CN202050707U - End effector of globose fruit picking robot - Google Patents
End effector of globose fruit picking robot Download PDFInfo
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- CN202050707U CN202050707U CN2011201272715U CN201120127271U CN202050707U CN 202050707 U CN202050707 U CN 202050707U CN 2011201272715 U CN2011201272715 U CN 2011201272715U CN 201120127271 U CN201120127271 U CN 201120127271U CN 202050707 U CN202050707 U CN 202050707U
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Abstract
The utility model discloses an end effector of a globose fruit picking robot, which comprises a rotary motor component, a telescopic cylinder component and an arc finger cutting component. A rotary motor is used for rotary cutting of fruit stems at any position by driving four arc blades through a coupling component, wherein position detection for the fruit stems is omitted. A single-rod dual-action cylinder is used for driving four arc fingers to unfold and fold under extension and contraction of a piston rod, a space enclosed by the four arc fingers in folding is larger than a three-dimensional space of a fruit, the arc fingers are guaranteed not to contact with the fruit, and thereby the fingers are guaranteed to be able to rotate relative to the fruit, the possibility of rotary cutting of the fruit stems by the arc blades is provided, and complex pressure control in fruit clamping is omitted. The end effector is reliable in picking way, low in action control difficulty, low in cost and high in universality.
Description
Technical field
The utility model belongs to the development field of agriculture terminal executor of fruit and vegetable picking robot, particularly a kind of seed ball terminal executor of picking robot.
Background technology
End effector is the important component part of agriculture fruit and vegetable picking robot, it is installed in the end of mechanical arm, when plucking operation, by mechanical arm end effector is moved to the corresponding picking point of fruit place earlier, finish the task of plucking fruit by end effector again.The research and development of picking robot has been experienced more than 30 year, has obtained many achievements.But also have certain distance from practicability and commercialization, its one of the main reasons is the development of end effector is had relatively high expectations, and requires to comprise: 1) end effector can not damaged fruit in the process of plucking; 2) picking efficiency and harvesting success rate height; 3) cost of end effector is low, and users are accepted; 4) guarantee the intelligentized complexity that reduces control system simultaneously, be beneficial to the harvesting process control of peasant's operation and robot complete machine; 5) require mechanism its reliability, intensity when guaranteeing exquisite (raising keeps away the barrier ability) to want high; 6) improve versatility, make a kind of end effector can pluck multiple fruit.
So far, realize that the mode of plucking mainly contains two kinds, first kind is that the design corresponding mechanism is earlier carried out clamping to fruit and held, utilize the rotation on carpal two vertical direction to come the anthropomorphic dummy to break the action of twisting carpopodium off with the fingers and thumb again, the object of its operation requires carpopodium to be easy to separate with fruit branch, need strictness to control the strength of clamping fruit well simultaneously, otherwise very easily damage fruit.Second kind is to utilize sucker that fruit is sucked and it is pulled between the holding finger, utilize scissors or other modes that carpopodium is interrupted again, this method need detect the position of carpopodium, and to adjust the attitude of end effector accurately, thereby the people such as complexity Peter P.Ling that increased the difficulty of system's control and mechanism have designed a kind of end-effector (Ling of 4 fingers, P.Sensing and end-effector for a robotic tomato ha---rvester[R] .ASer, No.043088.).This end-effector mainly by the digital linear stepper motor, 4 the finger and attractor form.Finger utilizes hawser and muscle tendon to make its bending, utilizes torsion spring to make its stretching, extension.The digital linear stepper motor drives the muscle tendon, has strengthened the controllability and the accuracy of end-effector motion.In the selection of finger, selected material light and that hardness is good.But its endurance is not very desirable.Should consider quality and fatigue resistance again, to reach better effect, it has influenced practicability and commercialization to a great extent owing to adopted the digital linear stepper motor to make cost higher in addition.
Summary of the invention
The technical problem that the utility model solved is to provide a kind of and need not to control chucking power and pluck attitude, seed ball terminal executor of picking robot reliability and durability, with low cost.
