CN202828979U - Stacking robot gripping hand - Google Patents

Stacking robot gripping hand Download PDF

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Publication number
CN202828979U
CN202828979U CN 201220300710 CN201220300710U CN202828979U CN 202828979 U CN202828979 U CN 202828979U CN 201220300710 CN201220300710 CN 201220300710 CN 201220300710 U CN201220300710 U CN 201220300710U CN 202828979 U CN202828979 U CN 202828979U
Authority
CN
China
Prior art keywords
plate
board
grasping teeth
cylinder
pressing plate
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.)
Withdrawn - After Issue
Application number
CN 201220300710
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Chinese (zh)
Inventor
董紫洁
左恩海
周文明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Muyang Group Co Ltd
Original Assignee
MUYANG CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MUYANG CO Ltd filed Critical MUYANG CO Ltd
Priority to CN 201220300710 priority Critical patent/CN202828979U/en
Application granted granted Critical
Publication of CN202828979U publication Critical patent/CN202828979U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model relates to the field of a robot for packing, handling and stacking, and in particular to a stacking robot gripping hand. The stacking robot gripping hand mainly comprises a main frame mechanism, a connecting plate, two groups of gripping tooth mechanisms and a light cylinder. The main frame mechanism is composed of a front side plate, a rear side plate, a left side plate, a right side plate and a top plate. The connecting plate is fixed on the top plate. The two groups of gripping tooth mechanisms are symmetrical with each other and supported on the front side plate and the rear side plate of the main frame mechanism. The light cylinder is symmetrically arranged obliquely on the left side and the right side of the main frame mechanism and used for driving the gripping tooth mechanisms to rotate. Each group of the gripping mechanisms comprises a plurality of L-shaped gripping teeth which are fixedly connected by a plurality of connecting rods and are evenly arranged and point at the same side. The gripping teeth are fixedly connected with two rows of rotating arms which are parallel through the connecting rods, the end portions of the two rotating arms are connected with rotating shafts, and the front side plate and the rear side plate are correspondingly provided with mounted bearings which are used for supporting and mounting the rotating shafts. Pressing plates which are used for clamping the two sides of gripped objects and the distances of the pressing plates are adjustable are further arranged on corresponding inner sides of the two groups of gripping tooth mechanisms. The stacking robot gripping hand is simple and compact in structure, flexible in operating, quick in gripping, stable in gripping speed and wide in application range.

Description

Stack robot manipulator
Technical field
The utility model relates to bag class or case class packing carrying piling machine, and particularly a kind of stack robot manipulator belongs to the robot field.
Background technology
The carrying piling mode of at present China's palletizing operation employing has: the one, and a dead lift; The 2nd, the mechanical type stacker; The 3rd, the palletizing mechanical people.A dead lift exists that labour intensity is large, efficient is low and the problem of poor stability; And the mechanical type stacker is subjected to the restriction of the factors such as structure, the shortcoming such as exist that floor area is large, operating sequence change trouble (have even can't change), consumption of current are large.Robot palletizer all is suitable for the goods of carton, the various shaped package such as packed, and dependable performance, maintenance are simple.In order to enhance productivity, save cost, create beneficial result, enterprise is also more and more extensive to the application of robot palletizer, and the quality of handgrip directly has influence on the workmanship of robot palletizer. 
China Patent No. is that 20082015440.0 utility model patent discloses a kind of packing robot for carrying and piling handgrip, see also Fig. 1, this stack robot manipulator comprises top board 100, closed slide 200, left supported plate 300L, right supported plate 300R, finger mechanism and press plate mechanism.Described top board 100 is in order to connect handgrip and robot palletizer body, and the below arranges closed slide 200.Described left supported plate 300L and right supported plate 300R are arranged on described closed slide 200 lower surface two ends, connect by bidirectional helical bar 802, and described bidirectional helical bar 802 passes the threaded slide block that is arranged on the support plate of the left and right sides.Owing to bidirectional helical bar 802 is distributed with reverse thread, rotate two thread rods 802 so that two threaded slide block synchronous backwards motions realize that left and right sides support plate is same
The step counter motion.Can be according to the big or small distance of regulating finger mechanism of bag class packing.The handgrip of described robot palletizer is comprised of left-right symmetric mechanism, and wherein a side comprises some L shaped fingers, some pipe links, some bearing frames, S. A. and cylinder connection piece.Two cylinders 501 respectively symmetry are fixed on described left supported plate 300L and the described right supported plate 300R, when cylinder 501 is done the piston motion, can drive finger mechanism and move around described S. A., realize the opening and closing grasping movement of finger mechanism.Press plate mechanism is comprised of the cylinder and a pair of pressing plate that are vertically fixed on the described left and right support plate, and shaping is carried out in packaging bag.
