CN206347983U - A kind of portable probe measurement machine - Google Patents
A kind of portable probe measurement machine Download PDFInfo
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- CN206347983U CN206347983U CN201621244434.7U CN201621244434U CN206347983U CN 206347983 U CN206347983 U CN 206347983U CN 201621244434 U CN201621244434 U CN 201621244434U CN 206347983 U CN206347983 U CN 206347983U
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- measuring arm
- revolute joint
- angle
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- joint
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Abstract
The utility model discloses a kind of portable probe measurement machine, including base, the first revolute joint, the first measuring arm, the second revolute joint, the second measuring arm and gauge head, base, the first revolute joint, the first measuring arm, the second revolute joint, the second measuring arm and gauge head are sequentially connected.In the utility model, mobile gauge head measures spatially any two positions, first angle encoder in first revolute joint detects the angle that the first measuring arm is rotated around base, second angle encoder in second revolute joint detects the angle that the second measuring arm is rotated around the first measuring arm, the angle information that first angle encoder and second angle encoder are obtained, which is sent to external device, can just calculate the distance or angle information of any two positions on measurement space, and it is simple in construction, it is light, environmental requirement to measurement is low, can arbitrarily it be moved when measurement.
Description
Technical field
The utility model is related to fields of measurement, more particularly to a kind of portable probe measurement machine.
Background technology
In recent years, with the fast development of China's economic, status of the detection technique in industrial development is more and more significant, from
And the application prospect of measuring instrument is become more wide, because there is the high precision to object table millet cake in many technical fields
The demand of position measurement, especially for manufacturing, the measurement and quality control of product are extremely important, on these fields,
It is used for measurement apparatus formed by such special duty in the presence of a lot.Therefore a kind of coordinate measure tool is generated, it is traditional
Machine components in coordinate measure tool are extremely complex, and its is bulky, and the environmental requirement to measurement is high, when measurement
Can not arbitrarily it move.
Utility model content
In order to overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of portable probe measurement machine,
The first angle encoder that mobile gauge head is measured in spatially any two positions, the first revolute joint detects the first measuring arm
Second angle encoder in the angle rotated around base, the second revolute joint detects the second measuring arm around the first measurement
The angle that arm is rotated, the angle information that first angle encoder and second angle encoder are obtained is sent to external device
The distance or angle information of any two positions on measurement space can be just calculated, and it is simple in construction, light, to measurement
Environmental requirement is low, can arbitrarily be moved when measurement, traditional coordinate measure tool can be solved because bulky, to surveying
The environmental requirement of amount is high, the problem of can not arbitrarily being moved when measurement.
The purpose of this utility model is realized using following technical scheme：
A kind of portable probe measurement machine, including base, the first revolute joint, the first measuring arm, the second revolute joint,
Two measuring arms and gauge head, one end of the first measuring arm carry out rotation by the first revolute joint and base and are connected, and the first revolution is closed
Section includes first angle encoder, and first angle encoder is located in the first revolute joint, and first angle encoder is used to detect
The angle that first measuring arm is rotated around base, the other end of the first measuring arm passes through the second revolute joint and the second measuring arm
One end is hinged, and the second revolute joint includes second angle encoder, and second angle encoder is located in the second revolute joint,
Second angle encoder is used to detecting the angle that is rotated around the first measuring arm of the second measuring arm, the second measuring arm other end with
Gauge head is fixedly connected.
It is preferred that, the first measuring arm is first rotating shaft line around the axis that base is rotated, and the second measuring arm is around first
The axis that measuring arm is rotated is the second shaft axis, and first rotating shaft line is mutually perpendicular to second shaft axis.
It is preferred that, in addition to the 3rd measuring arm and the 3rd revolute joint, the second measuring arm other end pass through the 3rd revolution and closed
Section is hinged with the 3rd measuring arm one end, and the 3rd revolute joint includes third angle encoder, and third angle encoder is located at
In 3rd revolute joint, third angle encoder is used to detect the angle that the 3rd measuring arm is rotated around the second measuring arm, the
The three measuring arm other ends are fixedly connected with gauge head.
