CN109607167A - A kind of automation equipment manipulator that product may be reversed - Google Patents
A kind of automation equipment manipulator that product may be reversed Download PDFInfo
- Publication number
- CN109607167A CN109607167A CN201811415681.2A CN201811415681A CN109607167A CN 109607167 A CN109607167 A CN 109607167A CN 201811415681 A CN201811415681 A CN 201811415681A CN 109607167 A CN109607167 A CN 109607167A
- Authority
- CN
- China
- Prior art keywords
- gear
- connecting rod
- fixed
- micromotor
- fixing seat
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automation equipment manipulators that product may be reversed, its key points of the technical solution are that: including rack, first servo motor is fixed in the rack, screw rod is also rotatably connected in the rack, the external screw-thread of the screw rod is connected with fixing seat, the fixing seat slides connection on the rack along the vertical direction, the first servo motor drives the screw rod rotation, dismantling connection has Contraband font frame in the fixing seat, the opening of the Contraband font frame is hinged with first connecting rod, the end of the first connecting rod is hinged with second connecting rod, the second connecting rod is hinged with third connecting rod in one end far from the first connecting rod, the first connecting rod is controlled by the first driving portion and is rotated, the second connecting rod is controlled by the second driving portion and is rotated, the third connecting rod is controlled by third driving portion and is rotated, the end of the third connecting rod It is additionally provided with grasping mechanism, crawl cargo can be completed using manipulator and realizes the function of overturning cargo.
Description
Technical field
The present invention relates to automation equipment field, in particular to a kind of automation equipment manipulator that product may be reversed.
Background technique
Automatic technology is widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment, service and family
Front yard etc., not only can be people from heavy manual labor, part mental labour and severe, dangerous using automatic technology
Working environment in free, and the organ dysfunction of people can be extended, greatly improve labor productivity, enhance human knowledge
The ability in the world and reforming world.
Automatic technology is widely used in the industry, such as in the production line in industrial production, and wherein manipulator is certainly
One ring of key in dynamicization technology, manipulator are the industrial robots occurred earliest, and the modern machines people occurred earliest, it
The heavy labor of people can be replaced to realize the mechanization and automation of production, can operated under hostile environment to protect personal peace
Entirely, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
In industrial production line, in packaging production line, need by production line product clamping, overturn later into
Row packaging, will reach this effect and not be particularly easy to；So most of packaging production line still needs manually to be overturn,
Have the shortcomings that a series of using crawl overturning is manually carried out, on the one hand product may be polluted, on the other hand be will cause
Production efficiency is low.
Summary of the invention
For the problems raised in the background art, the object of the present invention is to provide a kind of turnable products of automation equipment
Manipulator, to solve the problems, such as to mention in background technique.
Above-mentioned technical purpose of the invention has the technical scheme that
The manipulator of product, including rack may be reversed in a kind of automation equipment use, is fixed with the first servo in the rack
Motor is also rotatably connected to screw rod in the rack, and the external screw-thread of the screw rod is connected with fixing seat, and the fixing seat is along perpendicular
On the rack to sliding connection, the first servo motor drives the screw rod rotation, dismantling connection in the fixing seat to histogram
There is Contraband font frame, the opening of the Contraband font frame is hinged with first connecting rod, and the end of the first connecting rod is hinged with the second company
Bar, the second connecting rod are hinged with third connecting rod in one end far from the first connecting rod, and the first connecting rod is by the first driving
Portion's control rotation, the second connecting rod are controlled by the second driving portion and are rotated, and the third connecting rod is controlled by third driving portion and rotated,
The end of the third connecting rod is additionally provided with grasping mechanism.
Start first servo motor, in spiral shell when carrying out crawl overturning using manipulator by using above-mentioned technical proposal
Fixing seat sliding is driven under the action of bar, adjusts fixing seat to suitable height；Start the first driving portion later, by the first driving
Portion controls first connecting rod and swings, and starts the second boot portion, is swung by the second driving portion control second connecting rod, starting third driving
Portion is swung by third driving portion control third connecting rod, can be adjusted by the first driving portion, the second driving portion and third driving portion
Position and angle with control third connecting rod, it will be able to which the position for adjusting grasping mechanism can complete to grab using grasping mechanism
Cargo, to realize the requirement of overturning cargo.
