydraulically extensible bar leading section is fixed on forearm two, described hydraulic cylinder one and hydraulic cylinder two join with hydraulic oil container by fluid pressure line one and fluid pressure line two respectively, reversal valve one and electric proportional control valve one are installed on described fluid pressure line one, reversal valve two and electric proportional control valve two are installed on described fluid pressure line two, described manipulator control device comprises manipulator control device, and described motor, reversal valve one, electric proportional control valve one, reversal valve two and electric proportional control valve two are controlled by manipulator control device, the leading section of described forearm one is provided with the cutter changing structure one for changing cutter, and the leading section of forearm two is provided with the cutter changing structure two for changing cutter, described tool magazine controller and manipulator control device all join with control system, on described machine body, be provided with and drive the described erection support electric lifting platform that carries out oscilaltion, described erection support is arranged on electric lifting platform, and described electric lifting platform is controlled by manipulator control device and itself and manipulator control device join.
Above-mentioned a kind of numerical control machining center based on automatic operation arm, it is characterized in that: described manipulator control device also comprises the height detection unit two that the anglec of rotation of rotating shaft is carried out the real-time rotation angle detecting unit detecting, the height of described cutter changing structure one is carried out the height detection unit one of detection in real time and the height of described cutter changing structure two carried out to real-time detection, and described rotation angle detecting unit, height detection unit one and height detection unit two all join with manipulator control device.
Above-mentioned a kind of numerical control machining center based on automatic operation arm, is characterized in that: described cutter changing structure one is tool changing hook or tool changing fork, and described cutter changing structure one should be tool changing hook or tool changing fork mutually.
Above-mentioned a kind of numerical control machining center based on automatic operation arm, is characterized in that: described manipulator control device also comprises the parameter set unit of joining with manipulator control device.
Above-mentioned a kind of numerical control machining center based on automatic operation arm, it is characterized in that: described manipulator control device also comprises the rotary speed detecting unit that the rotary speed of rotating shaft is detected and the direction of rotation detecting unit that the direction of rotation of rotating shaft is detected, and described rotary speed detecting unit and direction of rotation detecting unit all join with manipulator control device.
The present invention compared with prior art has the following advantages:
1, reasonable in design, cost is low and install lay convenient.
2, the simple and easy-to-connect of circuit.
3, use simple to operate and intelligent degree high.
4, result of use is good, realization is convenient and practical value is high, the flexible movements of two motion arms, and tool-changing speed is fast, and the setting height(from bottom) of two motion arms is adjustable, and the working (machining) efficiency of Digit Control Machine Tool is high.
5, widely applicable, popularizing application prospect is extensive, can effectively promote and be suitable for to all kinds of Digit Control Machine Tools.
In sum, the present invention is reasonable in design, use that easy and simple to handle and intelligent degree is high, result of use good, and flexible movements and tool-changing speed are fast, controls simple and easyly, and working (machining) efficiency is high.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is schematic block circuit diagram of the present invention.
Description of reference numerals:
1-servo drive; 2-control system; 3-rotating shaft;
3-15-reversal valve one; 3-16-electric proportional control valve one;
3-25-reversal valve two; 3-26-electric proportional control valve two;
4-tool magazine rotary drive mechanism; 5-tool magazine controller; 6-manipulator control device;
6-1-manipulator control device; 6-2-rotation angle detecting unit;
6-3-height detection unit one; 6-4-height detection unit two; 6-5-parameter set unit;
6-6-rotary speed detecting unit;
6-7-direction of rotation detecting unit; 7-motor;
8-electric lifting platform.
The specific embodiment
As shown in Figure 1, the present invention includes machine body, be arranged on automatic tool changer, the servo drive 1 that machine tool chief axis is driven on described machine body and be laid in the control system 2 on described machine body, between described machine tool chief axis and servo drive 1, be in transmission connection by transmission mechanism, described servo drive 1 is controlled by control system 2 and itself and control system 2 are joined.Described automatic tool changer comprises tool magazine, the tool magazine rotary drive mechanism 4 that drives described tool magazine to horizontally rotate, the tool magazine controller 5 that tool magazine rotary drive mechanism 4 is controlled, the erection support at middle part between described tool magazine and described machine tool chief axis, be arranged on the rotating shaft 3 on described erection support by bearing, symmetry is arranged on two motion arms on rotating shaft 3 and the manipulator control device 6 that two described motion arms are controlled, described rotating shaft 3 is driven by motor 7, and be in transmission connection by transmission mechanism between the power output shaft of rotating shaft 3 and motor 7, two described tool change arms are respectively motion arm one and motion arm two, the forearm one that described motion arm one comprises postbrachium one and swings up and down on energy vertical plane under the drive of hydraulic cylinder one, between described postbrachium one and forearm one, be connected in hinged way, the cylinder body rear portion of described hydraulic cylinder one is fixed on postbrachium one and its hydraulically extensible bar leading section is fixed on forearm one, the forearm two that described motion arm two comprises postbrachium two and swings up and down on energy vertical plane under the drive of hydraulic cylinder two, between described postbrachium two and forearm two, be connected in hinged way, the cylinder body rear portion of described hydraulic cylinder two is fixed on postbrachium two and its hydraulically extensible bar leading section is fixed on forearm two.Described hydraulic cylinder one and hydraulic cylinder two join with hydraulic oil container by fluid pressure line one and fluid pressure line two respectively, reversal valve one 3-15 and electric proportional control valve one 3-16 are installed on described fluid pressure line one, reversal valve two 3-25 and electric proportional control valve two 3-26 are installed on described fluid pressure line two.Described manipulator control device 6 comprises manipulator control device 6-1, and described motor 7, reversal valve one 3-15, electric proportional control valve one 3-16, reversal valve two 3-25 and electric proportional control valve two 3-26 control by manipulator control device 6-1.The leading section of described forearm one is provided with the cutter changing structure one for changing cutter, and the leading section of forearm two is provided with the cutter changing structure two for changing cutter.Described tool magazine controller 5 and manipulator control device 6-1 all join with control system 2.On described machine body, be provided with the electric lifting platform 8 that drives described erection support to carry out oscilaltion, described erection support is arranged on electric lifting platform 8, and described electric lifting platform 8 is controlled by manipulator control device 6-1 and itself and manipulator control device 6-1 join.
In the present embodiment, described manipulator control device 6 also comprises height detection unit two 6-4 that the anglec of rotation of rotating shaft 3 is carried out the real-time rotation angle detecting unit 6-2 detecting, the height of described cutter changing structure one is carried out height detection unit one 6-3 of detection in real time and the height of described cutter changing structure two carried out to real-time detection, and described rotation angle detecting unit 6-2, height detection unit one 6-3 and height detection unit two 6-4 all join with manipulator control device 6-1.
In the present embodiment, described cutter changing structure one is tool changing hook or tool changing fork, and described cutter changing structure one should be tool changing hook or tool changing fork mutually.
Meanwhile, described manipulator control device 6 also comprises the parameter set unit 6-5 joining with manipulator control device 6-1.
In the present embodiment, described manipulator control device 6 also comprises the rotary speed detecting unit 6-6 that the rotary speed of rotating shaft 3 is detected and the direction of rotation detecting unit 6-7 that the direction of rotation of rotating shaft 3 is detected, and described rotary speed detecting unit 6-6 and direction of rotation detecting unit 6-7 all join with manipulator control device 6-1.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every any simple modification of above embodiment being done according to the technology of the present invention essence, change and equivalent structure change, and all still belong in the protection domain of technical solution of the present invention.