It is preferred that, the axis that the 3rd measuring arm is rotated around the second measuring arm is the 3rd shaft axis, the 3rd shaft axis with
Second shaft axis are parallel to each other.
It is preferred that, in addition to the 4th measuring arm and the 4th revolute joint, the 3rd measuring arm other end pass through the 4th revolution and closed
Section carries out rotation with the 4th measuring arm one end and is connected, and the 4th revolute joint includes fourth angle encoder, fourth angle encoder
It is located in the 4th revolute joint, fourth angle encoder is used to detect the angle that the 4th measuring arm is rotated around the 3rd measuring arm
Degree, the 4th measuring arm other end is fixedly connected with gauge head.
It is preferred that, the 4th measuring arm is the 4th shaft axis, the 4th shaft axis and the around the 3rd measuring arm institute pivot center
Three shaft axis are mutually perpendicular to, and the 4th shaft axis are mutually perpendicular to the second shaft axis.
It is preferred that, in addition to the 5th measuring arm and the 5th revolute joint, the 4th measuring arm other end pass through the 5th revolution and closed
Section is hinged with the 5th measuring arm one end, and the 5th revolute joint includes the 5th angular encoder, and the 5th angular encoder is located at
In 5th revolute joint, the 5th angular encoder is used to detect the angle that the 5th measuring arm is rotated around the 4th measuring arm, the
The five measuring arm other ends are fixedly connected with gauge head.
It is preferred that, the axis that the 5th measuring arm is rotated around the 4th measuring arm is the 5th shaft axis, the 5th shaft axis, the
It is parallel to each other between three shaft axis and the second shaft axis.
It is preferred that, the first revolute joint includes the first central shaft and clutch shaft bearing, the first central shaft top and the first revolution
The housing in joint is fixedly connected, and the first central shaft bottom is fixedly connected with the clutch shaft bearing inner ring, and the first central shaft is described
Realize and rotate in base, one end of the first measuring arm is fixed with the first revolute joint shell so that one end of the first measuring arm leads to
The first revolute joint is crossed to be connected with base progress rotation.
It is preferred that, the 5th revolute joint also includes the 5th left connector, the 5th right connector, the 5th central shaft and the 5th axle
Hold, the 5th central shaft right part is fixedly connected with the 5th right connector housing, the 5th central shaft left part is fixed with 5th bearing inner ring
Connection, 5th bearing outer ring is fixedly connected with the 5th left connector, and the 4th measuring arm other end and the 5th left connection are external
Shell is fixed, and the 5th right connection body case is fixed with the 5th measuring arm one end so that one end of the 5th measuring arm passes through the 5th revolution
Joint is hinged with the 4th measuring arm other end.
Compared with prior art, the beneficial effects of the utility model are：Base, the first revolute joint, first are surveyed successively
Measure arm, the second revolute joint, the second measuring arm, the 3rd revolute joint, the 3rd measuring arm, the 4th revolute joint, the 4th measuring arm,
5th revolute joint, the 5th measuring arm and gauge head link together, and mobile gauge head measures spatially any two positions, first
First angle encoder in revolute joint detects the angle that the first measuring arm is rotated around base；In second revolute joint
Second angle encoder detects the angle that the second measuring arm is rotated around the first measuring arm；The third angle in 3rd revolute joint
Degree encoder detects the angle that the 3rd measuring arm is rotated around the second measuring arm；Fourth angle coding in 4th revolute joint
Device detects the angle that the 4th measuring arm is rotated around the 3rd measuring arm；The 5th angular encoder detection in 5th revolute joint
The angle that 5th measuring arm is rotated around the 4th measuring arm；The angle information that each angular encoder is obtained is sent to outer
Boundary's equipment can just calculate the range information or angle information of spatially any two positions, and simple in construction, light, right
The environmental requirement of measurement is low, can arbitrarily be moved when measurement, can solve traditional coordinate measure tool because volume is huge
Greatly, the environmental requirement to measurement is high, the problem of can not arbitrarily being moved when measurement.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the portable probe measurement machine of the utility model.
Fig. 2 is the structural representation of base and the first revolute joint in portable probe measurement machine shown in Fig. 1.
Fig. 3 is the structural representation of the 5th revolute joint in portable probe measurement machine shown in Fig. 1.
In figure：1st, base；2nd, the first revolute joint；21st, first angle encoder；22nd, the first central shaft；23rd, first axle
Hold；24th, slip ring；3rd, the first measuring arm；4th, the second revolute joint；5th, the second measuring arm；6th, the 3rd revolute joint；7th, the 3rd measurement
Arm；8th, the 4th revolute joint；9th, the 4th measuring arm；100th, the 5th revolute joint；101st, the 5th left connector；102nd, the 5th right company
Junctor；103rd, the 5th central shaft；104th, 5th bearing；105th, the 5th angular encoder；200th, the 5th measuring arm；300th, gauge head.
Embodiment
Below, with reference to accompanying drawing and embodiment, the utility model is described further：
Fig. 1-Fig. 3 is referred to, the utility model is related to a kind of portable probe measurement machine, including the revolution of base 1, first is closed
Save the 2, first measuring arm 3, the second revolute joint 4, the second measuring arm 5, the 3rd revolute joint 6, the revolution of the 3rd measuring arm the 7, the 4th
Joint 8, the 4th measuring arm 9, the 5th revolute joint 100, the 5th measuring arm 200 and gauge head 300.
A smooth mounting surface is formed in the bottom of base 1, base 1 can be arranged on by the mounting surface by extraneous carry
On body, for example, base 1 is arranged on extraneous moveable tripod, conveniently walks out laboratory and workshop, can arbitrarily carry out
It is mobile.
First revolute joint 2 includes first angle encoder 21, the first central shaft 22 and clutch shaft bearing 23, and the first revolution is closed
The first cavity is formed in section 2, a rebound is lined with the first cavity bottom inner walls, outside the first cavity bottom housing
Wall is close to a seat board so that the first cavity bottom housing is clipped between rebound and seat board, then sequentially passes through transition with screw
Plate, the first cavity bottom housing and seat board, rebound, the first revolute joint 2 and seat board three are tightly secured in together, and the
The top of one central shaft 22 and seat board are fixed together so that the first revolute joint 2 and the top of the first central shaft 22 are fixed together；
Clutch shaft bearing 23 is arranged on the bottom of the first central shaft 22, is also arranged with slip ring 24 in the bottom of the first central shaft 22, slip ring 24 is located at
The lower section of clutch shaft bearing 23, the wherein inner ring of clutch shaft bearing 23 and the bottom of the first central shaft 22 is fixed together, clutch shaft bearing 23
In base 1, and the outer ring of clutch shaft bearing 23 is in contact with seat board inwall and realizes fixation, and seat board is located in base 1, and
And first central shaft 22 realize in the base 1 and rotate.One end and the shell of the first revolute joint 2 due to the first measuring arm 3
It is fixed so that one end of the first measuring arm 3 carries out rotation by the first revolute joint 2 and base 1 and is connected.
In the present embodiment, the quantity of clutch shaft bearing 23 is two.In other embodiments, the quantity of clutch shaft bearing 23 can be with
Changed according to actual conditions.It can be three, four or five.
First measuring arm 3 is first rotating shaft line around the axis that base 1 is rotated, due to the top of the first central shaft 22 successively
Through seat board, the first cavity bottom housing and rebound and extend in the first cavity, the transition on the top of the first central shaft 22
Fixed first angle encoder 21 on plate, the first angle encoder 21 is used to detect the first measuring arm 3 around 1 turn of base
Dynamic angle.When the first measuring arm 3 is rotated around base 1, the first measuring arm 3 can be obtained in the first angle encoder 21
The angle information rotated around base 1.
The side shell of second revolute joint 4 is the second left connector, and the opposite side shell of the second revolute joint 4 is the second right company
Junctor, the other end and the side shell of the second revolute joint 4 of the first measuring arm 3 are fixed, one end of the second measuring arm 5 with second time
Turn the opposite side shell of joint 4 to fix, and be hinged between the second left connector and the second right connector so that the first measuring arm
3 other end is hinged by the second revolute joint 4 with the one end of the second measuring arm 5.