Preferably, first driving portion includes the first micromotor, first gear and second gear, and described first is miniature
Motor is fixed on the Contraband font frame, is fixed with the first gear on the motor shaft of first micromotor, and described
Two gears are concentrically mounted on the articulated shaft of the first connecting rod, are mutually nibbled between the first gear and the second gear
It closes.
By using above-mentioned technical proposal, first gear rotation will be driven by starting the first micromotor, pass through first gear
Engagement with second gear drives first connecting rod to swing.
Preferably, second driving portion includes the second micromotor, third gear and the 4th gear, and described second is miniature
Motor is fixed on the first connecting rod, is fixed with the third gear on the motor shaft of second micromotor, and described
Four gears are concentrically mounted on the articulated shaft of the second connecting rod, are mutually nibbled between the third gear and the 4th gear
It closes.
By using above-mentioned technical proposal, the rotation of third gear will be driven by starting the second micromotor, pass through third gear
Engagement with the 4th gear drives second connecting rod to swing.
Preferably, the third driving portion includes third micromotor, the 5th gear and the 6th gear, and the third is miniature
Motor is fixed on the second connecting rod, is fixed with the 5th gear on the motor shaft of the third micromotor, and described
Six gears are concentrically mounted on the articulated shaft of the third connecting rod, are mutually nibbled between the 5th gear and the 6th gear
It closes.
By using above-mentioned technical proposal, the rotation of the 5th gear will be driven by starting third micromotor, pass through the 5th gear
Engagement with the 6th gear drives third connecting rod to swing.
Preferably, the grasping mechanism includes supporting plate, the second servo motor, the 7th gear, eighth gear, two the 4th
Connecting rod, two the 5th connecting rods and two six-bar linkages, the supporting plate are fixed on the third connecting rod far from the second connecting rod
One end, second servo motor is fixed on the supporting plate, on the motor shaft of second servo motor it is fixed
The 7th gear is stated, the eighth gear is rotatably connected on the supporting plate, between the 7th gear and the eighth gear
Intermeshing, one end of two fourth links are rotatablely connected between the 7th gear and the eighth gear respectively,
One end of two fourth links is hinged between two the 5th connecting rods respectively, one end point of two six-bar linkages
Not hinged with two the 5th connecting rods, the other end of two six-bar linkages is hinged between the supporting plate respectively.
By using above-mentioned technical proposal, when starting the second servo motor fixed on supporting plate, the 7th tooth will be driven
Wheel rotation, since the 7th gear and eighth gear engage, it will drive fourth link, the 5th connecting rod and six-bar linkage to swing, two
Opening between a 5th connecting rod will change, and complete grasping movement.
Preferably, two guide rods are fixed in the rack, opened up in the fixing seat there are two supply the guide rod
The pilot hole passed through.
By using above-mentioned technical proposal, by the cooperation using guide rod and pilot hole so that fixing seat slid vertically
It is more stable.
Preferably, it is fixed with fixed column on the Contraband font frame, a part of the fixed column is plugged on the fixing seat
It is interior, it is further fixed on fixed disk outside the fixed column, several locks are threaded between the fixed disk and the fixing seat
Tight bolt.
It by using above-mentioned technical proposal, can be dismantled between Contraband font frame and fixing seat, when installation Contraband font frame
When on to fixing seat, fixed column is inserted into fixing seat, tightens the clamping screw in fixed disk later, it is more convenient reliable.
Preferably, retarder, the input terminal of the retarder and institute are provided between the first servo motor and screw rod
The motor axis connection of first servo motor is stated, the output end of the retarder is connect with the screw rod.
By using above-mentioned technical proposal, retarder can reduce the output speed of first servo motor, so that screw rod turns
Dynamic is more steady.
In conclusion the invention has the following advantages:
When carrying out crawl overturning using manipulator, starts first servo motor, drive fixing seat under the action of screw rod
Sliding adjusts fixing seat to suitable height；Start the first driving portion later, swung by the first driving portion control first connecting rod,
Start the second boot portion, is swung by the second driving portion control second connecting rod, start third driving portion, by third driving portion control the
Three-link is swung, and the position of regulation and control third connecting rod is capable of by the first driving portion, the second driving portion and third driving portion
And angle, it will be able to which the position for adjusting grasping mechanism can complete crawl cargo using grasping mechanism, to realize overturning cargo
Requirement.
