CN105090679A - Variable-diameter pipeline inspection robot - Google Patents
Variable-diameter pipeline inspection robot Download PDFInfo
- Publication number
- CN105090679A CN105090679A CN201510494992.2A CN201510494992A CN105090679A CN 105090679 A CN105090679 A CN 105090679A CN 201510494992 A CN201510494992 A CN 201510494992A CN 105090679 A CN105090679 A CN 105090679A
- Authority
- CN
- China
- Prior art keywords
- diameter
- bearing
- wheel
- pipe measuring
- measuring robots
- 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.)
- Granted
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
A variable-diameter pipeline inspection robot comprises a housing, a moving mechanism for providing power to the whole device, an active steering mechanism for controlling steering, and a supporting device for making enabling the whole device to move on thein pipeline of different diameters, wherein the moving mechanism comprises two moving wheels, a step motor, a speed reducer, a bearings and a bearing seats, the two moving wheels are arranged in the V shape, the power is provided and are supplied with power by the step motor, the left and right shells are connected by the bearing and the bearing seatand are connected to the left part and the right part of the housing through the bearing and the bearing seats; the speed reducer is connected between the step motor and the moving wheels; the active steering mechanism is arranged behind the moving mechanism and comprises a drum shaped steering wheel suitable for the inner wall of the pipesline and a servo motor for providing power for steering; and the supporting device comprises a four-connecting rodfour-bar linkage, a support wheel and a telescopic rod. The variable-diameter pipeline inspection robot can be suitable for the pipeline pipes of different diameters and can give the specific locations of the damaged parts of the pipelinepipes.
Description
Technical field
The present invention relates to robot field, specifically a kind of diameter-variable pipe measuring robots, can adapt to the detecting robot of pipe of different tube diameters.
Background technique
Pipeline is in current life and play the effect that can not be substituted in producing.But pipeline is in use, because the burn into external force reason such as to collide with can cause damage unavoidably, so, only have the Security regularly carried out pipeline cleaning, detection and maintenance guarantee pipeline and use.But pipeline is embedded in underground more, corrosivity dirt, poison gas etc. may be there are in pipeline, manual work bad environments.And some pipeline, caliber is less, is manually difficult to enter operation.Therefore, pipeline robot arises at the historic moment.
Pipeline robot of the prior art, or volume is comparatively large, structure is loaded down with trivial details, be made up of multistage, or the detection of pipeline being applied to a certain caliber, or be applied in the pipeline of straight tube, for single hop, and the pipe detection of different tube diameters can be adapted to, also not relevant product.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of diameter-variable pipe measuring robots, and this pipeline robot can be applicable to the pipeline of different tube diameters.
A kind of diameter-variable pipe measuring robots, comprises housing, for whole device provides the walking mechanism of power, controls the active steering mechanism that turns to and makes whole device can exercise support device at different tube diameters; Described walking mechanism comprises two travel wheel, stepper motor, speed reducer, bearing and bearing supports, and described two V-shaped settings of travel wheel, provide power by stepper motor, connects on the two housing sections of left and right by bearing and bearing support; Described speed reducer is connected between stepper motor and travel wheel; Described active steering mechanism is arranged on the rear of walking mechanism, comprises the cydariform deflecting roller that is applicable to inner-walls of duct and for turning to the actuating motor providing power; Described deflecting roller is connected on housing by bearing and bearing support; Described actuating motor is connected on deflecting roller by coupling; Described support device is made up of double leval jib, supporting wheel and flexible rod, and supporting wheel is fixed on one end of double leval jib; The other end of double leval jib is connected with the flexible rod of the length regulating it.
Described diameter-variable pipe measuring robots, also comprises the feeler mechanism for the damage of testing pipes inwall; Described feeler mechanism comprises the CPU module being positioned at housing central section, the CCD video camera module being positioned at device foremost and is positioned at the rearmost Crack Detection sensor assembly of device.
Described travel wheel is preferably drum-type rubber wheel, increases the area of contact of travel wheel and inner-walls of duct.
Speed reducer between described travel wheel and stepper motor is preferably turbine worm reducer.
The position of described steering equipment is preferably positioned on the symmetry plane of travel wheel, and is in the front of travel wheel.
Describedly provide the actuating motor of power to be DC servo reducing motor for steering equipment, its angle of swing is ± 95 °.
The double leval jib of described support device is preferably parallel four-bar linkage.