But the kinematic mechanism of above-mentioned stack robot manipulator is complicated, large, whole heaviness, malfunction, maintenance inconvenience take up room, grasp speed is slow, production efficiency is low, and during crawl volume case bag class goods bigger than normal or less than normal, clamping to goods is unstable, has potential safety hazard in the piling process.
The utility model content
The utility model provides a kind of simple and compact for structure for the problem that prior art exists, flexible operation, and grasp speed is fast, and can stablize the stack robot manipulator of crawl and piling case bag class packed goods.
The purpose of this utility model is achieved in that a kind of stack robot manipulator, comprises the body frame mechanism that mainly is comprised of front side plate, rear quarter panel, left side board, right side board and top board; Be fixed in the connecting panel on the top board; Rotational support is in two groups of body frame mechanism front side plate and rear quarter panel symmetrical grasping teeth mechanisms; Comprise that also symmetrical inclined places the body frame mechanism left and right sides and is used for driving the light-duty cylinder that grasping teeth mechanism rotates, described light-duty cylinder is separately fixed at left side board and the right side board outside, and the piston end of light-duty cylinder is hinged on respectively in the grasping teeth mechanism; Described every group of grasping teeth mechanism comprises the some L-type grasping teeths that are evenly arranged and point to homonymy by some pipe link captive joints, described grasping teeth is by the pipe link pivot arm captive joint parallel with two rows, described two pivot arm ends are connected with S. A., the corresponding rolling bearing units of S. A. being installed for supporting that are provided with on described front side plate and the rear quarter panel; The corresponding inboard of described two groups of grasping teeth mechanisms also is provided with the adjustable pressing plate of spacing of being grabbed the thing both sides for clamping.
Stack robot manipulator of the present utility model, the fore and aft motion by the tilting light-duty cylinder in body frame mechanism both sides drive both sides grasping teeth mechanism around separately S. A. rotate realize grasping teeth the opening and closing campaign to finish the action of crawl goods.When the external packing width of the goods that grasps during less than the length of both sides grasping teeth horizontal direction, can regulate to the inside the distance of two pressing plates, make pressing plate be close to the outside of packing material, when the external packing width of the goods that grasps bigger than normal, when grasping teeth mechanism clamps goods, opening angle is bigger than normal, the dual-side that makes grasping teeth can't be adjacent to the goods packing outer side edges and when causing crawl unstable, can suitably regulate the angle of pressing plate, to guarantee that pressing plate is in vertically, pressing plate still can be adjacent to the dual-side of goods external packing during the crawl goods, reaches the purpose of stable holding and crawl goods; Because of a little, press plate position of the present utility model can be according to the different flexible of goods external packing size, to adapt to the carrying piling of different external packing size goods, the range of use of the buttress code robot that obviously increases with angle.In addition, adopt handgrip structure of the present utility model, during the crawl goods, only need the fore and aft motion of control both sides cylinder just can realize, omitted the parts such as slide block, guide rail, make handgrip simple in structure, compact, light, flexible operation, grasp speed is fast, and efficient is high.
For ease of the adjusting of pressing plate and fixing, described pressing plate is arranged at the grasping teeth inboard, and the described pressing plate back side vertically is provided with adjust bar, evenly is placed with some connecting bores on the described adjust bar, the corresponding connecting bore that is provided with for the secured adjusted bar on the described pivot arm.