The technical solution that realizes the utility model purpose is: a kind of seed ball terminal executor of picking robot, comprise the electric rotating machine assembly, telescopic cylinder assembly and arc finger cutting assembly, wherein the telescopic cylinder assembly is between electric rotating machine assembly and arc finger cutting assembly, described electric rotating machine assembly comprises electric rotating machine, electric machine support and shaft coupling assembly, cylinder assembly comprises cylinder bracket, the gentle jar support of single pole double-acting cylinder, arc finger cutting assembly comprises connecting rod, a plurality of arc fingers, rubber layer, cambered blade, piston rod, piston shelf and bearing pin;
Electric rotating machine is fixed on electric machine support, the motor shaft of electric rotating machine is connected with cylinder bracket mutually by the shaft coupling assembly, the rotation of drive cylinder bracket, the single pole double-acting cylinder is connected above the cylinder bracket, the top of this cylinder cylinder support that is connected, the top of the piston rod of single pole double-acting cylinder is connected mutually with piston shelf, this piston shelf is connected with a plurality of arc fingers by bearing pin, each arc finger also is connected with the cylinder support with bearing pin by connecting rod, on the interior wide surface of each arc finger cambered blade is set, the interior wide surface configuration match mutually of the shape of this cambered blade and arc finger, the inboard of cambered blade is stained with rubber layer.
The utility model compared with prior art, its remarkable advantage is: 1) clamping device contacting fruit surface not, just it is surrounded, saved the part that traditional picking end effector need be controlled chucking power; 2) owing to there not being direct contacting fruit surface, so there is not the situation of damaging fruit; 3) need not to judge the relative position that detects carpopodium and end effector that refer to surround among the space as long as fruit enters four, the utility model can cut off carpopodium; 4) simple and compact for structure, with low cost, the control difficulty is low; 5) highly versatile can be plucked the fruit of multiple near-spherical.
Below in conjunction with accompanying drawing the utility model is described in further detail.
Description of drawings
Fig. 1 is the overall structure schematic diagram of seed ball terminal executor of picking robot of the present utility model.
Fig. 2 is piston shelf of the present utility model and piston syndeton schematic diagram.
Fig. 3 is a shaft coupling modular construction schematic diagram of the present utility model.
Fig. 4 is the structural representation of finger part of the present utility model.
Embodiment
In conjunction with Fig. 1, a kind of seed ball terminal executor of picking robot of the present utility model, comprise the electric rotating machine assembly, telescopic cylinder assembly and arc finger cutting assembly, wherein the telescopic cylinder assembly is between electric rotating machine assembly and arc finger cutting assembly, described electric rotating machine assembly comprises electric rotating machine 1, electric machine support 2 and shaft coupling assembly 3, cylinder assembly comprises cylinder bracket 16, single pole double-acting cylinder 4 gentle jar supports 5, arc finger cutting assembly comprises connecting rod 6, a plurality of arc fingers 7, rubber layer 11, cambered blade 12, piston rod 13, piston shelf 14 and bearing pin 15;
Electric rotating machine 1 is fixed on electric machine support 2, the motor shaft of electric rotating machine 1 is connected with cylinder bracket 16 mutually by shaft coupling assembly 3, drive cylinder bracket 16 rotations, the cylinder bracket 16 tops single pole double-acting cylinder 4 that is connected, the top of this cylinder cylinder support 5 that is connected, the top of the piston rod 13 of single pole double-acting cylinder 4 is connected mutually with piston shelf 14, this piston shelf is connected with a plurality of arc fingers 7 by bearing pin 15, each arc finger also is connected with cylinder support 5 with bearing pin by connecting rod 6, in conjunction with Fig. 4, on the interior wide surface of each arc finger cambered blade 12 is set, the interior wide surface configuration match mutually of the shape of this cambered blade and arc finger, the inboard of cambered blade 12 is stained with rubber layer 11, is used for barrier cambered blade 12 and contacts with fruit, accidentally injures fruit when preventing cambered blade 12 rotations.The quantity of arc finger 7 is preferably four, links to each other with connecting rod 6 by bearing pin 15 respectively on the left-right and front-back four direction of cylinder support 5, connects by bearing pin 15 successively between connecting rod 6, arc finger 7 and the piston shelf 14 simultaneously.The space that four arc fingers 7 are surrounded when closing up is greater than the three dimensions of fruit, guarantee that four arc fingers 7 are fruit to be surrounded rather than the fruit double team is lived when closing up, the control that can save control clamping fruit power like this, the arc finger does not contact with fruit simultaneously, guarantee that the finger fruit relatively rotates, for cambered blade 12 rotation cutting carpopodiums provide condition.The interior wide surface configuration of cambered blade 12 match arcs finger 7, cambered blade are welded on the interior wide surface of arc finger 7, and like this, cambered blade 12 can cut off the carpopodium of optional position.
