CN202379066U - Abutting and lifting device for recovering underwater robot - Google Patents
Abutting and lifting device for recovering underwater robot Download PDFInfo
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- CN202379066U CN202379066U CN2011205573514U CN201120557351U CN202379066U CN 202379066 U CN202379066 U CN 202379066U CN 2011205573514 U CN2011205573514 U CN 2011205573514U CN 201120557351 U CN201120557351 U CN 201120557351U CN 202379066 U CN202379066 U CN 202379066U
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Abstract
The utility model belongs to the field of recovery of underwater robots, and particularly relates to an abutting and lifting device for recovering an underwater robot. The device comprises a frame, a synchronous connecting bar, clamping mechanisms, trapping ropes and a guiding rope, wherein a plurality of fixed pulleys are arranged on the frame; the clamping mechanisms are respectively hinged to the two sides of the frame; the tops of the two clamping mechanisms are connected by the synchronous connecting bar; each end of the synchronous connecting bar is connected with one end of a corresponding trapping rope; the other end of the trapping rope bypasses the fixed pulley and is controlled by a worker on a mother ship; a guiding tube and a suspending bar are arranged on the frame; the guiding tube is positioned above the suspending bar; one end of a guiding rope is connected into a lifting seat on the underwater robot, and the other end of the guiding rope sequentially penetrates through the suspending bar and the guiding tube, bypasses the fixedly pulley and is controlled by the worker on the mother ship; and an abutting mechanism for abutting the lifting seat on the underwater robot is arranged on the suspending bar. The abutting and lifting device for recovering the underwater robot integrates the functions of lifting, abutting and protection and has a pure mechanical structure and the characteristics that the device has a simple and reliable structure, is easy to operate, and the like.
Description
Technical field
The utility model belongs to under-water robot and reclaims the field, and specifically a kind of under-water robot reclaims with the butt joint lifting appliance.
Background technology
Because oceanographic condition is complicated and changeable, the recovery of under-water robot is a global difficult problem always.Do not need for utility model is a kind of personnel go ashore can the reliable recovery under-water robot method, need a kind ofly can realize with the under-water robot automatic butt and have the clamping protection and only swing the derricking gear of function.
At present, butt joint lifting method commonly used mainly contains three kinds:
A kind of is to take advantage of motor boat near under-water robot by the staff, carries out the auxiliary lifting butt joint of manual work, and is frapping line; Because sea situation is very abominable sometimes, this manually-operated mode not only efficient is very low, and danger close, very likely the staff is damaged.
Second kind is the mechanical device that has power plant, promptly drives bearing pin through the device that has hydraulic pressure, electric power or rope and realizes shirking action; The mode of this remote control not only is difficult for realizing automatic butt, and apparatus structure is complicated, and the power cable is corroded easily in briny environment or is disturbed, so the reliability and the safety of work are low.
Also having a kind of is mechanical docking structure, but it does not possess defencive function, the high risk in the time of can't tackling marine operation.
Therefore developing a kind of collection lifts by crane, docks, is protected in one, adopts the automatic butt release gear of Purely mechanical structure to be necessary.
The utility model content
Be not suitable for the problem that under-water robot reclaims operation in order to solve existing derricking gear, the purpose of the utility model is to provide a kind of under-water robot to reclaim with the butt joint lifting appliance.This butt joint lifting appliance can realize when reclaiming operation that automatically playing flap seat with under-water robot dock and have clamping protection and reach and only swing function, collects and lifts by crane, docks, is protected in one, the automatic butt of employing Purely mechanical structure.