Detailed description of the invention
Fig. 1 is automation equipment one of the structural schematic diagram of manipulator that product may be reversed；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is second structural representation of the automation equipment with the manipulator that product may be reversed；
Fig. 4 is enlarged drawing at B in Fig. 3；
Fig. 5 is enlarged drawing at C in Fig. 3；
Fig. 6 is enlarged drawing at D in Fig. 3
Fig. 7 is third structural representation of the automation equipment with the manipulator that product may be reversed；
Fig. 8 is enlarged drawing at E in Fig. 7；
Fig. 9 is enlarged drawing at F in Fig. 7.
Appended drawing reference: 1, rack；2, first servo motor；3, screw rod；4, fixing seat；5, Contraband font frame；6, first connecting rod；
7, second connecting rod；8, third connecting rod；9, the first driving portion；10, the second driving portion；11, third driving portion；12, grasping mechanism；
13, the first micromotor；14, first gear；15, second gear；16, the second micromotor；17, third gear；18, the 4th tooth
Wheel；19, third micromotor；20, the 5th gear；21, the 6th gear；22, supporting plate；23, the second servo motor；24, the 7th
Gear；25, eighth gear；26, fourth link；27, the 5th connecting rod；28, six-bar linkage；29, guide rod；30, pilot hole；31,
Fixed column；32, fixed disk；33, clamping screw；34, retarder.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in the present invention
It states, it is clear that described invention is only a part of the embodiment of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
It shall fall within the protection scope of the present invention.
Embodiment
As shown in Figures 1 to 9, a kind of automation equipment manipulator that product may be reversed, including rack 1, wherein in machine
It is fixed with first servo motor 2 on frame 1, while being also rotatably connected to screw rod 3 in rack 1, and connects in the external screw-thread of screw rod 3
It is connected to fixing seat 4, wherein fixing seat 4 slides be connected in rack 1 along the vertical direction, drives screw rod 3 using first servo motor 2
Rotation will drive screw rod 3 to rotate, then fixing seat 4 driven to slide vertically in rack 1 when first servo motor 2 starts；For
Realize crawl cargo and overturning cargo, dismantling connection has Contraband font frame 5 in fixing seat 4, and in the opening of Contraband font frame 5
It is hinged with first connecting rod 6, first connecting rod 6 is hinged with second connecting rod 7 in the end far from Contraband font frame 5, and by second connecting rod 7
It is hinged with third connecting rod 8 in one end far from first connecting rod 6, wherein first connecting rod 6 is controlled by the first driving portion 9 and is rotated, and second
Connecting rod 7 is controlled by the second driving portion 10 and is rotated, and third connecting rod 8 is controlled by third driving portion 11 and rotated, in the end of third connecting rod 8
It is additionally provided with grasping mechanism 12；When carrying out crawl overturning using manipulator, start first servo motor 2, in the effect of screw rod 3
Lower drive fixing seat 4 slides, and adjusts fixing seat 4 to suitable height；Start the first driving portion 9 later, is controlled by the first driving portion 9
First connecting rod 6 processed is swung, and starts the second boot portion, is swung by the second driving portion 10 control second connecting rod 7, is started third driving portion
11, third connecting rod 8 is controlled by third driving portion 11 and is swung, the first driving portion 9, the second driving portion 10 and third driving portion 11 are passed through
It is capable of position and the angle of regulation and control third connecting rod 8, it will be able to which the position for adjusting grasping mechanism 12 utilizes grasping mechanism 12
Crawl cargo can be completed, to realize the requirement of overturning cargo.
As shown in Figures 1 to 9, wherein the first driving portion 9 includes the first micromotor 13, first gear 14 and second gear
15, wherein the first micromotor 13 is fixed on Contraband font frame 5, the first tooth is fixed on the motor shaft of the first micromotor 13
Wheel 14, wherein second gear 15 is concentrically mounted on the articulated shaft of first connecting rod 6, phase between first gear 14 and second gear 15
Mutually engagement, the first micromotor 13 of starting will drive first gear 14 to rotate, pass through nibbling for first gear 14 and second gear 15
Crossed belt moves first connecting rod 6 and swings；Wherein the second driving portion 10 includes the second micromotor 16, third gear 17 and the 4th gear
18, wherein the second micromotor 16 is fixed on first connecting rod 6, third tooth is fixed on the motor shaft of the second micromotor 16
Wheel 17, wherein the 4th gear 18 is concentrically mounted on the articulated shaft of second connecting rod 7, and third gear 17 and the 4th gear
It is intermeshed between 18, third gear 17 will be driven to rotate when operator starts the second micromotor 16, pass through third gear 17
Engagement with the 4th gear 18 drives second connecting rod 7 to swing；Wherein third driving portion 11 includes third micromotor 19, the 5th tooth
Wheel 20 and the 6th gear 21, wherein third micromotor 19 is fixed on second connecting rod 7, in the motor shaft of third micromotor 19
On be fixed with the 5th gear 20, the 6th gear 21 is concentrically mounted on the articulated shaft of third connecting rod 8, and by the 5th gear 20 and
It is set as being intermeshed between six gears 21, starting third micromotor 19 will drive the 5th gear 20 to rotate, and pass through the 5th tooth
The engagement of wheel 20 and the 6th gear 21 drives third connecting rod 8 to swing.