Described supporting wheel is positioned on parallel―ordinal shift, the prolongation axle head of a connecting rod, and double leval jib is in deformation process, and supporting wheel place connecting rod is all the time perpendicular to tube wall.
Described CCD video camera module, entirety can swing up and down; Comprise a camera can swing.
Beneficial effect is:
1, the present invention abandons traditional fixed dimension design, and fixed dimension causes pipeline robot can only be applicable to the pipeline of a certain caliber; And the present invention, two rotatable travel wheel of pipe with variable diameter pipeline robot, coordinate telescopic supporting wheel, can regulate three external diameter of a circles of taking turns composition, and then are applicable to the pipeline of different tube diameters.The present invention adopts unistage type to design, and convenient guarantee pipeline robot can not collide with own module and interfere in pipeline, and is convenient for carrying, and is easy to assembling.
3, travel wheel adopts drum-type rubber wheel, can under different tube diameters, and guarantee travel wheel fully contacts with inner-walls of duct.Travel wheel surface is also distributed with rubber bumps, can protecting this pipeline robot when advancing and turn, relative sliding can not occur between travel wheel and inwall.
4, deflecting roller adopts active steering apparatus, and deflecting roller is driven by direct current speed-down servo motor, and coordinating the differential of two driving wheels driven by stepper motors, can be turn smoothly in the pipeline of 60 degree at knuckle.
5, the swingable CCD video camera module of device front portion, can complete the visual observation in pipeline front, facilitate the planning of robot polling path, and can provide the particular location of pipe damage; Being fixed on pipe crack detecting sensor on the rotatable circular disc of device rear portion can 360 degree of inwall covering pipelines, does not stay and detects dead angle.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of diameter-variable pipe measuring robots embodiment 1 of the present invention;
Fig. 2 is the shell construction schematic diagram of diameter-variable pipe measuring robots embodiment 1 of the present invention;
Fig. 3 is the walking mechanism structural representation of diameter-variable pipe measuring robots embodiment 2 of the present invention;
Fig. 4 is steering equipment's structural representation of diameter-variable pipe measuring robots embodiment 3 of the present invention;
Fig. 5 is the support device structure schematic diagram of diameter-variable pipe measuring robots embodiment 4 of the present invention;
Fig. 6 is the detection device front elevation of diameter-variable pipe measuring robots embodiment 4 of the present invention;
Fig. 7 is the detection device rear view of diameter-variable pipe measuring robots embodiment 4 of the present invention;
In figure, mark is: 1, housing, 2, walking mechanism, 3, active steering mechanism, 4, support device, 5, feeler mechanism, 101, rear plate washer, 102, to advance motor fixing plate, 103, travel wheel fixed plate, 104, sensor fixation plate, 105 steering equipment's fixed plates, 201, closed-loop feedback encoder, 202, actuating motor I, 203, flange coupling, 204, turbine worm reducer, 205, travel wheel, 301 deflecting rollers, 302 turning racks, 303, bearing support, 304, coupling, 305, motor fixing frame, 306, actuating motor II, 307, position feedback encoder, 401, strut, 402, support force Regulation spring, 403, sliding supporting bar, 404, double leval jib, 405, bearing pin, 406, support wheel carrier, 407 supporting wheels, 501, CCD video camera module, 502, tunable light source, 503, distance sensor module, 504, ultrasonic testing head, 505, rotating disc, 506, eddy current testing head.
Embodiment
embodiment 1
As shown in Figure 1, the diameter-variable pipe measuring robots of the present embodiment, whole robot only has one section, comprise housing 1, for whole device provides the walking mechanism 2 of power, be arranged on the active steering mechanism 3 at housing rear portion, ensure that whole device can exercise the support device 4 at different tube diameters, for the feeler mechanism 5 of testing pipes inwall.As Fig. 2, housing is made up of jointly rear plate washer 101, motor fixing plate 102 of advancing, travel wheel fixed plate 103, sensor fixation plate 104 and steering equipment's fixed plate 105.