For adapting to the portage piling of difformity external packing, different according to piling goods external packing shape, the shape of described pressing plate can be flat board, arc or bending plate.
For further guaranteeing the reliability of crawl and the safety of carrying, the body frame mechanism of described every group of grasping teeth mechanism middle upper part is provided with bag compression framework, described bag compression framework comprises pressing plate, guide rod cylinder and cylinder connecting panel, the horizontal sides of described pressing plate and grasping teeth be arranged in parallel, described guide rod cylinder is vertical to be arranged and end connection pressing plate, and the other end is captiveed joint with body frame mechanism by the cylinder connecting panel.
For guaranteeing grasping teeth and light-duty cylinder stable action, front side plate or the rear quarter panel of the pivot arm upside of close S. A. are provided with water bumper, can cushion the vibrations that pivot arm opens grasping teeth mechanism when moving.
For ease of fixing of light-duty cylinder, be fixed with a crossbeam between described two pivot arms, be fixed with the hinged seat for hinged cylinder piston end on the described crossbeam, the other end of described light-duty cylinder is by being fixed on left side board and right side board upper cylinder seat is hinged in the body frame mechanism.
For alleviating the weight of grasping teeth, described L-type grasping teeth adopts aluminum alloy materials to make.
As a kind of embodiment of the present utility model, the elongate frame that described pressing plate is formed by some steel pipe weldings.
Description of drawings
Fig. 1 is the block diagram of stack robot manipulator of the prior art.
Fig. 2 is the block diagram of stack robot manipulator of the present utility model.
Fig. 3 is the front view of stack robot manipulator
Fig. 4 is Fig. 3 left view.
Fig. 5 is the block diagram of grasping teeth mechanism.
In Fig. 2-Fig. 5,100 connecting panels; 200 grasping teeth mechanisms; 201 grasping teeths; 202 pivot arms; 203 adjusts bar; 204 pressing plates; 205 hinged seats; 206 S. A.s; 207 pipe links; 208 crossbeams; 300 bag compression frameworks; 301 guide rod air pumps; 302 bag pressing plates; 303 air pump connecting panels; 400 body frame mechanisms; 401 left side boards; 402 right side boards; 403 front side plates; 404 rear quarter panels; 405 top boards; 406 rolling bearing units; 407 air pump seats; 408 water bumpers; 500 light-duty cylinders.
The specific embodiment
Such as Fig. 2-Figure 5 shows that stack robot manipulator of the present utility model, comprise the body frame mechanism 400 that is mainly formed by front side plate 403, rear quarter panel 404, left side board 401, right side board 402 and top board 405; Be fixed in the connecting panel 100 on the top board 405, connecting panel 100 is used for handgrip is connected with the main body of robot palletizer; The left and right sides of front side plate 403 and rear quarter panel 404 is supported and is provided with rotating grasping teeth mechanism 200; Comprise that also symmetrical inclined places body frame mechanism 400 left and right sides and is used for driving the light-duty cylinder 500 that grasping teeth mechanism 200 rotates, light-duty cylinder 500 is separately fixed at left side board 401 and right side board 402 outsides, the piston end of light-duty cylinder 500 is hinged on respectively in the grasping teeth mechanism 200, is provided for controlling electromagnetic valve and the reducing valve of light-duty cylinder action in the body frame mechanism 400.As shown in Figure 3, every group of grasping teeth mechanism 200 comprises the some L-type grasping teeths 201 that are evenly arranged and point to homonymy by some pipe link 207 captive joints, for alleviating the weight of whole handgrip, grasping teeth 201 adopts aluminum alloy or other light metal material to make, grasping teeth 201 is by pipe link 207 pivot arm 202 captive joints parallel with two rows, two pivot arms, 202 ends are connected with S. A. 206, the corresponding rolling bearing units 406 of S. A. 206 being installed for supporting that are provided with on front side plate 403 and the rear quarter panel 404; Two groups of grasping teeth mechanism 200 corresponding inboards also are provided with the adjustable pressing plate 204 of spacing of being grabbed the thing both sides for clamping.