Claims (5)

1. the numerical control machining center based on automatic operation arm, comprise machine body, be arranged on the automatic tool changer on described machine body, the servo drive (1) that machine tool chief axis is driven and be laid in the control system (2) on described machine body, described machine tool chief axis and servo drive are in transmission connection by transmission mechanism between (1), described servo drive (1) is controlled by control system (2) and itself and control system (2) are joined, it is characterized in that: described automatic tool changer comprises tool magazine, the tool magazine rotary drive mechanism (4) that drives described tool magazine to horizontally rotate, the tool magazine controller (5) that tool magazine rotary drive mechanism (4) is controlled, the erection support at middle part between described tool magazine and described machine tool chief axis, be arranged on the rotating shaft (3) on described erection support by bearing, symmetry is arranged on two motion arms on rotating shaft (3) and the manipulator control device (6) that two described motion arms are controlled, described rotating shaft (3) is driven by motor (7), and be in transmission connection by transmission mechanism between the power output shaft of rotating shaft (3) and motor (7), two described tool change arms are respectively motion arm one and motion arm two, the forearm one that described motion arm one comprises postbrachium one and swings up and down on energy vertical plane under the drive of hydraulic cylinder one, between described postbrachium one and forearm one, be connected in hinged way, the cylinder body rear portion of described hydraulic cylinder one is fixed on postbrachium one and its hydraulically extensible bar leading section is fixed on forearm one, the forearm two that described motion arm two comprises postbrachium two and swings up and down on energy vertical plane under the drive of hydraulic cylinder two, between described postbrachium two and forearm two, be connected in hinged way, the cylinder body rear portion of described hydraulic cylinder two is fixed on postbrachium two and its hydraulically extensible bar leading section is fixed on forearm two, described hydraulic cylinder one and hydraulic cylinder two join with hydraulic oil container by fluid pressure line one and fluid pressure line two respectively, reversal valve one (3-15) and electric proportional control valve one (3-16) are installed on described fluid pressure line one, reversal valve two (3-25) and electric proportional control valve two (3-26) are installed on described fluid pressure line two, described manipulator control device (6) comprises manipulator control device (6-1), and described motor (7), reversal valve one (3-15), electric proportional control valve one (3-16), reversal valve two (3-25) and electric proportional control valve two (3-26) are controlled by manipulator control device (6-1), the leading section of described forearm one is provided with the cutter changing structure one for changing cutter, and the leading section of forearm two is provided with the cutter changing structure two for changing cutter, described tool magazine controller (5) and manipulator control device (6-1) all join with control system (2), on described machine body, be provided with the electric lifting platform (8) that drives described erection support to carry out oscilaltion, it is upper that described erection support is arranged on electric lifting platform (8), and described electric lifting platform (8) is controlled by manipulator control device (6-1) and itself and manipulator control device (6-1) join.
2. according to a kind of numerical control machining center based on automatic operation arm claimed in claim 1, it is characterized in that: described manipulator control device (6) also comprises the rotation angle detecting unit (6-2) that the anglec of rotation of rotating shaft (3) is carried out to real-time detection, the height of described cutter changing structure one is carried out the height detection unit one (6-3) detecting in real time and the height of described cutter changing structure two carried out to the height detection unit two (6-4) detecting in real time, described rotation angle detecting unit (6-2), height detection unit one (6-3) and height detection unit two (6-4) all join with manipulator control device (6-1).
3. according to a kind of numerical control machining center based on automatic operation arm described in claim 1 or 2, it is characterized in that: described cutter changing structure one is tool changing hook or tool changing fork, and described cutter changing structure one should be tool changing hook or tool changing fork mutually.
4. according to a kind of numerical control machining center based on automatic operation arm described in claim 1 or 2, it is characterized in that: described manipulator control device (6) also comprises the parameter set unit (6-5) of joining with manipulator control device (6-1).
5. according to a kind of numerical control machining center based on automatic operation arm described in claim 1 or 2, it is characterized in that: described manipulator control device (6) also comprises the rotary speed detecting unit (6-6) that the rotary speed of rotating shaft (3) is detected and the direction of rotation detecting unit (6-7) that the direction of rotation of rotating shaft (3) is detected, and described rotary speed detecting unit (6-6) and direction of rotation detecting unit (6-7) all join with manipulator control device (6-1).
CN201210448352.4A 2012-11-09 2012-11-09 Computer numerical control machining center based on automatic manipulator arms Pending CN103801967A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210448352.4A CN103801967A (en) 2012-11-09 2012-11-09 Computer numerical control machining center based on automatic manipulator arms

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210448352.4A CN103801967A (en) 2012-11-09 2012-11-09 Computer numerical control machining center based on automatic manipulator arms

Publications (1)

Publication Number Publication Date
CN103801967A true CN103801967A (en) 2014-05-21

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Country Link
CN (1) CN103801967A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272723A (en) * 2016-08-26 2017-01-04 刘书雄 A kind of planer of the cutter head that automatically switches
CN109213073A (en) * 2017-07-06 2019-01-15 发那科株式会社 Lathe and origin calibrating method
CN109513989A (en) * 2018-11-15 2019-03-26 长沙思胜智能设备有限公司 Broaching tool automatic tool changer
CN109551280A (en) * 2017-09-25 2019-04-02 发那科株式会社 The control method of lathe and lathe
CN112008464A (en) * 2019-05-28 2020-12-01 陈君杰 Tool changing unit and tool changing device with same
US10977958B2 (en) 2017-07-19 2021-04-13 Fanuc Corporation Guidance display method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106272723A (en) * 2016-08-26 2017-01-04 刘书雄 A kind of planer of the cutter head that automatically switches
CN109213073A (en) * 2017-07-06 2019-01-15 发那科株式会社 Lathe and origin calibrating method
US10792776B2 (en) 2017-07-06 2020-10-06 Fanuc Corporation Machine tool and origin point correction method
US10977958B2 (en) 2017-07-19 2021-04-13 Fanuc Corporation Guidance display method
CN109551280A (en) * 2017-09-25 2019-04-02 发那科株式会社 The control method of lathe and lathe
US10773349B2 (en) 2017-09-25 2020-09-15 Fanuc Corporation Machine tool and control method for machine tool
CN109513989A (en) * 2018-11-15 2019-03-26 长沙思胜智能设备有限公司 Broaching tool automatic tool changer
CN112008464A (en) * 2019-05-28 2020-12-01 陈君杰 Tool changing unit and tool changing device with same
CN112008464B (en) * 2019-05-28 2021-08-31 陈君杰 Tool changing unit and tool changing device with same

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Application publication date: 20140521