The cylinder bracket bottom surface processes an outstanding axle, and its diameter of axle equates that with the motor shaft diameter of axle single pole double-acting cylinder is connected and fixed by screw and is installed on the cylinder bracket.In conjunction with Fig. 3, described shaft coupling assembly 3 comprises pin 18, right semi-circle cover 19, left semicircle cover 20, right semi-circle cover 19 and left semicircle cover 20 are enclosed within the junction of motor shaft 17 and cylinder bracket 16 outstanding axles simultaneously, described right semi-circle cover 19 and left semicircle cover 20 link to each other by pin 18, and are fastened by screw 21 and bolt 22.Shaft coupling assembly 3 is fixed together motor shaft 17 and cylinder bracket 16 outstanding axles.
In conjunction with Fig. 2, the top of single pole double-acting cylinder 4 piston rods 13 is connected with piston shelf 14 mutually by top flat 8, and wherein top flat 8 is fixedlyed connected with piston rod 13 end faces by M6 screw 9, and this top flat 8 is also fixedlyed connected with piston shelf 14 by M3 screw 10.The quantity of M3 screw 10 is preferably four.
Electric rotating machine of the present utility model is screwed and is contained on the electric machine support, motor shaft and cylinder frame are fixed together by the shaft coupling assembly, single pole double-acting cylinder rear end is fixedly mounted on the cylinder frame by screw, front end is installed four and is referred to clamping device, the inboard of each finger is welded with and points the cambered blade of face match, during the utility model work, the arc finger is in open configuration earlier, in the time of in fruit enters four spaces that refer to surround, the cylinder piston rod withdrawal drives four and refers to close up, until each finger tip jam-packed together, at this moment, electric rotating machine begins to start, and by being fastenedly connected of shaft coupling assembly, being in four of merging phase and referring to carry out rotation around the motor shaft direction, circular arc blade on its each finger just can cut off the carpopodium of optional position, finishes harvesting.
Below in conjunction with embodiment the utility model is done further detailed description:
Present embodiment is being to implement under the prerequisite with technical solutions of the utility model, provided detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, present embodiment is installed in the last joint of picking robot mechanical arm wrist joint group, and the last joint motions output by electric machine support 2 and wrist joint group is fixedly connected.Embodiment comprises that electric rotating machine assembly, telescopic cylinder assembly and arc four refer to cutting assembly three parts.
Described electric rotating machine assembly comprises electric rotating machine 1, electric machine support 2 and shaft coupling assembly 3, and wherein: shaft coupling assembly 3 comprises pin 17, right semi-circle cover 19, left semicircle cover 20, screw 21 and bolt 22.After right semi-circle cover 19 and left semicircle cover 20 link to each other by pin 17, be enclosed within the junction of motor shaft 17 and cylinder bracket 16 outstanding axles simultaneously, fastening by screw 21 and bolt 22 given prominence to motor shaft 17 and cylinder bracket 16 spool being fixed together.
Described telescopic cylinder assembly comprises cylinder bracket 16 and single pole double-acting cylinder 4.Wherein: cylinder bracket 16 bottom surfaces process an outstanding axle, and its diameter of axle equates that with the motor shaft diameter of axle model that single pole double-acting cylinder 4 is selected for use in this example is: DNC-32-50-PPV-A.Single pole double-acting cylinder 4 is connected and fixed by screw and is installed on the cylinder bracket 16.
Described arc four refers to that cutting assembly comprises cylinder support 5, connecting rod 6, arc finger 7, top flat 8, M6 screw 9, M3 screw 10, rubber layer 11, cambered blade 12, piston rod 13, piston shelf 14 and bearing pin 15.Wherein: link to each other with connecting rod 6 by bearing pin 15 respectively on the left-right and front-back four direction of cylinder support 5, connect by bearing pin 15 successively between connecting rod 6, arc finger 7 and the piston shelf 14 simultaneously.Top flat 8 is fixedlyed connected with piston rod 13 end faces by M6 screw 9, utilizes four M3 screws 10 that it is fixedlyed connected with piston shelf 14 simultaneously.Arc finger 7 is selected the higher steel alloy-65Mn of intensity for use and is adopted the line cutting processing to be shaped, the space that is surrounded when requiring four arc fingers 7 to close up simultaneously is greater than the three dimensions of fruit, guarantee that four arc fingers 7 are fruit to be surrounded rather than the fruit double team is lived when closing up, the control that can save control clamping fruit power like this, finger does not contact with fruit simultaneously, guarantee that finger can be equivalent to fruit and relatively rotate, for cambered blade 12 rotation cutting carpopodiums provide condition.The interior wide surface configuration of cambered blade 12 match arcs finger 7, be fixed in by the tungsten argon arc welding on the interior wide surface of arc finger 7, like this, the circular arc blade can cut off the carpopodium of optional position, rubber layer 11 is bonded at the inboard of cambered blade 12, be used for barrier cambered blade 12 and contact, accidentally injure fruit when preventing cambered blade 12 rotations with fruit.
