CN206567948U - A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot - Google Patents
A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot Download PDFInfo
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- CN206567948U CN206567948U CN201621306724.XU CN201621306724U CN206567948U CN 206567948 U CN206567948 U CN 206567948U CN 201621306724 U CN201621306724 U CN 201621306724U CN 206567948 U CN206567948 U CN 206567948U
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- pallet
- joint robot
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- bottom plate
- fixed holder
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Abstract
The utility model is related to a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot, including installing six-joint robot, workpiece polishing mechanism, conveying mechanism and positioning and clamping mechanism on the table, the connecting plate of workpiece polishing mechanism is arranged on the wrist end of six-joint robot, gas is ground or electric mill is arranged on connecting plate by fixed holder, and movable soft tube is connected on connecting plate by dust suction fixed seat；Conveying mechanism and guide rail Rodless cylinder and cable protection chain are installed on the table; pallet is arranged on cable protection chain rear end in the active side of guide rail Rodless cylinder and is connected by contiguous block with pallet; the profiling positioning seat of positioning and clamping mechanism is arranged on bottom plate by support column; Pneumatic parallel clamping jaw on bottom plate is arranged in the cavity of profiling positioning seat, and bottom plate is arranged on pallet.The utility model is rational in infrastructure, and bistrique carries out space curve track polishing, dust suction to injection-molded work overlap or burr, can keep good working environment, alleviate the labor intensity of employee.
Description
Technical field
The utility model is related to a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot, belongs to processing and manufacturing
Technical field.
Background technology
In car light Shooting Technique, due to car light complex contour, appearance requirement is high, so the development cost of injection mold is got over
Come higher.At present, in car light Shooting Technique, exist after injection molding the problem of product also leaves cast gate, according to people
Work mode removes to repair cast gate, final product quality can having differences property and quality and unstability, and the presence of cast gate can have a strong impact on
The entrucking comprehensive quality of finished product；As simple from injection mold solution cast gate, it is necessary to put into great amount of cost.Because car light profile is more
For curved-surface structure, need to repair the cast gate of same position by two grinding machine heads during conventional grinding, cause mould structure
Complexity, simultaneously because dust during polishing causes working environment poor.
The content of the invention
The purpose of this utility model is to provide a kind of rational in infrastructure, and it is bent that bistrique carries out space to injection-molded work overlap or burr
Line tracking polishing, dust suction, can keep good working environment, and the one kind for alleviating the labor intensity of employee is based on six-joint robot
Flash In Injection Molded Plastic Parts automatically grinding equipment.
The utility model is that the technical scheme for reaching above-mentioned purpose is：A kind of Flash In Injection Molded Plastic Parts based on six-joint robot are certainly
Dynamic grinding apparatus, it is characterised in that：Including installing six-joint robot, workpiece polishing mechanism, conveying mechanism and company on the table
Connect positioning and clamping mechanism on the conveyor；
Described workpiece polishing mechanism includes connecting plate, fixed holder and gas mill or electric mill, and described connecting plate is arranged on six
The wrist end of axle robot, connecting plate is provided with fixed holder, and gas mill or electric mill are arranged on fixed holder, and at least two live
Dynamic flexible pipe is connected on connecting plate by dust suction fixed seat, and movable soft tube is connected with dust catcher and communicated, the suction inlet position of movable soft tube
At the bistrique of gas mill or electric mill；
Described conveying mechanism include carrying magnetic switch guide rail Rodless cylinder, pallet and cable protection chain, guide rail without
Bar cylinder and cable protection chain are be arranged in parallel, and the front end of guide rail Rodless cylinder and cable protection chain is installed on the table, pallet
In the active side of guide rail Rodless cylinder and it can move forward and backward, guide rail Rodless cylinder is provided with oil buffer at two ends,
Cable protection chain rear end is connected by contiguous block with pallet, and electrical quick-inserting socket is arranged on contiguous block, is set on pallet for connecting
Connect the screwed hole and pin-and-hole of bottom plate；
Described positioning and clamping mechanism include bottom plate, profiling positioning seat and Pneumatic parallel clamping jaw, with workpiece configurations phase
The profiling positioning seat of similar shape chamber is arranged on bottom plate by support column, cavity is provided with profiling positioning seat, on bottom plate
Pneumatic parallel clamping jaw is arranged in the cavity of profiling positioning seat, and with the chuck for being used to clamp workpiece on Pneumatic parallel clamping jaw,
Bottom plate is arranged in the corresponding screwed hole of pallet and pin-and-hole by fastener and alignment pin.