Described walking mechanism comprises two travel wheel becoming V-type to arrange, is connected to the bearing between travel wheel and left and right housing and bearing support, for travel wheel provides the stepper motor of power, is connected to the speed reducer between stepper motor and travel wheel;
Described steering equipment is arranged on the rear of walking mechanism, comprise the cydariform deflecting roller being applicable to inner-walls of duct, being connected to the bearing between deflecting roller and housing and bearing support, for turning to the actuating motor providing power, being connected to the coupling between actuating motor and deflecting roller;
Described support device is adjustable quadratic crank mechanism, comprises quadratic crank mechanism, is fixed on the supporting wheel of double leval jib one end, regulates the flexible rod of double leval jib position;
Described feeler mechanism comprises the CPU module being positioned at housing central section, the CCD video camera module being positioned at device foremost, is positioned at the rearmost Crack Detection sensor assembly of device.
embodiment 2
A kind of diameter-variable pipe measuring robots, comprises housing, for whole device provides the walking mechanism of power, is arranged on the active steering mechanism at housing rear portion, ensure that whole device can exercise the support device at different tube diameters; Composition graphs 3, walking mechanism comprises actuating motor 202, turbine worm reducer 204, travel wheel 205.Wherein, actuating motor 202 is linked together by the input shaft of flange coupling 203 and turbine worm reducer 204; The output shaft of turbine worm reducer 204 is connected in travel wheel 205; Wherein there is the closed-loop feedback encoder 201 for advanced positions closed-loop feedback at actuating motor 202 rear portion.Two travel wheel 205 in left and right are all cydariform travel wheel, and there is the rubber bumps increasing adhesion of advancing on surface; Two travel wheel 205 in left and right are all can the active travel wheel of closed loop control, can accurately control gait of march and direction.
Described steering equipment is arranged on the rear of walking mechanism, comprise the cydariform deflecting roller being applicable to inner-walls of duct, being connected to the bearing between deflecting roller and housing and bearing support, for turning to the actuating motor providing power, being connected to the coupling between actuating motor and deflecting roller; Described support device is adjustable quadratic crank mechanism, comprises quadratic crank mechanism, is fixed on the supporting wheel of double leval jib one end, regulates the flexible rod of double leval jib position.
embodiment 3
A kind of diameter-variable pipe measuring robots, comprises housing, for whole device provides the walking mechanism of power, is arranged on the active steering mechanism at housing rear portion, ensure that whole device can exercise the support device at different tube diameters;
Composition graphs 4, active steering mechanism comprises deflecting roller 301, turning rack 302, bearing support 303, coupling 304, motor fixing frame 305, actuating motor 306 and encoder 307.Wherein deflecting roller 301 is cydariform wheel, protruding with anti-slip rubber above; Deflecting roller 301 is connected on turning rack 302 by bearing; Turning rack 302 is fixed on steering equipment's fixed plate 105 by bearing support 303; Turning rack 302 is directly connected with actuating motor 306 by coupling 304, and actuating motor 306 is equipped with the position feedback encoder 307 for steering position feedback, actuating motor 306 is bolted on electric machine support 305.
Described walking mechanism comprises two travel wheel becoming V-type to arrange, is connected to the bearing between travel wheel and left and right housing and bearing support, for travel wheel provides the stepper motor of power, is connected to the speed reducer between stepper motor and travel wheel;
Described support device is adjustable quadratic crank mechanism, comprises quadratic crank mechanism, is fixed on the supporting wheel of double leval jib one end, regulates the flexible rod of double leval jib position;
Described diameter-variable pipe measuring robots, also comprises the feeler mechanism for the damage of testing pipes inwall; Described feeler mechanism comprises the CPU module being positioned at housing central section, the CCD video camera module being positioned at device foremost, is positioned at the rearmost Crack Detection sensor assembly of device.
Described travel wheel is preferably drum-type rubber wheel, increases the area of contact of travel wheel and inner-walls of duct.
Speed reducer between described travel wheel and stepper motor is preferably turbine worm reducer.
The position of described steering equipment is preferably positioned on the symmetry plane of travel wheel, and is in the front of travel wheel.
Describedly provide the actuating motor of power to be DC servo reducing motor for steering equipment, its angle of swing is ± 95 °.
The double leval jib of described support device is preferably parallel four-bar linkage.
Described supporting wheel is positioned on parallel―ordinal shift, the prolongation axle head of a connecting rod, and double leval jib is in deformation process, and supporting wheel place connecting rod is all the time perpendicular to tube wall.
In described CCD video camera module, there is a camera to swing, connect individual can swinging up and down.
embodiment 4
A kind of diameter-variable pipe measuring robots, comprises housing, for whole device provides the walking mechanism of power, is arranged on the active steering mechanism at housing rear portion, ensure that whole device can exercise the support device at different tube diameters;
Composition graphs 5, described support device comprises strut 401, support force Regulation spring 402, sliding supporting bar 403, double leval jib 404, bearing pin 405, supports wheel carrier 406 and supporting wheel 407.When the pipeline by different tube diameters, supporting wheel 407 can compress or unclamp and support wheel carrier 406.Supporting wheel carrier 406 is hinged on double leval jib 404 by two bearing pins 405, and wherein double leval jib 404 is parallel―ordinal shift; The other end and steering equipment's fixed plate 105 of double leval jib are hinged.When the pipeline by different tube diameters, double leval jib 404 is completed by deformation and makes supporting wheel 407 extended or retracted, and then adapts to different calibers.The middle part of double leval jib 404, have a bearing pin 405 and sliding supporting bar 403 hinged; Sliding supporting bar 403 can slide along the axis of strut 401, has the support force Regulation spring 402 of regulating stretch between sliding supporting bar 403 and strut 401; Hinged by bearing pin 405 between strut 401 and housing 1, also swing in the plane that strut 401 can be able to be swung at double leval jib 405.
Described diameter-variable pipe measuring robots, also comprises the feeler mechanism for the damage of testing pipes inwall; Described feeler mechanism comprises the CPU module being positioned at housing central section, the CCD video camera module being positioned at device foremost, is positioned at the rearmost Crack Detection sensor assembly of device.As shown in Figure 6, sensor fixation plate 104 is fixed with a CCD video camera module 501, two tunable light sources 502, two distance sensor module 503.Wherein CCD video camera module 501 is for observing the condition of advancing of front pipeline, is fixed with two tunable light sources above CCD video camera module, for improving the image quality of CCD.Composition graphs 7, steering equipment's fixed plate 105 is fixed with rotating disc 505, and in the process that whole device is advanced, the rotational speed of rotating disc 505 remains consistent with the rotational speed of travel wheel 205.On rotating disc 505, three are had to become 120 degree of ultrasonic testings be evenly arranged 504, for damage or the defect of testing pipes inside, at the top of steering equipment's fixed plate 105, be fixed with two eddy current testing 506, for corrosion or the defect of testing pipes internal surface.
CCD video camera module of the present invention is charge-coupled device video camera module.
In addition, this diameter-variable pipe measuring robots of the present invention controls the drive circuit of advancing in addition, for the memory module that data store, for the wireless communication module etc. with PERCOM peripheral communication.In the course of the work, this diameter-variable pipe measuring robots is put into pipe interior to be detected, this robot just can automatically or outer handle wireless operated carry out pipe interior detection, adopting the actuating motor with closed-loop feedback as advancing and the power source of active steering, the position at pipe interior damage place can be recorded accurately.
More than show and describe basic principle of the present invention and major character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (10)
1. a diameter-variable pipe measuring robots, is characterized in that: comprise housing, for whole device provides the walking mechanism of power, controls the active steering mechanism that turns to and makes whole device can exercise support device at different tube diameters;
Described walking mechanism comprises two travel wheel, stepper motor, speed reducer, bearing and bearing supports, and described two V-shaped settings of travel wheel, provide power by stepper motor, connects on the two housing sections of left and right by bearing and bearing support; Described speed reducer is connected between stepper motor and travel wheel;
Described active steering mechanism is arranged on the rear of walking mechanism, comprises the cydariform deflecting roller that is applicable to inner-walls of duct and for turning to the actuating motor providing power; Described deflecting roller is connected on housing by bearing and bearing support; Described actuating motor is connected on deflecting roller by coupling;
Described support device is made up of double leval jib, supporting wheel and flexible rod, and supporting wheel is fixed on one end of double leval jib; The other end of double leval jib is connected with the flexible rod of the length regulating it.
2. diameter-variable pipe measuring robots as claimed in claim 1, is characterized in that: also comprise the feeler mechanism for the damage of testing pipes inwall.
3. diameter-variable pipe measuring robots as claimed in claim 2, is characterized in that: described feeler mechanism comprises the CPU module being positioned at housing central section, the CCD video camera module being positioned at device foremost and is positioned at the rearmost Crack Detection sensor assembly of device.
4. diameter-variable pipe measuring robots as claimed in claim 1, is characterized in that: described travel wheel is drum-type rubber wheel.