Among the embodiment, for ease of the adjusting of pressing plate 204 and fixing, pressing plate 204 is arranged at grasping teeth 201 inboards, the heavy adjust bar 203 that directly is provided with in pressing plate 204 back sides, evenly be placed with some connecting bores on the adjust bar 203, the corresponding connecting bore that is provided with for secured adjusted bar 203 on the pivot arm 202.When needs adjust two pressing plates 204 apart from the time, a connecting bore position that only needs to adjust adjust bar 203 and pivot arm 202 gets final product.
For adapting to the carrying piling of different external packing goods, different according to piling goods external packing shape, the shape of described pressing plate 204 can be flat board, arc or bending plate.
For guaranteeing that further robot palletizer grasps the reliability of goods and the safety of carrying, the body frame mechanism 400 of every group of grasping teeth mechanism 200 middle upper parts is provided with bag compression framework 300, bag compression framework 300 comprises pressing plate 302, guide rod cylinder 301 and cylinder connecting panel 303, and pressing plate 302 be arranged in parallel with the horizontal sides of grasping teeth 201, guide rod cylinder 301 vertically arranges an end and connects bag pressing plate 302, and the other end is captiveed joint with body frame mechanism 100 by cylinder connecting panel 303.Among the embodiment, the elongate frame that bag pressing plate 302 is welded by some steel pipe assembly units.Certainly, pressing plate 302 also can be other plate assembling structure that can compress from the top goods.
For guaranteeing grasping teeth mechanism 200 and light-duty cylinder 500 stable action, the front side plate 403 of pivot arm 202 upsides of close S. A. 206 or rear quarter panel 404 are provided with the water bumper 408 for restricting rotation arm 202 opening angles.
For ease of fixing of light-duty cylinder 500, be fixedly connected with crossbeam 202 between two pivot arms 202, be fixed with the hinged seat 205 for hinged cylinder piston end on the crossbeam 202, the other end of light-duty cylinder 500 is hinged in the body frame mechanism 400 by the cylinder block 407 that is fixed on left side board 401 and the right side board 402.
Stack robot manipulator of the present utility model, the fore and aft motion by the tilting light-duty cylinder 500 in body frame mechanism 400 both sides drive both sides grasping teeth mechanism 200 around separately S. A. 206 rotate realize grasping teeth mechanisms 200 the opening and closing campaign to finish the action of crawl goods.Bag compression framework 300 is fixed goods downwards from the top of goods simultaneously, prevents that goods from dropping in carrying and piling.When the external packing width of the goods that grasps during less than the width of both sides grasping teeth 201 horizontal directions, can regulate to the inside the distance of two pressing plates 204, make pressing plate 204 be close to the outside of packing material, when the external packing width of the goods that grasps bigger than normal, when grasping teeth mechanism 200 clamps goods, opening angle is bigger than normal, make the dual-side of grasping teeth can not reach vertical state, can suitably regulate the angle of pressing plate 204, to guarantee that pressing plate 204 is in vertically, pressing plate 204 still can be adjacent to the dual-side of goods external packing when clamping goods, reaches the purpose of stable holding and crawl goods.Because of a little, pressing plate of the present utility model 204 positions can be according to the different flexible of goods external packing size, to adapt to the carrying piling of different external packing size goods, the range of use of the buttress code robot that obviously increases with angle.In addition, adopt handgrip structure of the present utility model, during the crawl goods, only need the fore and aft motion of the light-duty cylinder in control both sides just can realize, omitted the parts such as slide block, guide rail, make handgrip simple in structure, compact, light, flexible operation, grasp speed is fast, and efficient is high.
The utility model is not limited to above-described embodiment; every on the basis of the disclosed technical scheme of the utility model; those skilled in the art is according to disclosed technology contents; do not need performing creative labour just can make some replacements and distortion to some technical characterictics wherein, these replacements and distortion are all in the scope of the utility model protection.