The axis that second measuring arm 5 is rotated around the first measuring arm 3 is the second shaft axis, the second shaft axis and first turn
Axis is mutually perpendicular to, and because the second revolute joint 4 includes second angle encoder, second angle encoder is arranged on second time
Turn in joint 4, second angle encoder is used to detect the angle that the second measuring arm 5 is rotated around the first measuring arm 3.When second
Measuring arm 5 around the first measuring arm 3 rotate when, the second angle encoder can obtain the second measuring arm 5 around first survey
Measure the angle information that arm 3 is rotated.
The side shell of 3rd revolute joint 6 is the 3rd left connector, and the opposite side shell of the 3rd revolute joint 6 is the 3rd right company
Junctor, the other end and the side shell of the 3rd revolute joint 6 of the second measuring arm 5 are fixed, one end of the 3rd measuring arm 7 with the 3rd time
Turn the opposite side shell of joint 6 to fix, and be hinged between the 3rd left connector and the 3rd right connector so that the second measuring arm
5 other end is hinged by the second revolute joint 4 and the one end of the 3rd measuring arm 7.
The axis that 3rd measuring arm 7 is rotated around the second measuring arm 5 is the 3rd shaft axis, the 3rd shaft axis and second turn
Axis is parallel to each other, and because the 3rd revolute joint 6 includes third angle encoder, third angle encoder is arranged on the 3rd time
Turn in joint 6, third angle encoder is used to detect the angle that the 3rd measuring arm 7 is rotated around the second measuring arm 5.When the 3rd
Measuring arm 7 around the second measuring arm 5 rotate when, the third angle encoder can obtain the 3rd measuring arm 7 around second survey
Measure the angle information that arm 5 is rotated.
4th revolute joint 8 includes fourth angle encoder, and fourth angle encoder is arranged in the 4th revolute joint 8,
The other end of 3rd measuring arm 7 carries out rotation by the 4th revolute joint 8 and the one end of the 4th measuring arm 9 and is connected, the 4th measuring arm 9 around
7 pivot centers of the 3rd measuring arm for the 4th shaft axis, the 4th shaft axis are mutually perpendicular to the 3rd shaft axis, the 4th shaft axis
It is mutually perpendicular to the second shaft axis, fourth angle encoder is used to detect what the 4th measuring arm 9 was rotated around the 3rd measuring arm 7
Angle.When the 4th measuring arm 9 is rotated around the 3rd measuring arm 7, the 4th measuring arm 9 can be obtained in the fourth angle encoder
The angle information rotated around the 3rd measuring arm 7.
5th revolute joint 100 includes the 5th left connector 101, the 5th right connector 102, the 5th central shaft the 103, the 5th
The angular encoder 105 of bearing 104 and the 5th, wherein the side shell of the 5th revolute joint 100 is the 5th left connector 101, the 5th
The opposite side shell of revolute joint 100 is the 5th right connector 102,
The 5th cavity is formed in 5th right connector 102, a transition is installed on the 5th cavity left shell inwall
Plate, in the 5th cavity left shell outer wall close to a seat board so that the 5th cavity left shell is clipped between rebound and seat board,
Then rebound, the 5th cavity bottom housing and seat board are sequentially passed through with screw, by rebound, the 5th right connector 102 and seat
Plate three is tightly secured in together, and the right part of the 5th central shaft 103 and seat board are fixed together so that the 5th right connector 102
It is fixed together with the right part of the 5th central shaft 103；5th bearing 104 is arranged on the left part of the 5th central shaft 103, wherein 5th bearing
104 inner rings and the left part of the 5th central shaft 103 are fixed together, and 5th bearing 104 is arranged in the 5th left connector 101,
And the outer ring of 5th bearing 104 is fixed together with the 5th left connector 101.Due to one end and the of the 4th measuring arm 9
The five left shells of connector 101 are fixed, and the 5th right shell of connector 102 is fixed with the one end of the 5th measuring arm 200 so that the described 5th
One end of measuring arm 200 is hinged by the 5th revolute joint 100 and the other end of the 4th measuring arm 9.