As shown in Figures 1 to 9, wherein grasping mechanism 12 include supporting plate 22, the second servo motor 23, the 7th gear 24,
Eighth gear 25, two fourth links, 26, two the 5th connecting rods 27 and two six-bar linkages 28, wherein supporting plate 22 is fixed on
The one end of three-link 8 far from second connecting rod 7, the second servo motor 23 are fixed on supporting plate 22, in the second servo motor 23
The 7th gear 24 is fixed on motor shaft, eighth gear 25 is rotatably connected on supporting plate 22, the 7th gear 24 and the described 8th
It is intermeshed between gear 25, one end of two of them fourth link 26 turns between the 7th gear 24 and eighth gear 25 respectively
Dynamic connection, one end of two fourth links 26 is hinged between two the 5th connecting rods 27 respectively, one end of two six-bar linkages 28
Hinged with two the 5th connecting rods 27 respectively, the other end of two six-bar linkages 28 is hinged between supporting plate 22 respectively, works as starting
On supporting plate 22 when the second fixed servo motor 23, the 7th gear 24 will be driven to rotate, due to the 7th gear 24 and octadentate
25 engagement of wheel, it will drive fourth link 26, the 5th connecting rod 27 and six-bar linkage 28 to swing, opening between two the 5th connecting rods 27
Mouth will change, and complete grasping movement.
As shown in Figures 1 to 9, in order to enable fixing seat 4 slide it is more stable, two guiding are fixed in rack 1
Bar 29 is opened up there are two the pilot hole 30 passed through for guide rod 29 in fixing seat 4, by utilizing guide rod 29 and pilot hole 30
Cooperation so that fixing seat 4 slide vertically it is more stable；It is fixed with fixed column 31 on Contraband font frame 5 simultaneously, by fixed column
31 a part is plugged in fixing seat 4, while fixed disk 32 is further fixed on outside fixed column 31, and by fixed disk 32 and admittedly
Clamping screw 33 there are four being threadedly coupled between reservation 4, can be dismantled between Contraband font frame 5 and fixing seat 4, when installation Contraband
When on font frame 5 to fixing seat 4, fixed column 31 is inserted into fixing seat 4, tightens clamping screw 33 in fixed disk 32 later i.e.
Can, it is more convenient reliable；In order to reduce the velocity of rotation of screw rod 3, deceleration is provided between first servo motor 2 and screw rod 3
Device 34, wherein the motor axis connection of the input terminal of retarder 34 and first servo motor 2, the output end and screw rod 3 of retarder 34
Connection, retarder 34 can reduce the output speed of first servo motor 2, so that the rotation of screw rod 3 is more steady.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of automation equipment manipulator that product may be reversed, including rack (1), it is characterised in that: on the rack (1)
It is fixed with first servo motor (2), is also rotatably connected to screw rod (3) on the rack (1), the external screw-thread of the screw rod (3)
It is connected with fixing seat (4), the fixing seat (4) slides be connected on rack (1) along the vertical direction, the first servo motor
(2) screw rod (3) rotation is driven, dismantling connection has Contraband font frame (5) on the fixing seat (4), the Contraband font frame (5)
Opening is hinged with first connecting rod (6), and the end of the first connecting rod (6) is hinged with second connecting rod (7), the second connecting rod
(7) it is hinged with third connecting rod (8) in one end far from the first connecting rod (6), the first connecting rod (6) is by the first driving portion
(9) control rotation, the second connecting rod (7) are controlled by the second driving portion (10) and are rotated, and the third connecting rod (8) is driven by third
Portion (11) control rotation, the end of the third connecting rod (8) is additionally provided with grasping mechanism (12).