Flash In Injection Molded Plastic Parts automatically grinding equipment of the utility model based on six-joint robot, employs six-joint robot, beats
Grinding machine structure, conveying mechanism and positioning and clamping mechanism, the connecting plate on workpiece polishing mechanism are arranged on the wrist end of six-joint robot,
Gas mill or electric mill and the equal integrated installation of movable soft tube are on connecting plate, and the movable soft tube being connected with dust catcher can be moved easily,
At the bistrique that movable soft tube suction inlet is aligned to gas mill or electric mill, the bistrique on workpiece polishing mechanism is driven to injection by six-joint robot
When workpiece flashes or burr carry out the polishing of space curve track, movable soft tube is siphoned away the dust of polishing in time, make and from doing
To the dust suction when processing, it is ensured that keep the cleaning of working environment while workpiece requirement.The utility model conveying mechanism is employed
The guide rail Rodless cylinder and pallet of carrying magnetic switch, drive pallet to be moved to handling station and workpiece are entered by guide rail Rodless cylinder
Luggage is unloaded, or is moved to processing stations workpiece is polished, and cable protection chain is installed with electrical quick-inserting socket by contiguous block
On pallet, and as pallet is together moved, tracheae and signal wire when protection is run are played a part of by cable protection chain.This
Utility model positioning and clamping mechanism use bottom plate, profiling positioning seat and Pneumatic parallel clamping jaw, bottom plate be arranged on pallet on can with it is defeated
Send mechanism together to move, and profiling positioning seat have with workpiece configurations identical cavity, it is convenient that workpiece is placed on profiling positioning
Seat, is fixed, specifically higher resetting clamping action by the chuck on Pneumatic parallel clamping jaw to workpiece.The utility model leads to
The polishing operation that flexible six axis robot is automatically performed working of plastics overlap and burr is crossed, can be quickly to work by profiling positioning seat
Part clamping and positioning, and conveying mechanism drives positioning and clamping mechanism to be moved to workpiece placement region working region, it is easy to operate, it can protect
Good working environment is held, the labor intensity of employee is alleviated, processing efficiency is improved.
Brief description of the drawings
Embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of Flash In Injection Molded Plastic Parts automatically grinding equipment of the utility model based on six-joint robot.
Fig. 2 is the structural representation of utility model works platform.
Fig. 3 is the structural representation of the utility model workpiece polishing mechanism.
Fig. 4 is the structural representation of the utility model positioning and clamping mechanism.
Fig. 5 is the structural representation of the utility model conveying mechanism.
Fig. 6 is the structural representation that the utility model positioning and clamping mechanism is arranged on conveying mechanism.
Wherein：1-workbench, 1-1-framework, 1-2-transparent plexiglass plate, 1-3-grating, 1-4-storing bin,
1-5-side plate, 1-6-radiator, 2-positioning and clamping mechanism, 2-1-electrical quick-inserting plug, 2-2-milled screw, 2-3-
Profiling positioning seat, 2-4-alignment pin, 2-5-bottom plate, 2-6-Pneumatic parallel clamping jaw, 2-7-chuck, 2-8-support column, 3-
Conveying mechanism, 3-1-cable protection chain, 3-2-contiguous block, 3-3-electrical quick-inserting socket, 3-4-oil buffer, 3-5-
Pin-and-hole, 3-6-pallet, 3-7-guide rail Rodless cylinder, 4-six-joint robot, 4-1-wrist end, 5-workpiece polishing mechanism, 5-
1-connecting plate, 5-2-fixation holder, 5-3-gas mill, 5-4-bistrique, 5-5-dust suction fixed seat, 5-6-movable soft tube,
6-workpiece, 7-dust catcher.