The purpose of the utility model realizes through following technical scheme:
The utility model comprises framework, synchronising (connecting) rod, clamping device, guide wire, suspension rod, frapping line and guiding rope; Its middle frame links to each other with crane on the lash ship through steel rope; A plurality of fixed pulleys are installed on the said framework; Both sides at framework are hinged with clamping device respectively, and the top of two clamping devices connects through said synchronising (connecting) rod; The two ends of said synchronising (connecting) rod all are connected with an end of frapping line, and the other end of this frapping line passes, walks around said fixed pulley by framework and controlled by the staff on the lash ship; Said guide wire and suspension rod are installed on the framework respectively; Guide wire is positioned at the top of suspension rod, and an end of said guiding rope is connected in rising in the flap seat on the under-water robot, and the other end passes suspension rod, guide wire and framework successively; Walk around said fixed pulley, control by the staff on the lash ship; Said suspension rod near the position of end, lower end be provided with said under-water robot on play the docking mechanism that flap seat docks.
Wherein: said docking mechanism comprises driving lever, pin and spring; Suspension rod near the both sides of lower end end position, on axial cross section the symmetry be hinged with driving lever through pin; Said guiding rope is by passing between two driving levers, and the upper end of said two driving levers is connected with said suspension rod through retracing spring respectively; The interior hole shape that plays flap seat on the said under-water robot is corresponding with said driving lever, and said butt joint lifting appliance is in and lays operating condition, and T type handle all is installed on each driving lever, and said T type handle is gone up system has the rope of unhook; The bottom of said framework is provided with connection pipe, and the clamping device of both sides is articulated in the two ends of this connection pipe respectively; Said guide wire and suspension rod are coaxial to be fixed on this connection pipe; Said framework is provided with stop gear, and said synchronising (connecting) rod is plugged in this stop gear; Said stop gear is a position-limited rack, has two, is fixed in the both sides of said frame roof below respectively, and the sense of motion of said position-limited rack upper edge synchronising (connecting) rod is provided with bar-shaped trough, and said synchronising (connecting) rod is passed by the bar-shaped trough on two position-limited racks successively; Said fixed pulley is three, is walked around by the fixed pulley that is positioned at both sides with the other end of synchronising (connecting) rod two ends bonded assembly frapping line, and the other end of said guiding rope is walked around by the fixed pulley in the middle of being positioned at; Said clamping device comprises two shapes, identical in structure end handgrip; Two end handgrips and said framework are hinged; One end of each end handgrip is all hinged with an end of connecting rod, and the other end of each end handgrip is a bare terminal, and the other end of two connecting rods and said synchronising (connecting) rod are hinged; In the hinged place of two connecting rod other ends and between the handgrip of the end in the outside, be provided with extension spring; Said two end handgrip opposed inside are respectively equipped with backing block; The bare terminal of each end handgrip is circular arc, and the bare terminal of two end handgrips forms and the corresponding semicircle of under-water robot profile; The outside of the bare terminal of each end handgrip all is enclosed with the protection leather bag.
Advantage of the utility model and good effect are:
1. the utility model integral structure is safe and reliable, adopts Purely mechanical mechanism, has increased the reliability and the safety of whole device greatly; Adopt the docking mechanism of guiding rope reasonable in design, can realize the automatic butt under the marine complicated sea situation.
2. the utility model is easy to install and use, and the lifting part adopts steel rope, can directly be connected with crane, has avoided transforming the work of crane; Adopt frapping line and guiding rope in the operation, only need the staff rationally to drag the tight rope rope and get final product, simple and reliable.
3. the utility model compatibility is good, can realize that same set of device lays and reclaims under-water robot.
Description of drawings
Fig. 1 is the integral structure scheme drawing of the utility model;
Fig. 2 is the structural representation of clamping device among Fig. 1;
To be the utility model suspension rod with under-water robot play one of workflow diagram that flap seat docks to Fig. 3 A;
To be the utility model suspension rod play two of workflow diagram that flap seat docks with under-water robot to Fig. 3 B;
To be the utility model suspension rod play three of workflow diagram that flap seat docks with under-water robot to Fig. 3 C;
Fig. 3 D be the utility model when laying under-water robot suspension rod and under-water robot play the structural representation of flap seat;
Wherein: 1 is steel rope, and 2 is fixed pulley, and 3 is framework, and 4 is synchronising (connecting) rod, and 5 is stop gear, and 6 is clamping device; 7 is guide wire, and 8 is suspension rod, and 9 has been flap seat, and 10 is frapping line, and 11 are the guiding rope; 12 is extension spring, and 13 is the end handgrip, and 14 is backing block, and 15 are the protection leather bag, and 16 is driving lever; 17 are pin, and 18 is retracing spring, and 19 are T type handle, and 20 is connection pipe, and 21 is connecting rod.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done further to detail.