Claims (8)

1. a stack robot manipulator comprises the body frame mechanism that mainly is comprised of front side plate, rear quarter panel, left side board, right side board and top board; Be fixed in the connecting panel on the top board; Rotational support is in two groups of body frame mechanism front side plate and rear quarter panel symmetrical grasping teeth mechanisms; It is characterized in that, comprise that also symmetrical inclined places the body frame mechanism left and right sides and is used for driving the light-duty cylinder that grasping teeth mechanism rotates, described light-duty cylinder is separately fixed at left side board and the right side board outside, and the piston end of light-duty cylinder is hinged on respectively in the grasping teeth mechanism; Described every group of grasping teeth mechanism comprises the some L-type grasping teeths that are evenly arranged and point to homonymy by some pipe link captive joints, described grasping teeth is by the pipe link pivot arm captive joint parallel with two rows, described two pivot arm ends are connected with S. A., the corresponding rolling bearing units of S. A. being installed for supporting that are provided with on described front side plate and the rear quarter panel; The corresponding inboard of described two groups of grasping teeth mechanisms also is provided with the adjustable pressing plate of spacing of being grabbed the thing both sides for clamping.
2. stack robot manipulator according to claim 1, it is characterized in that, described pressing plate is arranged at the grasping teeth inboard, and the described pressing plate back side vertically is provided with adjust bar, evenly be placed with some connecting bores on the described adjust bar, the corresponding connecting bore that is provided with for the secured adjusted bar on the described pivot arm.
3. stack robot manipulator according to claim 1 is characterized in that, and is different according to piling goods external packing shape, and the shape of described pressing plate can be flat board, arc or bending plate.
4. according to claim 1 and 2 or 3 described stack robot manipulators, it is characterized in that, the body frame mechanism of described every group of grasping teeth mechanism middle upper part is provided with bag compression framework, described bag compression framework comprises bag pressing plate, guide rod cylinder and cylinder connecting panel, the horizontal sides of described bag pressing plate and grasping teeth be arranged in parallel, described guide rod cylinder is vertical to be arranged and end connection bag pressing plate, and the other end is captiveed joint with body frame mechanism by the cylinder connecting panel.
5. according to claim 1 and 2 or 3 described stack robot manipulators, it is characterized in that, be provided with water bumper near front side plate or the rear quarter panel of the pivot arm upside of S. A..
6. according to claim 1 and 2 or 3 described stack robot manipulators, it is characterized in that, be fixed with a crossbeam between described two pivot arms, be fixed with the hinged seat for hinged light-duty cylinder piston end on the described crossbeam, the other end of described light-duty cylinder is hinged in the body frame mechanism by the cylinder block that is fixed on left side board and the right side board.
7. according to claim 1 and 2 or 3 described stack robot manipulators, it is characterized in that, described L-type grasping teeth adopts aluminum alloy materials to make.
8. according to claim 1 and 2 or 3 described stack robot manipulators, it is characterized in that the elongate frame that described pressing plate is formed by some steel pipes weldings.
CN 201220300710 2012-06-26 2012-06-26 Stacking robot gripping hand Withdrawn - After Issue CN202828979U (en)

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Application Number Priority Date Filing Date Title
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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102729242A (en) * 2012-06-26 2012-10-17 江苏牧羊集团有限公司 Stacking robot gripper
CN103434839A (en) * 2013-08-29 2013-12-11 江苏三环实业股份有限公司 Lead-acid storage battery grid automatic conveying device
CN104260102A (en) * 2014-09-15 2015-01-07 江苏牧羊控股有限公司 Robot gripper
CN104647394A (en) * 2015-02-09 2015-05-27 常州创盛自动化设备有限公司 Novel adjustable robot gripper
CN104803203A (en) * 2015-04-24 2015-07-29 广西壮族自治区农业机械研究院 Vacuum suction-lift unstacking mechanism of soft bagged package
CN105151774A (en) * 2015-09-11 2015-12-16 苏州博众精工科技有限公司 Extraction device
CN105150224A (en) * 2015-09-10 2015-12-16 安徽工程大学 Dual clamping mechanical catching hand device
CN106112319A (en) * 2016-07-16 2016-11-16 中山汉通激光设备有限公司 The discharging mechanism of laser-beam welding machine
CN106542340A (en) * 2016-12-09 2017-03-29 屈兆辉 A kind of crawl machinery at a high speed
CN106743711A (en) * 2016-11-30 2017-05-31 潘云清 A kind of pneumatic stacking folder
CN107627321A (en) * 2017-11-01 2018-01-26 衢州艾尚工业设计有限公司 A kind of gripping structure of intelligent stacking robot
CN107671882A (en) * 2017-09-30 2018-02-09 镇江市谷品道原农业有限公司 A kind of stalk carries gripper structure in fork
CN108910518A (en) * 2018-08-01 2018-11-30 王定安 A kind of stack robot manipulator
CN108972600A (en) * 2018-08-01 2018-12-11 王定安 A kind of package handler device people's handgrip of double pressurizations
CN109305566A (en) * 2017-07-28 2019-02-05 云南卓沛科技有限公司 A kind of heap stacking machine, grabbing device and catching mechanism
CN110103247A (en) * 2019-05-16 2019-08-09 佛山隆深机器人有限公司 A kind of product stacking control system
CN111232659A (en) * 2020-01-15 2020-06-05 雷海燕 Clamping device of agricultural stacker crane

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102729242A (en) * 2012-06-26 2012-10-17 江苏牧羊集团有限公司 Stacking robot gripper
CN102729242B (en) * 2012-06-26 2014-12-03 江苏牧羊集团有限公司 Stacking robot gripper
CN103434839A (en) * 2013-08-29 2013-12-11 江苏三环实业股份有限公司 Lead-acid storage battery grid automatic conveying device
CN103434839B (en) * 2013-08-29 2015-09-30 江苏三环实业股份有限公司 A kind of lead acid accumulator plate grid automatic conveying device
CN104260102A (en) * 2014-09-15 2015-01-07 江苏牧羊控股有限公司 Robot gripper
CN104260102B (en) * 2014-09-15 2016-11-30 江苏牧羊控股有限公司 A kind of robot gripper
CN104647394A (en) * 2015-02-09 2015-05-27 常州创盛自动化设备有限公司 Novel adjustable robot gripper
CN104803203B (en) * 2015-04-24 2017-11-03 广西壮族自治区农业机械研究院 A kind of packed bag vacuum Xi Ti de-stackings mechanism of soft shape
CN104803203A (en) * 2015-04-24 2015-07-29 广西壮族自治区农业机械研究院 Vacuum suction-lift unstacking mechanism of soft bagged package
CN105150224A (en) * 2015-09-10 2015-12-16 安徽工程大学 Dual clamping mechanical catching hand device
CN105151774A (en) * 2015-09-11 2015-12-16 苏州博众精工科技有限公司 Extraction device
CN106112319A (en) * 2016-07-16 2016-11-16 中山汉通激光设备有限公司 The discharging mechanism of laser-beam welding machine
CN106743711A (en) * 2016-11-30 2017-05-31 潘云清 A kind of pneumatic stacking folder
CN106542340A (en) * 2016-12-09 2017-03-29 屈兆辉 A kind of crawl machinery at a high speed
CN109305566A (en) * 2017-07-28 2019-02-05 云南卓沛科技有限公司 A kind of heap stacking machine, grabbing device and catching mechanism
CN107671882A (en) * 2017-09-30 2018-02-09 镇江市谷品道原农业有限公司 A kind of stalk carries gripper structure in fork
CN107627321A (en) * 2017-11-01 2018-01-26 衢州艾尚工业设计有限公司 A kind of gripping structure of intelligent stacking robot
CN108910518A (en) * 2018-08-01 2018-11-30 王定安 A kind of stack robot manipulator
CN108972600A (en) * 2018-08-01 2018-12-11 王定安 A kind of package handler device people's handgrip of double pressurizations
CN108910518B (en) * 2018-08-01 2020-08-14 温州普睿达机械科技有限公司 Pile up neatly machine people tongs
CN110103247A (en) * 2019-05-16 2019-08-09 佛山隆深机器人有限公司 A kind of product stacking control system
CN111232659A (en) * 2020-01-15 2020-06-05 雷海燕 Clamping device of agricultural stacker crane

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Effective date of registration: 20130416

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