In the present embodiment, the quantity of 5th bearing 104 is two.In other embodiments, the quantity of 5th bearing 104 can
To be changed according to actual conditions.It can be three, four or five.
5th measuring arm 200 is the 5th shaft axis, the 5th shaft axis, the 3rd around the axis that the 4th measuring arm 9 is rotated
It is parallel to each other between shaft axis and the second shaft axis, because the right part of the 5th central shaft 103 sequentially passes through seat board, the 5th cavity right part
Housing and rebound are simultaneously extended in the 5th cavity, fixed 5th angle on the rebound of the right part of the 5th central shaft 103
Encoder 105, the 5th angular encoder 105 is used to detect the angle that the 5th measuring arm 200 is rotated around the 4th measuring arm 9
Degree.When the 5th measuring arm 200 is rotated around the 4th measuring arm 9, the 5th measurement can be obtained in the 5th angular encoder 105
The angle information that arm 200 is rotated around the 4th measuring arm 9.
The other end of 5th measuring arm 200 is fixedly connected with gauge head 300.Mobile gauge head 300, can measure spatially any two
The range information or angle information of position.
During using the utility model, successively by base 1, the first revolute joint 2, the first measuring arm 3, the second revolute joint 4,
Second measuring arm 5, the 3rd revolute joint 6, the 3rd measuring arm 7, the 4th revolute joint 8, the 4th measuring arm 9, the 5th revolute joint
100th, the 5th measuring arm 200 and gauge head 300 link together, mobile gauge head 300 so that side head reaches spatially optional position.
First angle encoder 21 in first revolute joint 2 detects the angle that the first measuring arm 3 is rotated around base 1；Second time
Turn the second angle encoder in joint 4 and detect the angle that the second measuring arm 5 is rotated around the first measuring arm 3；3rd revolution
Third angle encoder in joint 6 detects the angle that the 3rd measuring arm 7 is rotated around the second measuring arm 5；4th revolution is closed
Fourth angle encoder in section 8 detects the angle that the 4th measuring arm 9 is rotated around the 3rd measuring arm 7；5th revolute joint
The 5th angular encoder 105 in 100 detects the angle that the 5th measuring arm 200 is rotated around the 4th measuring arm 9；By each angle
The angle information that degree encoder is obtained, which is sent to external device, can just calculate the distance letter of spatially any two positions
Breath or angle information, and it is simple in construction, light, and the environmental requirement to measurement is low, can arbitrarily be moved when measurement,
Traditional coordinate measure tool can be solved because bulky, the environmental requirement to measurement is high, can not be random when measurement
The problem of moving.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection of the utility model claim
Within the scope of.
Claims (10)
1. a kind of portable probe measurement machine, it is characterised in that：Including base, the first revolute joint, the first measuring arm, second time
Turn joint, the second measuring arm and gauge head,
One end of first measuring arm carries out rotation by the first revolute joint and base and is connected, the first revolute joint bag
First angle encoder is included, the first angle encoder is located in the first revolute joint, and the first angle encoder is used for
The angle that the first measuring arm is rotated around base is detected,
The other end of first measuring arm is hinged by the second revolute joint with second measuring arm one end, described second time
Turning joint includes second angle encoder, and the second angle encoder is located in the second revolute joint, and the second angle is compiled
Code device is used to detect the angle that the second measuring arm is rotated around the first measuring arm,
The second measuring arm other end is fixedly connected with gauge head.
2. portable probe measurement machine according to claim 1, it is characterised in that：
First measuring arm is first rotating shaft line around the axis that base is rotated, and second measuring arm is around the first measurement
The axis that arm is rotated is the second shaft axis,
The first rotating shaft line is mutually perpendicular to second shaft axis.
3. portable probe measurement machine according to claim 2, it is characterised in that：Also include the 3rd measuring arm and the 3rd time
Turn joint,
The second measuring arm other end is hinged by the 3rd revolute joint and the 3rd measuring arm one end, the 3rd revolution
Joint includes third angle encoder, and the third angle encoder is located in the 3rd revolute joint, the third angle coding
Device is used to detect the angle that the 3rd measuring arm is rotated around the second measuring arm,
The 3rd measuring arm other end is fixedly connected with gauge head.