When utilizing seed ball terminal executor of picking robot of the present utility model to pluck, specifically be divided into for four steps:
The first step, at first picking robot is caught the fruit image by vision sensor, determine the fruit position through graphical analysis, control mechanical arm drive the utility model then and move to the fruit position, arc four of the present utility model refers to that cutting assembly is in the harvesting state for the treatment of in this process, that is: single pole double-acting cylinder 4 makes piston rod 13 be in elongation state, and such four arcs finger 7 is in open configuration;
Second step, after objective fruit enters four arcs finger, 7 zones, inner space that surrounded, single pole double-acting cylinder 4 ventilation direction wherein changes, piston rod 13 counteragents, piston rod 13 withdrawals drive four arc fingers 7 and merge, four finger tips close up together, this moment, fruit was enclosed in the four encirclement spaces that refer to, its carpopodium is between certain two arcs finger 7;
The 3rd step, merge when four arcs finger 7, when four finger tips close up together, electric rotating machine 1 begins to start, transmission through shaft coupling assembly 3, drive telescopic cylinder assembly and arc four and refer to that cutting assembly rotates, final cambered blade 12 relative carpopodiums rotate it are cut off, in this process, single pole double-acting cylinder 4 keeps the ventilation direction constant, and four arc fingers keep merging phase;
The 4th step, picking robot drive the utility model and move to fruit gathering unit place, single pole double-acting cylinder 4 ventilation directions change, and four arc fingers open, and fruit falls in the fruit gathering unit immediately, so far, end effector has been finished all processes to a picking fruit.
Claims (4)
1. seed ball terminal executor of picking robot, it is characterized in that, comprise the electric rotating machine assembly, telescopic cylinder assembly and arc finger cutting assembly, wherein the telescopic cylinder assembly is between electric rotating machine assembly and arc finger cutting assembly, described electric rotating machine assembly comprises electric rotating machine [1], electric machine support [2] and shaft coupling assembly [3], cylinder assembly comprises cylinder bracket [16], the gentle jar support of single pole double-acting cylinder [4] [5], arc finger cutting assembly comprises connecting rod [6], a plurality of arc fingers [7], rubber layer [11], cambered blade [12], piston rod [13], piston shelf [14] and bearing pin [15]; Electric rotating machine [1] is fixed on electric machine support [2], the motor shaft of electric rotating machine [1] is connected with cylinder bracket [16] mutually by shaft coupling assembly [3], drive cylinder bracket [16] rotation, single pole double-acting cylinder [4] is connected above the cylinder bracket [16], the top of this cylinder cylinder support [5] that is connected, the top of the piston rod [13] of single pole double-acting cylinder [4] is connected mutually with piston shelf [14], described piston shelf [14] is pointed [7] by bearing pin [15] and a plurality of arcs and is connected, each arc finger also is connected with cylinder support [5] with bearing pin by connecting rod [6], on the interior wide surface of each arc finger cambered blade [12] is set, the interior wide surface configuration match mutually of the shape of this cambered blade and arc finger, the inboard of cambered blade [12] is stained with rubber layer [11].
2. seed ball terminal executor of picking robot according to claim 1, it is characterized in that, described shaft coupling assembly [3] comprises pin [18], right semi-circle cover [19], left semicircle cover [20], right semi-circle cover [19] and left semicircle cover [20] are enclosed within the junction of motor shaft [17] and the outstanding axle of cylinder bracket [16] simultaneously, described right semi-circle cover [19] links to each other by pin [18] with left semicircle cover [20], and is fastened by screw [21] and bolt [22].
3. seed ball terminal executor of picking robot according to claim 1 and 2, it is characterized in that, the top of single pole double-acting cylinder [4] piston rod [13] is connected with piston shelf [14] mutually by top flat [8], wherein top flat [8] is fixedlyed connected with piston rod [13] end face by M6 screw [9], and this top flat [8] is also fixedlyed connected with piston shelf [14] by M3 screw [10].