Embodiment
As shown in Fig. 1~6, a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot of the utility model, bag
Include six-joint robot 4, workpiece polishing mechanism 5, conveying mechanism 3 and the positioning being connected on conveying mechanism 3 on workbench 1
Clamp system 2.
As shown in Fig. 1,3, workpiece polishing mechanism 5 of the present utility model includes connecting plate 5-1, fixed holder 5-2 and gas mill 5-
3 or electric mill, connecting plate 5-1 are arranged on the wrist end 4-1 of six-joint robot 4, can be arranged on six-joint robot 4 using fastener
Wrist end 4-1, and six-joint robot 4 be arranged on workbench 1 on, moved with workbench 1, the six-joint robot 4
Moved according to setting program control along the profile of workpiece, and drive workpiece polishing mechanism 5 to move together.
As shown in Fig. 1,3, the utility model connecting plate 5-1 is provided with fixed holder 5-2, and fixation holder 5-2 is L shapes
It can be arranged on connecting plate 5-1, may be made as integrative-structure, gas mill 5-3 or electric mill are arranged on fixed holder 5-2, and this is fixed
Holder 5-2 is provided with the mounting hole for being used for installing gas mill 5-3 or electric mill, and fixed holder 5-2 side is provided with what is communicated with mounting hole
Notch, fixed holder 5-2 is provided with the connecting hole through notch, in fixed holder 5-2 mounting hole provided with prevent gas grind 5-3 or
The groove of electric mill rotation, gas grinds 5-3 or electric mill is arranged in fixed holder 5-2 mounting hole and its projection is arranged on the groove
Interior, gas is ground 5-3 or electric mill will not rotate, and fastener is connected to fixed holder 5-2 connection hole, and gas is ground into 5-3 or electric mill
It is fixed on fixed holder 5-2.The bistrique 5-4 that the utility model gas is ground on 5-3 or electric mill can use milling cutter or file, conveniently more
Change different gas mill 5-3 or electric mill.
As shown in Fig. 1,3, the movable soft tube 5-6 of the utility model at least two is connected to connection by dust suction fixed seat 5-5
On plate 5-1, dust suction fixed seat 5-5 can be for pipe joint and on connecting plate 5-1, and movable soft tube 5-6 connects with dust catcher 7
Connect and communicate, be connected with pipe joint at the top of movable soft tube 5-6, movable soft tube 5-6 can adjust diverse location as needed, and dust catcher
7 pipeline is arranged on pipe joint, and movable soft tube 5-6 suction inlets are located at gas and ground at the bistrique 5-4 of 5-3 or electric mill, make movable soft tube
5-6 is moved with connecting plate 5-1, six-joint robot 4 hold workpiece polishing mechanism 5 to injection-molded work overlap on positioning and clamping mechanism 2 or
When burr carries out the polishing of space curve track, the suction inlet of dust catcher 7 is located at gas and ground at the bistrique 5-4 of 5-3 or electric mill, due to dust suction
Device 7 can be while dust suction, alleviates the labor intensity of employee, also ensure that work pieces process requirement and the cleaning of working environment.