2. a kind of automation equipment according to claim 1 manipulator that product may be reversed, it is characterised in that: described the
One driving portion (9) includes the first micromotor (13), first gear (14) and second gear (15), first micromotor
(13) it is fixed on the Contraband font frame (5), is fixed with the first gear on the motor shaft of first micromotor (13)
(14), the second gear (15) is concentrically mounted on the articulated shaft of the first connecting rod (6), the first gear (14) and institute
It states and is intermeshed between second gear (15).
3. a kind of automation equipment according to claim 1 manipulator that product may be reversed, it is characterised in that: described the
Two driving portions (10) include the second micromotor (16), third gear (17) and the 4th gear (18), second micromotor
(16) it is fixed on the first connecting rod (6), is fixed with the third gear on the motor shaft of second micromotor (16)
(17), the 4th gear (18) is concentrically mounted on the articulated shaft of the second connecting rod (7), the third gear (17) and institute
It states and is intermeshed between the 4th gear (18).
4. a kind of automation equipment according to claim 1 manipulator that product may be reversed, it is characterised in that: described the
Three driving portions (11) include third micromotor (19), the 5th gear (20) and the 6th gear (21), the third micromotor
(19) it is fixed on the second connecting rod (7), is fixed with the 5th gear on the motor shaft of the third micromotor (19)
(20), the 6th gear (21) is concentrically mounted on the articulated shaft of the third connecting rod (8), the 5th gear (20) and institute
It states and is intermeshed between the 6th gear (21).
5. a kind of automation equipment manipulator that product may be reversed according to claim 1, it is characterised in that: described to grab
Taking mechanism (12) includes supporting plate (22), the second servo motor (23), the 7th gear (24), eighth gear (25), two the 4th
Connecting rod (26), two the 5th connecting rods (27) and two six-bar linkages (28), the supporting plate (22) are fixed on the third connecting rod
(8) far from the one end of the second connecting rod (7), second servo motor (23) is fixed on the supporting plate (22), described
The 7th gear (24) is fixed on the motor shaft of second servo motor (23), the eighth gear (25) is rotatably connected on institute
It states on supporting plate (22), is intermeshed between the 7th gear (24) and the eighth gear (25), two the described 4th connect
One end of bar (26) is rotatablely connected between the 7th gear (24) and the eighth gear (25) respectively, and two the described 4th
One end of connecting rod (26) is hinged between two the 5th connecting rods (27) respectively, one end point of two six-bar linkages (28)
Not hingedly with two the 5th connecting rods (27), the other end of two six-bar linkages (28) respectively with the supporting plate (22)
Between it is hinged.
6. a kind of automation equipment manipulator that product may be reversed according to claim 1, it is characterised in that: the machine
It is fixed with two guide rods (29) on frame (1), opens up that there are two for the guide rod (29) leading of passing through on the fixing seat (4)
To hole (30).
7. a kind of automation equipment manipulator that product may be reversed according to claim 1, it is characterised in that: the Contraband
It is fixed on font frame (5) fixed column (31), a part of the fixed column (31) is plugged in the fixing seat (4), described
It is further fixed on fixed disk (32) outside fixed column (31), is threaded between the fixed disk (32) and the fixing seat (4)
Several clamping screws (33).
8. a kind of automation equipment according to claim 1 manipulator that product may be reversed, it is characterised in that: described the
It is provided between one servo motor (2) and screw rod (3) retarder (34), the input terminal of the retarder (34) is watched with described first
The motor axis connection of motor (2) is taken, the output end of the retarder (34) is connect with the screw rod (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811415681.2A CN109607167A (en) | 2018-11-26 | 2018-11-26 | A kind of automation equipment manipulator that product may be reversed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811415681.2A CN109607167A (en) | 2018-11-26 | 2018-11-26 | A kind of automation equipment manipulator that product may be reversed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109607167A true CN109607167A (en) | 2019-04-12 |
Family
ID=66004538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811415681.2A Withdrawn CN109607167A (en) | 2018-11-26 | 2018-11-26 | A kind of automation equipment manipulator that product may be reversed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109607167A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112616475A (en) * | 2021-02-02 | 2021-04-09 | 薛秀菊 | Automatic trimming equipment for long plants outside fence |
-
2018
- 2018-11-26 CN CN201811415681.2A patent/CN109607167A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112616475A (en) * | 2021-02-02 | 2021-04-09 | 薛秀菊 | Automatic trimming equipment for long plants outside fence |
| CN112616475B (en) * | 2021-02-02 | 2023-12-15 | 薛秀菊 | Automatic pruning equipment for long-branch plants outside fence |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |