CN205826824U - A kind of motor moment charger - Google Patents
A kind of motor moment charger Download PDFInfo
- Publication number
- CN205826824U CN205826824U CN201620518312.6U CN201620518312U CN205826824U CN 205826824 U CN205826824 U CN 205826824U CN 201620518312 U CN201620518312 U CN 201620518312U CN 205826824 U CN205826824 U CN 205826824U
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- motor
- stand
- flat board
- fixed
- magnetic powder
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Abstract
This utility model relates to a kind of motor moment charger, including magnetic powder brake and electric control system, also include torque rotary speed sensor, angular encoder, stand-by motor, testing stand, magnetic powder brake is connected with one end of torque rotary speed sensor by positive coupling one, and the other end of torque rotary speed sensor is fixed with positive coupling two；Angular encoder is fixed on the extending shaft of tested motor, magnetic powder brake and torque rotary speed sensor are fixed on sliding panel, sliding panel can move on slide rail 16, angular encoder, tested motor and stand-by motor are mounted on the rotary table on testing stand, and rotary table rotation enables to positive coupling two and is connected with the extending shaft of tested motor or is connected with the output shaft of stand-by motor.This utility model solves the technical problem that the loading accuracy of current moment charger is low.The output accuracy of magnetic powder brake of the present utility model is greatly improved.
Description
Technical field
This utility model belongs to moment loading technique field, relates to a kind of high-precision for low cruise motor
Moment charger.
Background technology
Motor because of its have that response speed is sensitive, speed-regulating range width, without advantages such as cumulative errors, be widely applied
Arrive space industry and other have required the technical fields such as hi-Fix, automatically record, automatic aiming.All space industries should
Motor needed product is tested before coming into operation, ensure the performance of motor can reach refer to
Mark, this is particularly significant for control accuracy and the accuracy of aircraft, is to ensure that the precision of space product and the basis of performance, mesh
The front main experiment simulation using moment charger that motor carries out ground.
Moment charger many employings magnetic powder brake of existing motor is as loading unit, because magnetic powders brake
Device is loaded with that Real time and controllable is good, simple, can load continuously, load at a distance and high or low power is all suitable for
Advantage, makes it be widely used in actual production and test.Yet with magnetic powder brake, there is magnetic hysteresis non-linear
Characteristic so that its loading accuracy exists the biggest error with dynamic response, according to investigation and test, uses magnetic powder brake at present
Moment charger output franchise about 2% so that it is the moment environment of simulation with actual have bigger gap；Secondly, at present
Moment charger can only measure the rotating speed of motor, rotation cannot be measured for rotating the motor less than 1r/min
Angle, such as, certain model rocket engine stepping motor design speed is at 1.3r/min, and the actual anglec of rotation is less than 300 °,
Current moment charger cannot measure the anglec of rotation of this motor, and owing to the motor anglec of rotation is little, rotating speed
Low, the magnetic powder chain in magnetic powder brake is not yet formed, and causes actual loaded accuracy tolerances to be far longer than 5%.Therefore, existing power
Square charger cannot the actual condition of accurate simulation slow-speed of revolution motor, also cannot test out the reality of motor
Performance.
Summary of the invention
The purpose of this utility model is to provide a kind of high-precision motor moment charger, solves current stepping
Motor torque charger cannot measure slow-speed of revolution motor rotational angle and the low technical problem of loading accuracy.
This utility model be the technical scheme is that
A kind of motor moment charger, including magnetic powder brake and electric control system, it is characterized in that
Also include that torque rotary speed sensor 5, angular encoder 8, stand-by motor 12, testing stand 17, described magnetic powder brake 3 pass through rigidity
Shaft coupling 1 is connected with one end of torque rotary speed sensor 5, and the other end of torque rotary speed sensor 5 is fixed with positive coupling
26；
Described angular encoder 8 is fixed on the extending shaft 9 of tested motor, and described magnetic powder brake 3 and torque turn
Speed sensor 5 is fixed on sliding panel 18, and sliding panel 18 can move on the slide rail 16 being arranged on testing stand 17, and angle is compiled
Code device 8, tested motor 11 and stand-by motor 12 are mounted on the rotary table 13 on testing stand 17, turn round work
Platform 13 rotates and enables to positive coupling 26 and be connected with the extending shaft 9 of tested motor or defeated with stand-by motor 12
Shaft connects.
Further, there is following improvement:
Above-mentioned electric control system includes electrical control cabinet 15 and the industrial computer 29 being arranged in electrical control cabinet 15, journey
Control power supply 30, angle digital display meter 31, electrical quantity Acquisition Instrument 32 and electric machine controller 33, described industrial computer 29 is by 485 connections
Control programmable power supply 30 output control electric current is in order to change the output torque of magnetic powder brake 3, and industrial computer 29 is also by 485 communications
Line traffic control electric machine controller 33, industrial computer 29 utilizes adopting of 485 connection back production angle digital display meters 31 and electrical quantity Acquisition Instrument 32
Collection data, described testing stand 17 is fixed on the top of electrical control cabinet 15.
Rotary table 13 includes rotating base, revolution flat board, centration axis 19 and locking member, and described rotating base is solid
Being scheduled in laboratory table 17, tested motor 11 and stand-by motor 12 are each attached to turn round on flat board, and one end of centration axis is fixed
On testing stand 17, the other end of centration axis 19 is connected through rotating base with revolution flat board, and revolution flat board rotates around centration axis,
Described locking member is arranged on revolution flat board for position locking.
Above-mentioned rotating base includes that rotating chassis 22, described rotating chassis are fixed on testing stand 17,
Described revolution flat board includes flat board chassis 25, arrange on flat board chassis 25 stand-by motor mounting groove 27 and tested electricity
Machine mounting groove 28, described stand-by motor is fixed in stand-by motor mounting groove 27, and tested motor is fixed on is pacified by measured motor
In tankage 28, flat board chassis 25 is connected with centration axis；
Described locking member include the T-shaped mounting groove 20 being arranged on rotating chassis, be arranged on flat board chassis 25 T-shaped
Rotation slot 23 and set lever 24, one end of described set lever 24 is arranged in T-shaped mounting groove 20, and described set lever 24 is another
One end rotates freely in the T-shaped rotation slot 23 on flat board chassis 25.
Locking member also includes the taper pin-hole 26 being arranged on flat board chassis 25.
Above-mentioned rotating chassis 22 is provided with fixing threaded hole, and described rotating chassis 22 is by fixing nut with testing stand 17 even
Connect.
Also include that display module, described display module include that indicator bracket and display, described indicator bracket 14 are fixed on
Electrical control cabinet side, described display is fixed on indicator bracket 14.
Also include that sliding panel drive mechanism, described sliding panel drive mechanism include rotary handle 1 and leading screw 2, described rotation
Changing hands handle 1 drives leading screw 2 to drive sliding panel 18 to move on slide rail 16.
Motor moment loading method, comprises the following steps:
1) according to the output accuracy of motor, calculate and step-up error threshold value；
2) magnetic powder to magnetic powder brake 3 carries out stabilisation, Homogenization Treatments:
Rotate back to revolving worktable 13 so that positive coupling 26 is connected with the output shaft of stand-by motor 12；Utilize auxiliary electricity
Machine 12 completes the magnetic powder stabilisation to magnetic powder brake 3, Homogenization Treatments, after magnetic powder chain formation, disengages stand-by motor 12；
3) revolving worktable 13 is rotated back to so that positive coupling 26 is connected with tested motor 11；
4) judging whether magnetic powder brake 3 carried out the demarcation of output torque-current relationship, if carrying out demarcation, then holding
Row step 4)；
As do not carried out demarcation, then carry out the output torque of magnetic powder brake 3 and control the demarcation of current relationship, obtaining defeated
Go out moment T and control the fitting formula of electric current I: I=α T3+βT2+ γ T+ ε, wherein；α, β, γ, ε are given value；
5) computational theory control electric current:
The desired output moment of input expectation magnetic powder brake, industrial computer 29 calculates according to the fitting formula obtained should be defeated
The theoretical control electric current gone out；
6) closed loop regulation:
Industrial computer 29 controls programmable power supply 30 and exports theoretical control electric current, gathers magnetic powder system by torque rotary speed sensor 5
The actual output torque value of dynamic device 3, it is judged that whether actual output torque is less than error threshold with the difference of desired output moment；
If difference is less than error threshold, then it is assumed that actual output torque is reasonable, test continues；
If difference is more than error threshold, then according to mathematic interpolation correcting current, carry out controlling electric current according to correcting current
Adjust, until actual output torque is reasonable.
Carrying out output torque and controlling what current relationship was demarcated magnetic powder brake 3 method particularly includes:
Programmable power supply 30, from the beginning of 0A, records the measurement number of a series of control electric current and corresponding output torque with fixed step size
According to, use three rank multinomials to be fitted measuring the data that obtain, obtain the fitting formula of electric current I and moment T: I=α T3+
βT2+ γ T+ ε, wherein；α, β, γ, ε are given value.
The beneficial effects of the utility model are:
1, to utilize stand-by motor to complete the magnetic powder to magnetic powder brake before loading steady for rotary table of the present utility model
Qualitative process, forms magnetic powder chain, and when low speed motor carrying out moment and loading, the output accuracy of magnetic powder brake carries significantly
High.
2, this utility model uses angular encoder to measure the anglec of rotation of motor, solves the most general
The moment charger problem that cannot measure angle.
3, obtained the electric current of motor moment charger and the fit equation of output torque by experiment, utilize and demarcate
Fit equation realize closed loop control to motor moment charger so that the moment of motor moment charger
Loading accuracy 5% brings up to 0.5%
Accompanying drawing explanation
Fig. 1 is the structure chart of this utility model motor moment charger；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is this utility model rotating base structural representation；
Fig. 4 is the structural scheme of mechanism of this utility model revolution flat board；
Fig. 5 is this utility model electric control system schematic diagram；
Fig. 6 is this utility model loading method flow chart
Wherein reference is: 1-rotary handle, 2-leading screw, 3-magnetic powder brake, 4-positive coupling one, and 5-torque turns
Speed sensor, 6-positive coupling two, 7-power transmission shaft, 8-angular encoder, 9-motor extending shaft, 10-encoder-mounting bracket,
The tested motor of 11-, 12-stand-by motor, 13-rotary table, 14-indicator bracket, 15-electrical control cabinet, 16-slide rail,
17-testing stand, 18-sliding panel, 19-centration axis, 20-T type mounting groove, 21-fixes nut, 22-rotating chassis, and 23-T type rotates
Groove 24-set lever, 25-flat board chassis, 26-taper pin-hole, 27-stand-by motor mounting groove, 28-is by measured motor mounting groove, 29-
Industrial computer, 30-programmable power supply, 31-angle digital display meter, 32-electrical quantity Acquisition Instrument, 33-electric machine controller.
Detailed description of the invention
With detailed description of the invention, this utility model is described in detail below in conjunction with the accompanying drawings.
With reference to Fig. 1-Fig. 2, a kind of high-precision motor moment charger includes mechanical connecting part and electric-controlled
Part processed, mechanical connecting part is arranged on testing stand 17, equipped with slide rail 16 and rotary table 13, sliding panel on testing stand 17
18 are arranged on slide rail 16 by screw, and magnetic powder brake 3, torque rotary speed sensor 5 are fixed on sliding panel 18, magnetic powders brake
Device 3 is connected with torque rotary speed sensor 5 one end by positive coupling 1, and torque rotary speed sensor 5 other end is joined by rigidity
Axial organ 26 is connected with power transmission shaft 7.Sliding panel 18 can coordinate slip on slide rail 16 by rotary handle 1 and leading screw 2.Angle
Encoder 8, tested motor 11, stand-by motor 12 are fixed on rotary table 13, angular encoder 8 one end and power transmission shaft
7 are connected, and the other end is connected with the motor extending shaft 9 of tested motor 11 by encoder-mounting bracket 10, tested stepping electricity
Machine 11 is located at turn around one end of workbench 13, and stand-by motor rotates energy at the other end of rotary table 13, rotary table 13
Positive coupling 26 is enough made to be connected with the extending shaft 9 of tested motor or be connected with the output shaft of stand-by motor 12.Aobvious
Show that device frame 14 is fixed to the side of electrical control cabinet 15.
With reference to Fig. 3-Fig. 4, rotary table 13 includes centration axis 19, locking member, rotating base and revolution flat board, rotates
Pedestal is fixed in laboratory table 17, and tested motor 11 and stand-by motor 12 are each attached to turn round on flat board, the one of centration axis
End is fixed on testing stand 17, and the other end of centration axis 19 is connected through rotating base with revolution flat board, and revolution flat board is around centering
Axle rotates, and locking member is arranged on revolution flat board for position locking.
Specifically: rotating base includes rotating chassis 22, rotating chassis is fixed on testing stand 17, turns round flat board bag
The stand-by motor mounting groove 27 that include flat board chassis 25, arranges on flat board chassis 25 and by measured motor mounting groove 28, stand-by motor is solid
Being scheduled in stand-by motor mounting groove 27, tested motor is fixed on by measured motor mounting groove 28, flat board chassis 25 and centering
Axle connects；
Locking member includes the T-shaped mounting groove 20 being arranged on rotating chassis, the T-shaped rotation being arranged on flat board chassis 25
Groove 23 and set lever 24, one end of set lever 24 is arranged in T-shaped mounting groove 20, and set lever 24 other end is at the bottom of flat board
It is freely rotatable in T-shaped rotation slot 23 on dish 25.
Rotating base is fixed on laboratory table flat board 17 by screw, and revolution flat board utilizes centration axis 19 complete with rotating base
Concentrically assemble, utilize set lever 24 to be locked.Set lever 24 top in revolution flat board is in turning T-shaped rotation slot 23
It is freely rotatable, when rotating to precalculated position, set lever 24 handle above is hung tight, the screw division bottom set lever 24
Divide and be just locked at T-shaped mounting groove 20, meanwhile, taper pin-hole 26 is installed taper pin, further will revolution flat board locking.Rotate
T-shaped mounting groove 20 in pedestal is, before device builds beginning, the set lever 24 in revolution flat board is installed the groove position entered, peace
After installing into, need to utilize homemade embedding dribbleware to be filled by T-shaped mounting groove 20, prevent from turning round set lever in flat board rotation process
24 produce T-shaped mounting groove 20.Stand-by motor mounting groove 27 on revolution flat board is used for docking with the installation key of stand-by motor base,
By measured motor mounting groove 28 for docking with the installation key of tested motor base.
Work process of the present utility model:
In conjunction with Fig. 1-Fig. 4, before motor moment charger formally loads, first disconnect positive coupling 26 with
The connection of power transmission shaft 7, utilizes rotary handle 1 and leading screw 2 to coordinate and allows sliding panel 18 move on slide rail 16, to away from revolution work
The direction of platform 13 is moved, and is loosened by set lever 24, rotates back to the revolution flat board on revolving worktable 13 and rotates 180 °, will auxiliary electricity
Machine 12 rotates to one end of positive coupling two, recycling rotary handle 1 and leading screw 2 cooperation allows sliding panel 18 to stand-by motor 12
Direction move, the output shaft of stand-by motor 12 is connected with positive coupling two, now, angular encoder 8 and tested stepping
Motor 11 is not involved in work, and the rotating speed of stand-by motor 12 is the highest, utilizes rotating the magnetic powder of magnetic powder brake 3 of stand-by motor 12
Rotate uniformly, form magnetic powder chain.After magnetic powder brake 3 rotates uniformly, disconnect the connection of stand-by motor 12 and positive coupling two,
Again rotate back to revolving worktable 13, tested motor 11 is connected access moment by power transmission shaft with positive coupling 26 and adds
Carry and put.
With reference to Fig. 5, electric control system with industrial computer 29 as core, complete motor moment charger control,
The work such as collection, output, industrial computer 29 is by 485 connections and programmable power supply 30, angle digital display meter 31, electrical quantity Acquisition Instrument
32, electric machine controller 33 connects, and programmable power supply 30 is connected with the control end of magnetic powder brake 3 by cable, angle digital display meter 31
Being connected with the air plug terminal of angular encoder 8 by cable, electrical quantity Acquisition Instrument 32 and electric machine controller 33 are by cable and quilt
Measured motor 11 is connected.
In conjunction with Fig. 5, industrial computer 29 controls programmable power supply 30 output driving current by 485 connections, drives a current through
Cable controls magnetic powder brake 3 and exports braking moment, and industrial computer 29 is controlling electric machine controller 33 output control by 485 connections
Tested motor 11, tested motor 11 and magnetic powder brake 3 coaxial rotating, torque rotary speed sensor 5 are sent in pulse processed
Collect the output braking moment value of current magnetic powder brake 3 and utilize 485 connections to be sent to industrial computer to show, angular encoder
The electricity of the motor 11 that 31 rotation angle value collecting current tested motor 11 and electrical quantity Acquisition Instrument 32 collect
The values of consult volume such as stream, voltage show to industrial computer 29 again by 485 connection back production.
As shown in Figure 6, the one high-precision motor moment charger that this utility model relates to is before loading, first
Complete the magnetic powder stabilisation to magnetic powder brake 3, Homogenization Treatments first with stand-by motor 12, after magnetic powder chain formation, disengage auxiliary
Help motor 12, tested motor 11 in connection, and judged whether to the demarcation of output torque-current relationship, if
Use first or use overlong time, it is necessary to carry out the output torque of magnetic powder brake 3 and control the demarcation of current relationship, journey
Control power supply 30, from the beginning of 0A, records the measurement data of a series of electric current and corresponding output torque with 0.05A for step-length, uses three
Rank multinomial is fitted measuring the data that obtain, obtains the fitting formula controlling electric current I with output torque T: I=α T3+βT2
+ γ T+ ε, wherein；α, β, γ, ε are given value；Inputting desired moment values at host computer, industrial computer 29 is according to acquisition
Fitting formula calculate the current value that should export, control after programmable power supply 30 exports corresponding current value, to be passed by torque rotary speed
Sensor 5 gathers the moment values of the actual output of magnetic powder brake, it is judged that whether output valve error, less than threshold value, is then thought less than threshold value
Rationally, test continues in output, if output valve error is more than threshold value, is then modified output current value, after having revised again
Output current value, it is achieved that the closed loop control to the output of moment charger.
Claims (8)
1. a motor moment charger, including magnetic powder brake and electric control system, it is characterised in that: also include
Torque rotary speed sensor (5), angular encoder (8), stand-by motor (12) and testing stand (17), described magnetic powder brake (3) leads to
Crossing positive coupling one (4) to be connected with one end of torque rotary speed sensor (5), the other end of torque rotary speed sensor (5) is fixed
There is positive coupling two (6)；
Described angular encoder (8) is fixed on the extending shaft (9) of tested motor, described magnetic powder brake (3) and torque
Speed probe (5) is fixed on sliding panel (18), and sliding panel (18) can be at the slide rail (16) being arranged on testing stand (17)
Upper movement, what angular encoder (8), tested motor (11) and stand-by motor (12) were mounted on testing stand (17) returns
On revolving worktable (13), rotary table (13) rotates the prolongation enabling to positive coupling two (6) with tested motor
Axle (9) connects or is connected with the output shaft of stand-by motor (12).
Motor moment charger the most according to claim 1, it is characterised in that: described electric control system includes
Electrical control cabinet (15) and the industrial computer (29) being arranged in electrical control cabinet (15), programmable power supply (30), angle digital display meter
(31), electrical quantity Acquisition Instrument (32) and electric machine controller (33), described industrial computer (29) controls programmable power supplys by 485 connections
(30) output control electric current is in order to change the output torque of magnetic powder brake (3), and industrial computer (29) is also controlled by 485 connections
Electric machine controller (33), industrial computer (29) utilizes 485 connections back production angle digital display meter (31) and electrical quantity Acquisition Instrument (32)
Gathering data, described testing stand (17) is fixed on the top of electrical control cabinet (15).