4. seed ball terminal executor of picking robot according to claim 1 and 2, it is characterized in that, the quantity of arc finger [7] is four, link to each other with connecting rod [6] by bearing pin [15] respectively on the left-right and front-back four direction of cylinder support [5], connect by bearing pin [15] successively between connecting rod [6], arc finger [7] and the piston shelf [14] simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201272715U CN202050707U (en) | 2011-04-27 | 2011-04-27 | End effector of globose fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201272715U CN202050707U (en) | 2011-04-27 | 2011-04-27 | End effector of globose fruit picking robot |
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| Publication Number | Publication Date |
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| CN202050707U true CN202050707U (en) | 2011-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011201272715U Expired - Lifetime CN202050707U (en) | 2011-04-27 | 2011-04-27 | End effector of globose fruit picking robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227973A (en) * | 2011-04-27 | 2011-11-02 | 南京工程学院 | End effector of ball-like fruit picking robot |
| CN102668813A (en) * | 2012-05-24 | 2012-09-19 | 华南农业大学 | Rotating scissor type litchi picking machine |
| CN103039196A (en) * | 2012-09-26 | 2013-04-17 | 广西大学 | Fruit detection and picking integrated device based on single chip microcomputer |
| CN103688660A (en) * | 2013-12-05 | 2014-04-02 | 华南农业大学 | Under-actuated picking tail end executing device and method |
| CN104303709A (en) * | 2014-11-03 | 2015-01-28 | 东北农业大学 | Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables |
| CN105108765A (en) * | 2015-10-12 | 2015-12-02 | 王学义 | Manipulator capable of simulating finger holding |
| CN107950200A (en) * | 2017-11-28 | 2018-04-24 | 深圳润丰投资咨询有限公司 | A kind of picking fruit mechanical clamping device |
| CN108377749A (en) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | A kind of end effector of citrus picking robot |
| CN108811757A (en) * | 2018-08-24 | 2018-11-16 | 张振阳 | Rechargeable high-altitude fruit picking device is plucked in rotation |
| CN109566096A (en) * | 2018-12-21 | 2019-04-05 | 安徽工业大学 | A kind of intermittent electronic high-altitude fruit picking device |
| CN110178537A (en) * | 2019-05-23 | 2019-08-30 | 武汉科技大学 | A kind of bionical picker of handheld portable |
| CN112400473A (en) * | 2020-11-28 | 2021-02-26 | 河北工程大学 | Mechanically adjustable fruit picking ring |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod fruit picking manipulator |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
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2011
- 2011-04-27 CN CN2011201272715U patent/CN202050707U/en not_active Expired - Lifetime
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227973B (en) * | 2011-04-27 | 2013-06-05 | 南京工程学院 | End effector of ball-like fruit picking robot |
| CN102227973A (en) * | 2011-04-27 | 2011-11-02 | 南京工程学院 | End effector of ball-like fruit picking robot |
| CN102668813A (en) * | 2012-05-24 | 2012-09-19 | 华南农业大学 | Rotating scissor type litchi picking machine |
| CN102668813B (en) * | 2012-05-24 | 2014-12-10 | 华南农业大学 | Rotating scissor type litchi picking machine |
| CN103039196A (en) * | 2012-09-26 | 2013-04-17 | 广西大学 | Fruit detection and picking integrated device based on single chip microcomputer |
| CN103688660A (en) * | 2013-12-05 | 2014-04-02 | 华南农业大学 | Under-actuated picking tail end executing device and method |
| CN103688660B (en) * | 2013-12-05 | 2015-09-30 | 华南农业大学 | A kind of drive lacking picking end actuating unit and method |
| CN104303709B (en) * | 2014-11-03 | 2016-02-10 | 东北农业大学 | A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables |
| CN104303709A (en) * | 2014-11-03 | 2015-01-28 | 东北农业大学 | Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables |
| CN105108765A (en) * | 2015-10-12 | 2015-12-02 | 王学义 | Manipulator capable of simulating finger holding |
| CN107950200A (en) * | 2017-11-28 | 2018-04-24 | 深圳润丰投资咨询有限公司 | A kind of picking fruit mechanical clamping device |
| CN108377749A (en) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | A kind of end effector of citrus picking robot |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| CN108811757A (en) * | 2018-08-24 | 2018-11-16 | 张振阳 | Rechargeable high-altitude fruit picking device is plucked in rotation |
| CN109566096A (en) * | 2018-12-21 | 2019-04-05 | 安徽工业大学 | A kind of intermittent electronic high-altitude fruit picking device |
| CN110178537A (en) * | 2019-05-23 | 2019-08-30 | 武汉科技大学 | A kind of bionical picker of handheld portable |
| CN112400473A (en) * | 2020-11-28 | 2021-02-26 | 河北工程大学 | Mechanically adjustable fruit picking ring |
| CN112400473B (en) * | 2020-11-28 | 2021-08-17 | 河北工程大学 | Mechanically adjustable fruit picking ring |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod fruit picking manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20111130 Effective date of abandoning: 20130605 |
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| RGAV | Abandon patent right to avoid regrant |