As shown in Figure 1; The utility model comprises framework 3, synchronising (connecting) rod 4, stop gear 5, clamping device 6, guide wire 7, suspension rod 8, frapping line 10 and guiding rope 11; The two ends at its middle frame 3 tops link to each other with crane on the lash ship through steel rope 1 respectively; Upper surface at framework 3 head slabs is equipped with a plurality of fixed pulleys 2, and present embodiment is three, and the lower surface of framework 3 head slabs is respectively equipped with a stop gear 5 near the end, two ends.The bottom of framework 3 is provided with connection pipe 20; Two ends at this connection pipe 20 are hinged with clamping device 6 respectively; The top of two clamping devices 6 connects through said synchronising (connecting) rod 4, and this synchronising (connecting) rod 4 is passed by two stop gears 5, is limited stop gear 5 and makes perpendicular movement within it; Synchronising (connecting) rod 4 all is connected with an end of frapping line 10 near the position of end, two ends; The other end of two frapping lines 10 by the guide hole on framework 3 head slabs pass, walk around respectively the fixed pulley 2 that is positioned at the left and right sides, by the control of the staff on the lash ship, be responsible for only swinging and under-water robot promptly.Said guide wire 7 and the suspension rod 8 coaxial middle parts that are fixed in connection pipe 20; Guide wire 7 is positioned at the top of suspension rod 8, and an end of guiding rope 11 is fixed in rising in the flap seat 9 on the under-water robot, and the other end passes suspension rod 8, guide wire 7 successively; After passing by the guide hole on framework 3 head slabs; Walk around the fixed pulley 2 in the middle of being positioned at again,, be responsible for guiding butt joint lifting appliance and play docking of flap seat 9 by the control of the staff on the lash ship.Suspension rod 8 near the position of end, lower end be provided with under-water robot on play the docking mechanism that flap seat 9 docks; Shown in Fig. 3 A～3D; This docking mechanism comprises driving lever 16, pin 17 and spring 18, and suspension rod 8 is near the both sides of lower end end position, symmetry 17 is hinged with driving lever 16 through pinning on axial cross section, and driving lever 16 can freely rotate around pin 17; Said guiding rope 11 is by passing between two driving levers 16, and the upper end of two driving levers 16 is connected with suspension rod 8 through retracing spring 18 respectively; The endoporus that plays flap seat 9 on the under-water robot is a stepped hole, and the shape of endoporus is corresponding with driving lever 16; When the butt joint lifting appliance is in when laying operating condition, T type handle 19 all is installed on each driving lever 16, said T type handle 19 inserts driving lever 16 by the mounting hole of offering on the suspension rod 8, and on T type handle 19, is that the rope of unhook is arranged; T type handle 19 is thrown off docking mechanisms in order to the long-range driving lever 16 that draws back when carrying out the laying of under-water robot.
The stop gear 5 of the utility model is a position-limited rack, and the sense of motion of synchronising (connecting) rod 4 is provided with bar-shaped trough in the position-limited rack upper edge, and said synchronising (connecting) rod 4 is passed by the bar-shaped trough on two position-limited racks successively.
As shown in Figure 2, clamping device 6 comprises two shapes, identical in structure end handgrip 13, and being used for promptly, under-water robot carries out safety precaution and only swings; The connection pipe 20 of the middle part of two end handgrips 13 and said framework 3 bottoms is hinged; One end of each end handgrip 13 is all hinged with an end of connecting rod 21; The other end of each end handgrip 13 is a bare terminal, and the other end of two connecting rods 21 and said synchronising (connecting) rod 4 are hinged; In the hinged place of two connecting rod 21 other ends and between the end in outside handgrip 13, be provided with extension spring 12; This extension spring 12 makes end handgrip 13 be in normally open; After docking mechanism docks successfully; Drive synchronising (connecting) rod 4 motions by the staff through frapping line 10 and make two end handgrip 13 closures, hold robot tightly, play anti-pendulum and only swing effect.Each end handgrip 13 with connection pipe 20 hinged places above the inboard be equipped with backing block 14, after holding robot tightly, make end handgrip 13 stop to tighten up, prevent that with all strength dragging frapping line 10 makes end handgrip 13 tensions, damages under-water robot.The bare terminal of each end handgrip 13 is circular arc, and the bare terminal of two end handgrips 13 forms and the corresponding semicircle of under-water robot profile; The outside of the bare terminal of each end handgrip 13 all is enclosed with protection leather bag 15, when preventing to reclaim operation and the robot infringement under-water robot that bumps.
The principle of work of the utility model is:
As shown in Figure 1, before using the utility model to reclaim under-water robot, at first frapping line 10 1 ends are fixed on the synchronising (connecting) rod 4, the other end pass the guide hole of framework 3 head slabs, respectively pass through about two fixed pulleys 2, control by the staff; Suspension rod 8 is assembled into the recovery pattern shown in Fig. 3 A, does not promptly use T type handle.
When reclaiming operation; With under-water robot rise guiding in the flap seat 9 restrict 11 salvage to the lash ship after; To guide rope 11 penetrates from suspension rod 8 bottoms; Be controlled in staff's hand along the fixed pulley 2 of guide wire 7 through the centre, in the whole recovery process, the staff drags tight guiding rope 11 guiding butt joint lifting appliances and accomplishes and the docking an of flap seat 9 of under-water robot along guiding rope 11; Hang over the butt joint lifting appliance on the crane of lash ship through steel rope 1; Treat under-water robot is drawn after near the lash ship; Crane rises, and drives the butt joint lifting appliance and moves to the under-water robot top, and crane drives the butt joint lifting appliance and slowly falls along guiding rope 11; In this process, control frapping line 11 makes clamping device 6 all the time over against under-water robot; After crane fell to suspension rod 8 and a flap seat 9 completion on the under-water robot are docked, crane continued the segment distance that falls, and uses this moment frapping line 10 to control directions; Catch under-water robot, then drag tight frapping line 10, and drive synchronising (connecting) rod 4 along the bar-shaped trough upward movement on the position-limited rack; Synchronising (connecting) rod 4 drive two ends are totally four connecting rods 21; Make two pairs of end handgrips, 13 inside clamped closed, hold under-water robot tightly, play anti-pendulum and only swing effect; At last, crane rises, and uses the butt joint lifting appliance to reclaim under-water robot, in this process, tightly drags frapping line 10 to prevent that acutely waving of under-water robot causes recovery difficult to strengthen under the severe sea condition.
When laying operation, its process is opposite with the recovery operation.At first the flap seat 9 that rises on suspension rod 8 and the under-water robot dock, T type handle 19 is installed on the driving lever 16, and be respectively two ropes that break off relations, note not using this moment guiding to restrict 11; After under-water robot hung out lash ship, slowly fall to the sea, in this process, use frapping line 10 to lay the protection in the process; After under-water robot was drop to the sea, crane continued whereabouts one segment distance, drags tight two ropes that break off relations then simultaneously driving lever 16 is rotated around pin 17 under the effect of T type handle 19; Rise crane this moment; Because driving lever 16 bottoms are retracted in the suspension rod 8, suspension rod 8 rises under crane drives, and has broken away from flap seat 9; The butt joint lifting appliance is separated with under-water robot, accomplish the work that lays of under-water robot.