5. diameter-variable pipe measuring robots as claimed in claim 1, is characterized in that: the speed reducer between described travel wheel and stepper motor is turbine worm reducer.
6. diameter-variable pipe measuring robots as claimed in claim 1, is characterized in that: described steering equipment is positioned on the symmetry plane of travel wheel, and is in the front of travel wheel.
7. diameter-variable pipe measuring robots as claimed in claim 1, is characterized in that: for steering equipment provides the actuating motor of power to be DC servo reducing motor, its angle of swing is ± 95 °.
8. diameter-variable pipe measuring robots as claimed in claim 1, it is characterized in that: described supporting wheel is positioned on parallel―ordinal shift, the prolongation axle head of a connecting rod, double leval jib is in deformation process, and supporting wheel place connecting rod is all the time perpendicular to tube wall.
9. diameter-variable pipe measuring robots as claimed in claim 1, is characterized in that: described CCD video camera module, comprises camera, and this camera can swing.
10. diameter-variable pipe measuring robots as claimed in claim 2, is characterized in that: described CCD video camera module, entirety can swing up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510494992.2A CN105090679B (en) | 2015-08-13 | 2015-08-13 | Variable-diameter pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510494992.2A CN105090679B (en) | 2015-08-13 | 2015-08-13 | Variable-diameter pipeline inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105090679A true CN105090679A (en) | 2015-11-25 |
| CN105090679B CN105090679B (en) | 2017-03-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510494992.2A Expired - Fee Related CN105090679B (en) | 2015-08-13 | 2015-08-13 | Variable-diameter pipeline inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105090679B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107956953A (en) * | 2017-12-01 | 2018-04-24 | 泉州市西决三维科技有限公司 | A kind of diameter-variable pipe detects robot |
| CN111365620A (en) * | 2020-02-24 | 2020-07-03 | 郑州大学 | Pipeline radar detection robot |
| US11549632B2 (en) * | 2019-02-20 | 2023-01-10 | Axel Spering | Method and device for mapping an inlet |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0085504A2 (en) * | 1982-02-02 | 1983-08-10 | Subscan Systems Ltd | Pipeline vehicle |
| CN101435521A (en) * | 2007-11-16 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Self-adapting pipe moving mechanism |
| CN102425708A (en) * | 2011-10-01 | 2012-04-25 | 洛阳理工学院 | Nondestructive flaw detection pipeline robot |
| WO2012130319A1 (en) * | 2011-03-31 | 2012-10-04 | The Safer Plug Company Limited | A propulsion device |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN203671142U (en) * | 2013-12-06 | 2014-06-25 | 北京信息科技大学 | Crawling mechanism of squirming pipeline robot |
| CN205383393U (en) * | 2015-08-13 | 2016-07-13 | 洛阳理工学院 | But tapered pipeline inspection robot |
-
2015
- 2015-08-13 CN CN201510494992.2A patent/CN105090679B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0085504A2 (en) * | 1982-02-02 | 1983-08-10 | Subscan Systems Ltd | Pipeline vehicle |
| CN101435521A (en) * | 2007-11-16 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Self-adapting pipe moving mechanism |
| WO2012130319A1 (en) * | 2011-03-31 | 2012-10-04 | The Safer Plug Company Limited | A propulsion device |
| CN102425708A (en) * | 2011-10-01 | 2012-04-25 | 洛阳理工学院 | Nondestructive flaw detection pipeline robot |
| CN103196005A (en) * | 2013-04-07 | 2013-07-10 | 南京理工大学 | Pipe exploration robot based on real-time image transmission system |
| CN203671142U (en) * | 2013-12-06 | 2014-06-25 | 北京信息科技大学 | Crawling mechanism of squirming pipeline robot |
| CN205383393U (en) * | 2015-08-13 | 2016-07-13 | 洛阳理工学院 | But tapered pipeline inspection robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107956953A (en) * | 2017-12-01 | 2018-04-24 | 泉州市西决三维科技有限公司 | A kind of diameter-variable pipe detects robot |
| US11549632B2 (en) * | 2019-02-20 | 2023-01-10 | Axel Spering | Method and device for mapping an inlet |
| CN111365620A (en) * | 2020-02-24 | 2020-07-03 | 郑州大学 | Pipeline radar detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105090679B (en) | 2017-03-22 |
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Granted publication date: 20170322 Termination date: 20170813 |