As shown in Fig. 1,5,6, the utility model conveying mechanism 3 includes guide rail Rodless cylinder 3-7, the pallet that carrying magnetic is switched
3-6 and cable protection chain 3-1, guide rail Rodless cylinder 3-7 and cable protection chain 3-1 be arranged in parallel, guide rail Rodless cylinder 3-7 and
Cable protection chain 3-1 front end is arranged on workbench 1, tracheae and signal wire when cable protection chain 3-1 plays protection operation
Effect, pallet 3-6 is arranged in guide rail Rodless cylinder 3-7 active side and can moved forward and backward, and guide rail Rodless cylinder 3-7 is high-precision
Spend cylinder, it is ensured that drive pallet 3-6 to be moved forward and backward along track, workpiece is transported to processing stations and handling station, guide rail is without bar gas
Cylinder 3-7 is provided with oil buffer 3-4 at two ends, is handled by oil buffer 3-4 decelerations, plays protection positioning and clamping mechanism
2 and the effect of cylinder, cable protection chain 3-1 rear end is connected by contiguous block 3-2 with pallet 3-6, electrical quick-inserting socket 3-3
On contiguous block 3-2, after bottom plate 2-5 is arranged on pallet 3-6, electrical quick-inserting plug 2-1 is plugged on electrical quick-inserting
On socket 3-3, realize that electricity, conductance are led to, being set on pallet 3-6 can be with bottom plate 2- for connecting bottom board 2-5 screwed hole and pin-and-hole 3-5
5 carry out quick despatch.
As shown in Fig. 1,4,6, the utility model positioning and clamping mechanism 2 includes bottom plate 2-5, profiling positioning seat 2-3 and pneumatic
Parallel clamping jaw 2-6, bottom plate 2-5 is arranged on the profiling positioning seat 2-3 with the profile phase similar shape chamber of workpiece 6 by support column 2-8
On, the utility model can be provided with 2~3 profiling positioning seat 2-3 on bottom plate 2-5, and once multiple workpiece 6 are polished,
Run time is reduced, the efficiency of workpiece 6 is improved, profiling positioning seat 2-3 is made of aluminium, provided with sky in profiling positioning seat 2-3
Chamber, the Pneumatic parallel clamping jaw 2-6 on bottom plate 2-5 is arranged in profiling positioning seat 2-3 cavity, and Pneumatic parallel clamping jaw
There is the chuck 2-7 for clamping workpiece 6 on 2-6, positioned when workpiece 6 is placed on profiling positioning seat 2-3 by its shape chamber, and
Pneumatic parallel clamping jaw 2-6 drives chuck 2-7 to clamp workpiece 6, and fixation is clamped to workpiece 6, bottom plate 2-5 by fastener and
Alignment pin 2-4 is arranged in the corresponding screwed holes of pallet 3-6 and pin-and-hole 3-5.
As shown in Fig. 4~6, the utility model pallet 3-6 surroundings are arranged with two screw holes and two pin-and-hole 3-5, support
Two pin-and-hole 3-5 mono- on disk 3-6 be circular hole, another be long slot bore, two alignment pin 2-4 are through the pin on bottom plate 2-5
Hole is inserted into each self-corresponding pin-and-hole 3-5 of pallet 3-6, and milled screw 2-2 is screwed in pallet through the mounting hole on bottom plate 2-5
In 3-6 two screwed holes, the positioning and clamping mechanism 2 of fast changeable different workpieces plays Quick Changeover function.
As shown in Fig. 1,2, utility model works platform 1 is provided with framework 1-1, the framework 1-1 on the top of workbench 1 along its periphery
Both sides and rear portion are provided with grating 1-3 on two columns provided with moveable transparent plexiglass plate 1-2, framework 1-1 front portion,
Horizontally slipped openings by mobile transparent plexiglass plate 1-2, facilitate employee to install, debugging is used, and when employee's placement workpiece 6
When touching grating 1-3 scopes, equipment will no longer work, and play safeguard protection effect.As shown in Fig. 1,2, utility model works
The framework 1-1 of the bottom of platform 1 is surrounded by side plate 1-5, and the cavity of the bottom of workbench 1 is used to install control cabinet and electrically first device
Part, side plate 1-5 is provided with radiator 1-6, and control cabinet and electric components are radiated, and the front portion of workbench 1 is provided with indent
Preceding storing bin 1-4 and guidance panel, guidance panel are provided with jerk, start button, can be used by the preceding storing bin 1-4 of indent
In placing article and instrument, workbench 1 is set to make visual work platform.