Claims (10)
1. a under-water robot reclaims with the butt joint lifting appliance; It is characterized in that: comprise framework (3), synchronising (connecting) rod (4), clamping device (6), guide wire (7), suspension rod (8), frapping line (10) and guiding rope (11); Its middle frame (3) links to each other with crane on the lash ship through steel rope (1); A plurality of fixed pulleys (2) are installed on the said framework (3), are hinged with clamping device (6) respectively in the both sides of framework (3), the top of two clamping devices (6) connects through said synchronising (connecting) rod (4); The two ends of said synchronising (connecting) rod (4) all are connected with an end of frapping line (10), and the other end of this frapping line (10) passes, walks around said fixed pulley (2) by framework (3) and controlled by the staff on the lash ship; Said guide wire (7) and suspension rod (8) are installed in respectively on the framework (3); Guide wire (7) is positioned at the top of suspension rod (8); One end of said guiding rope (11) is connected in rising in the flap seat (9) on the under-water robot; The other end passes suspension rod (8), guide wire (7) and framework (3) successively, walks around said fixed pulley (2), is controlled by the staff on the lash ship; Said suspension rod (8) near the position of end, lower end be provided with said under-water robot on play the docking mechanism that flap seat (9) docks.
2. reclaim with the butt joint lifting appliance by the described under-water robot of claim 1; It is characterized in that: said docking mechanism comprises driving lever (16), pin (17) and spring (18); Suspension rod (8) is near the both sides of lower end end position, symmetry is hinged with driving lever (16) through pin (17) on axial cross section; Said guiding rope (11) is by passing between two driving levers (16), and the upper end of said two driving levers (16) is connected with said suspension rod (8) through retracing spring (18) respectively.
3. reclaim with the butt joint lifting appliance by the described under-water robot of claim 2; It is characterized in that: the interior hole shape that plays flap seat (9) on the said under-water robot is corresponding with said driving lever (16); Said butt joint lifting appliance is in and lays operating condition; T type handle (19) all is installed on each driving lever (16), and said T type handle (19) is gone up system has the rope of unhook.
4. reclaim with the butt joint lifting appliance by claim 1 or 2 described under-water robots, it is characterized in that: the bottom of said framework (3) is provided with connection pipe (20), and the clamping device of both sides (6) is articulated in the two ends of this connection pipe (20) respectively; Said guide wire (7) and suspension rod (8) are coaxial to be fixed on this connection pipe (20).
5. reclaim with the butt joint lifting appliance by the described under-water robot of claim 1, it is characterized in that: said framework (3) is provided with stop gear (5), and said synchronising (connecting) rod (4) is plugged in this stop gear (5).
6. reclaim with the butt joint lifting appliance by the described under-water robot of claim 5; It is characterized in that: said stop gear (5) is a position-limited rack; There are two; Be fixed in the both sides of below, said framework (3) top respectively, the sense of motion of said position-limited rack upper edge synchronising (connecting) rod (4) is provided with bar-shaped trough, and said synchronising (connecting) rod (4) is passed by the bar-shaped trough on two position-limited racks successively.
7. reclaim with the butt joint lifting appliance by the described under-water robot of claim 1; It is characterized in that: said fixed pulley (2) is three; Walked around by the fixed pulley that is positioned at both sides with the other end of synchronising (connecting) rod (4) two ends bonded assembly frapping lines (10), the other end of said guiding rope (11) is walked around by the fixed pulley in the middle of being positioned at.
8. reclaim with the butt joint lifting appliance by claim 1,2,5 or 6 described under-water robots; It is characterized in that: said clamping device (6) comprises two shapes, identical in structure end handgrip (13); Two end handgrips (13) are hinged with said framework (3); One end of each end handgrip (13) is all hinged with an end of connecting rod (21), and the other end of each end handgrip (13) is a bare terminal, and the other end of two connecting rods (21) and said synchronising (connecting) rod (4) are hinged; In the hinged place of two connecting rods (21) other end and be positioned between the end handgrip (13) in the outside and be provided with extension spring (12).
9. reclaim with the butt joint lifting appliance by the described under-water robot of claim 8, it is characterized in that: said two end handgrips (13) opposed inside is respectively equipped with backing block (14).