4. portable probe measurement machine according to claim 3, it is characterised in that：3rd measuring arm is surveyed around second
The axis that amount arm is rotated is the 3rd shaft axis, and the 3rd shaft axis are parallel to each other with second shaft axis.
5. portable probe measurement machine according to claim 4, it is characterised in that：Also include the 4th measuring arm and the 4th time
Turn joint,
The 3rd measuring arm other end carries out rotation by the 4th revolute joint and the 4th measuring arm one end and is connected, and the described 4th
Revolute joint includes fourth angle encoder, and four angular encoder is located in the 4th revolute joint, and the fourth angle is compiled
Code device is used to detect the angle that the 4th measuring arm is rotated around the 3rd measuring arm,
The 4th measuring arm other end is fixedly connected with gauge head.
6. portable probe measurement machine according to claim 5, it is characterised in that：4th measuring arm is surveyed around the 3rd
It is the 4th shaft axis to measure arm institute pivot center,
4th shaft axis are mutually perpendicular to the 3rd shaft axis, and the 4th shaft axis are mutually perpendicular to the second shaft axis.
7. portable probe measurement machine according to claim 6, it is characterised in that：Also include the 5th measuring arm and the 5th time
Turn joint,
The 4th measuring arm other end is hinged by the 5th revolute joint and the 5th measuring arm one end, the 5th revolution
Joint includes the 5th angular encoder, and the 5th angular encoder is located in the 5th revolute joint, the 5th angular coding
Device is used to detect the angle that the 5th measuring arm is rotated around the 4th measuring arm,
The 5th measuring arm other end is fixedly connected with gauge head.
8. portable probe measurement machine according to claim 7, it is characterised in that：5th measuring arm is surveyed around the 4th
The axis that amount arm is rotated is the 5th shaft axis,
It is parallel to each other between 5th shaft axis, the 3rd shaft axis and the second shaft axis.
9. the portable probe measurement machine according to any one of claim 1-8, it is characterised in that：First revolution is closed
Section also includes the first central shaft and clutch shaft bearing,
The first central shaft top is fixedly connected with the housing of the first revolute joint, the first central shaft bottom and described the
One bearing inner race is fixedly connected, and the first central shaft realizes rotation in the base,
One end of first measuring arm is fixed with the first revolute joint shell so that one end of first measuring arm passes through
Single-revolution joint carries out rotation with base and is connected.
10. portable probe measurement machine according to claim 7, it is characterised in that：5th revolute joint includes the
Five left connectors, the 5th right connector, the 5th central shaft and 5th bearing,
The 5th central shaft right part is fixedly connected with the 5th right connector housing, the 5th central shaft left part and the described 5th
Bearing inner race is fixedly connected, and the 5th bearing outer ring is fixedly connected with the 5th left connector,
The 4th measuring arm other end is fixed with the 5th left connection body case, the 5th right connection body case and the 5th measurement
Arm one end is fixed so that cut with scissors by the 5th revolute joint and the 4th measuring arm other end one end of the 5th measuring arm
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621244434.7U CN206347983U (en) | 2016-11-18 | 2016-11-18 | A kind of portable probe measurement machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621244434.7U CN206347983U (en) | 2016-11-18 | 2016-11-18 | A kind of portable probe measurement machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206347983U true CN206347983U (en) | 2017-07-21 |
Family
ID=59322476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621244434.7U Expired - Fee Related CN206347983U (en) | 2016-11-18 | 2016-11-18 | A kind of portable probe measurement machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN206347983U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106441183A (en) * | 2016-11-18 | 2017-02-22 | 九江如洋精密科技有限公司 | Portable probe measuring machine |
-
2016
- 2016-11-18 CN CN201621244434.7U patent/CN206347983U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106441183A (en) * | 2016-11-18 | 2017-02-22 | 九江如洋精密科技有限公司 | Portable probe measuring machine |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170721 Termination date: 20191118 |