As shown in Fig. 1~6, during utility model works, by the placement positioning clamp system 2 of workpiece 6, start Pneumatic parallel
Clamping jaw 2-6 drives chuck 2-7 to clamp workpiece 6, then the workpiece on positioning and clamping mechanism 2 is delivered into rear portion by conveying mechanism 3
Processing stations, clamping positioning mechanism reach after through oil buffer 3-4 slow down stop after, six-joint robot 4 receive up to letter
Number, workpiece is polished with pre-memorized program, while the dust suction of dust catcher 7, the output of six-joint robot 4 is completed after the completion of polishing
Signal, conveying mechanism 3 is acted conveys return by positioning and clamping mechanism 2, takes out workpiece 6, and the workpiece 6 completed to polishing is examined
Survey, and place next workpiece 6, continuous circulate operation.
Claims (5)
1. a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot, it is characterised in that：Including installed in workbench
(1) six-joint robot (4), workpiece polishing mechanism (5), conveying mechanism (3) on and the positioning being connected on conveying mechanism (3) are clamped
Mechanism (2)；
Described workpiece polishing mechanism (5) includes connecting plate (5-1), fixed holder (5-2) and gas mill (5-3) or electric mill, described
Connecting plate (5-1) is arranged on the wrist end (4-1) of six-joint robot (4), and connecting plate (5-1) is provided with fixed holder (5-2),
Gas grinds (5-3) or electric mill is arranged on fixed holder (5-2), and at least two movable soft tubes (5-6) pass through dust suction fixed seat (5-5)
It is connected on connecting plate (5-1), movable soft tube (5-6) is connected with dust catcher (7) and communicated, the suction inlet of movable soft tube (5-6) is located at
Gas grinds bistrique (5-4) place of (5-3) or electric mill；
Described conveying mechanism (3) includes guide rail Rodless cylinder (3-7), pallet (3-6) and the cable protection that carrying magnetic is switched
Chain (3-1), guide rail Rodless cylinder (3-7) and cable protection chain (3-1) are be arranged in parallel, and guide rail Rodless cylinder (3-7) and cable are protected
The front end for protecting chain (3-1) is arranged on workbench (1), and pallet (3-6) is arranged in the active side of guide rail Rodless cylinder (3-7) simultaneously
It can move forward and backward, guide rail Rodless cylinder (3-7) is provided with oil buffer (3-4) at two ends, cable protection chain (3-1) rear end leads to
Cross contiguous block (3-2) to be connected with pallet (3-6), electrical quick-inserting socket (3-3) is arranged on contiguous block (3-2), on pallet (3-6)
If screwed hole and pin-and-hole (3-5) for connecting bottom board (2-5)；
Described positioning and clamping mechanism (2) includes bottom plate (2-5), profiling positioning seat (2-3) and Pneumatic parallel clamping jaw (2-6), tool
There is the profiling positioning seat (2-3) with workpiece configurations phase similar shape chamber to be arranged on by support column (2-8) on bottom plate (2-5), profiling is fixed
Cavity is provided with position seat (2-3), the Pneumatic parallel clamping jaw (2-6) on bottom plate (2-5) is arranged on profiling positioning seat (2-3)
Cavity in, and have on Pneumatic parallel clamping jaw (2-6) and be used to clamp the chuck (2-7) of workpiece, bottom plate (2-5) passes through fastener
It is arranged on alignment pin (2-4) in the corresponding screwed hole of pallet (3-6) and pin-and-hole (3-5).