10. reclaim with the butt joint lifting appliance by the described under-water robot of claim 8, it is characterized in that: the bare terminal of each end handgrip (13) is circular arc, and the bare terminal of two end handgrips (13) forms and the corresponding semicircle of under-water robot profile; The outside of the bare terminal of each end handgrip (13) all is enclosed with protection leather bag (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205573514U CN202379066U (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205573514U CN202379066U (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN202379066U true CN202379066U (en) | 2012-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205573514U Expired - Lifetime CN202379066U (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202379066U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103183112A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Abutting and lifting device for recovering underwater robot |
| CN103998338A (en) * | 2011-11-28 | 2014-08-20 | 艾波勒公司 | Launch and recovery device |
| US9643691B2 (en) | 2011-11-28 | 2017-05-09 | Aeplog, Inc. | Launch and recovery device |
| CN107848610A (en) * | 2015-07-30 | 2018-03-27 | Mku有限责任公司 | For launching and withdrawing the lifting device of Underwater Ships or torpedo |
| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
| CN110937087A (en) * | 2019-12-03 | 2020-03-31 | 哈尔滨工程大学 | Underwater AUV (autonomous underwater vehicle) laying and recycling butt joint device and butt joint method |
| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
| CN111648407A (en) * | 2020-06-22 | 2020-09-11 | 哈尔滨工业大学（威海） | A ordinary pressure working bin for under water construction |
| CN112701610A (en) * | 2020-12-30 | 2021-04-23 | 浙江启明电力集团有限公司海缆工程公司 | Submarine cable offshore repairing, retracting and operating system capable of automatically disengaging |
| CN113479300A (en) * | 2021-07-19 | 2021-10-08 | 中仁应急救援有限公司 | High altitude rescue unmanned aerial vehicle's fishing device |
-
2011
- 2011-12-28 CN CN2011205573514U patent/CN202379066U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103998338A (en) * | 2011-11-28 | 2014-08-20 | 艾波勒公司 | Launch and recovery device |
| US9643691B2 (en) | 2011-11-28 | 2017-05-09 | Aeplog, Inc. | Launch and recovery device |
| CN103183112A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Abutting and lifting device for recovering underwater robot |
| CN103183112B (en) * | 2011-12-28 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Abutting and lifting device for recovering underwater robot |
| CN107848610A (en) * | 2015-07-30 | 2018-03-27 | Mku有限责任公司 | For launching and withdrawing the lifting device of Underwater Ships or torpedo |
| CN110208033A (en) * | 2019-06-11 | 2019-09-06 | 苏州船用动力系统股份有限公司 | A kind of Split-type deep sea mobile television grab bucket |
| CN110937087A (en) * | 2019-12-03 | 2020-03-31 | 哈尔滨工程大学 | Underwater AUV (autonomous underwater vehicle) laying and recycling butt joint device and butt joint method |
| CN110937087B (en) * | 2019-12-03 | 2021-10-01 | 哈尔滨工程大学 | Underwater AUV (autonomous underwater vehicle) laying and recycling butt joint device and butt joint method |
| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
| CN111648407A (en) * | 2020-06-22 | 2020-09-11 | 哈尔滨工业大学（威海） | A ordinary pressure working bin for under water construction |
| CN112701610A (en) * | 2020-12-30 | 2021-04-23 | 浙江启明电力集团有限公司海缆工程公司 | Submarine cable offshore repairing, retracting and operating system capable of automatically disengaging |
| CN113479300A (en) * | 2021-07-19 | 2021-10-08 | 中仁应急救援有限公司 | High altitude rescue unmanned aerial vehicle's fishing device |
| CN113479300B (en) * | 2021-07-19 | 2022-05-13 | 中仁应急救援有限公司 | High altitude rescue unmanned aerial vehicle's fishing device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120815 Effective date of abandoning: 20150610 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20120815 Effective date of abandoning: 20150610 |
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| RGAV | Abandon patent right to avoid regrant |