Motor moment charger the most according to claim 1 and 2, it is characterised in that: rotary table (13) wraps
Including rotating base, revolution flat board, centration axis (19) and locking member, described rotating base is fixed in laboratory table (17), quilt
Surveying motor (11) and stand-by motor (12) is each attached to turn round on flat board, one end of centration axis is fixed on testing stand (17)
On, the other end of centration axis (19) is connected through rotating base with revolution flat board, and revolution flat board rotates around centration axis, described locking
Parts are arranged on revolution flat board for position locking.
Motor moment charger the most according to claim 3, it is characterised in that: described rotating base includes rotating
Chassis (22), described rotating chassis is fixed on testing stand (17),
Described revolution flat board includes flat board chassis (25), arrange on flat board chassis (25) stand-by motor mounting groove (27) and tested
Motor mounting groove (28), described stand-by motor is fixed in stand-by motor mounting groove (27), and tested motor is fixed on tested
In motor mounting groove (28), flat board chassis (25) are connected with centration axis；
Described locking member include the T-shaped mounting groove (20) being arranged on rotating chassis, be arranged on flat board chassis (25) T-shaped
Rotation slot (23) and set lever (24), one end of described set lever (24) is arranged in T-shaped mounting groove (20), described locking
Handle (24) other end rotates freely in the T-shaped rotation slot (23) on flat board chassis (25).
Motor moment charger the most according to claim 4, it is characterised in that: locking member also includes being arranged on
Taper pin-hole (26) on flat board chassis (25).
Motor moment charger the most according to claim 5, it is characterised in that: described rotating chassis (22) is arranged
Fixing threaded hole, described rotating chassis (22) is had to be connected with testing stand 17 by fixing nut.
Motor moment charger the most according to claim 2, it is characterised in that: also include display module, described
Display module includes that indicator bracket and display, described indicator bracket (14) are fixed on electrical control cabinet side, described display
It is fixed on indicator bracket (14).
Motor moment charger the most according to claim 7, it is characterised in that: also include that sliding panel drives machine
Structure, described sliding panel drive mechanism includes rotary handle (1) and leading screw (2), and described rotary handle (1) drives leading screw (2) band
Dynamic sliding panel (18) is upper mobile at slide rail (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620518312.6U CN205826824U (en) | 2016-05-31 | 2016-05-31 | A kind of motor moment charger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620518312.6U CN205826824U (en) | 2016-05-31 | 2016-05-31 | A kind of motor moment charger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205826824U true CN205826824U (en) | 2016-12-21 |
Family
ID=57558595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620518312.6U Withdrawn - After Issue CN205826824U (en) | 2016-05-31 | 2016-05-31 | A kind of motor moment charger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205826824U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019149A (en) * | 2016-05-31 | 2016-10-12 | 西安航天计量测试研究所 | Stepping motor moment loading device and loading method |
| CN107247232A (en) * | 2017-08-04 | 2017-10-13 | 浙江雅迪机车有限公司 | A kind of variable speed electric motors, particularly loads test equipment |
| CN108152739A (en) * | 2017-12-27 | 2018-06-12 | 横店集团英洛华电气有限公司 | The general offered load test device of wheelchair left and right sidesing driving wheel motor |
-
2016
- 2016-05-31 CN CN201620518312.6U patent/CN205826824U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019149A (en) * | 2016-05-31 | 2016-10-12 | 西安航天计量测试研究所 | Stepping motor moment loading device and loading method |
| CN107247232A (en) * | 2017-08-04 | 2017-10-13 | 浙江雅迪机车有限公司 | A kind of variable speed electric motors, particularly loads test equipment |
| CN107247232B (en) * | 2017-08-04 | 2024-01-09 | 浙江雅迪机车有限公司 | Variable speed motor loading test equipment |
| CN108152739A (en) * | 2017-12-27 | 2018-06-12 | 横店集团英洛华电气有限公司 | The general offered load test device of wheelchair left and right sidesing driving wheel motor |
| CN108152739B (en) * | 2017-12-27 | 2024-05-10 | 浙江联宜电机有限公司 | Universal loading load testing device for left and right driving wheel motors of wheelchair |
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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 | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161221 Effective date of abandoning: 20180914 |