2. a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot according to claim 1, its feature exists
In：Described workbench (1) is provided with framework (1-1) along its periphery, and framework (1-1) both sides and rear portion on workbench (1) top are set
Have and grating (1-3), workbench are installed on moveable transparent plexiglass plate (1-2), two anterior columns of framework (1-1)
(1) framework (1-1) of bottom is surrounded by side plate (1-5), and the cavity of workbench (1) bottom is used to install control cabinet and electric
Component, side plate (1-5) is provided with radiator (1-6), preceding storing bin (1-4) and operation of workbench (1) front portion provided with indent
Panel.
3. a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot according to claim 1, its feature exists
In：Described fixation holder (5-2) is provided with the mounting hole for being used for installing gas mill (5-3) or electric mill, and the one of fixed holder (5-2)
Side is provided with the notch communicated with mounting hole, and fixed holder (5-2) is provided with the connecting hole through notch, the peace of fixed holder (5-2)
Provided with preventing gas from grinding the groove of (5-3) or electric mill rotation in dress hole, gas mill (5-3) or electric mill are arranged on fixed holder (5-2)
Mounting hole is interior and its projection is arranged on the groove, and fastener is connected to fixed holder (5-2) connection hole, and gas is ground (5-3)
Or electric mill peace is fixed on fixed holder (5-2).
4. a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot according to claim 1, its feature exists
In：2~3 profiling positioning seats (2-3) are installed on described bottom plate (2-5), and profiling positioning seat (2-3) uses aluminium system
Into.
5. a kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot according to claim 1, its feature exists
In：Described pallet (3-6) is arranged with two screw holes and two pin-and-holes (3-5), and two on pallet (3-6) in surrounding
Pin-and-hole (3-5) one be circular hole, another be long slot bore, two alignment pins (2-4) are through the pin-and-hole on bottom plate (2-5) and inserting
In pallet (3-6) respective pin-and-hole (3-5), milled screw (2-2) is screwed in pallet through the mounting hole on bottom plate (2-5)
In two screwed holes of (3-6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621306724.XU CN206567948U (en) | 2016-11-30 | 2016-11-30 | A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621306724.XU CN206567948U (en) | 2016-11-30 | 2016-11-30 | A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206567948U true CN206567948U (en) | 2017-10-20 |
Family
ID=60063481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621306724.XU Withdrawn - After Issue CN206567948U (en) | 2016-11-30 | 2016-11-30 | A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206567948U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363487A (en) * | 2016-11-30 | 2017-02-01 | 常州星宇车灯股份有限公司 | Six-axis-robot-based automatic grinding device for flashes of injection-molded parts |
| CN107984326A (en) * | 2017-12-28 | 2018-05-04 | 昆山锐莱恩特精密机械有限公司 | Automation equipment for Work-piece burr polishing |
| CN109732425A (en) * | 2019-01-30 | 2019-05-10 | 卢辉 | Milling robot auxiliary device and its application |
| CN113043106A (en) * | 2021-03-18 | 2021-06-29 | 浙江屹立机器人科技有限公司 | Phlogopite grinding device |
-
2016
- 2016-11-30 CN CN201621306724.XU patent/CN206567948U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106363487A (en) * | 2016-11-30 | 2017-02-01 | 常州星宇车灯股份有限公司 | Six-axis-robot-based automatic grinding device for flashes of injection-molded parts |
| CN107984326A (en) * | 2017-12-28 | 2018-05-04 | 昆山锐莱恩特精密机械有限公司 | Automation equipment for Work-piece burr polishing |
| CN109732425A (en) * | 2019-01-30 | 2019-05-10 | 卢辉 | Milling robot auxiliary device and its application |
| CN109732425B (en) * | 2019-01-30 | 2024-06-07 | 卢辉 | Auxiliary device of polishing robot and application thereof |
| CN113043106A (en) * | 2021-03-18 | 2021-06-29 | 浙江屹立机器人科技有限公司 | Phlogopite grinding device |
| CN113043106B (en) * | 2021-03-18 | 2022-05-03 | 浙江屹立机器人科技有限公司 | Grinding method of phlogopite |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171020 Effective date of abandoning: 20180720 |