CN206764553U - A kind of grinding head storehouse mechanism - Google Patents
A kind of grinding head storehouse mechanism Download PDFInfo
- Publication number
- CN206764553U CN206764553U CN201720449710.1U CN201720449710U CN206764553U CN 206764553 U CN206764553 U CN 206764553U CN 201720449710 U CN201720449710 U CN 201720449710U CN 206764553 U CN206764553 U CN 206764553U
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- China
- Prior art keywords
- grinding head
- fixed plate
- axis
- electric drill
- storehouse mechanism
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- 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.)
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The utility model discloses a kind of grinding head storehouse mechanism, and it includes belt switch magnet, grinding head and grinding head fixed plate；There are multiple grinding head mounting holes for being used to install grinding head, grinding head fixed plate is arranged on belt switch magnet, and the grinding head is arranged in grinding head fixed plate by grinding head mounting hole in the grinding head fixed plate.The grinding head storehouse mechanism structure is simple, easy to assembly, can be installed in by belt switch magnet with convenient, flexible in frame, in addition the grinding head storehouse mechanism can also clamping grinding head rapidly, it is convenient, flexible, can greatly mitigate manual labor.
Description
Technical field
It the utility model is related to automatic tool changer technical field, and in particular to a kind of to be used for from the polishing for moving grinding head device
Tou Ku mechanisms.
Background technology
Function of polishing carries out Precision Machining to the surface of workpiece, dispels the cut of workpiece surface, spot, turned-down edge phenomenon, makes
Workpiece surface is bright, smoothly, the machine of a certain accurate roughness value is even up into mirror effect.
To lift operating efficiency, mostly using the pneumatic grinding head of robotic gripper in workpiece surface polishing operation, to reach
Certain surface effect.For grinding head polishing when due to workpiece occur rigid collision, the life-span for the grinding head that contracted significantly,
So grinding head will be changed often, so as to cause the processing non-cutting time of workpiece long.And existing is all that artificial change is polished
Head, not only efficiency is low, and grinding head installation is also easy to produce error, causes grinding head to be easier to damage.
Utility model content
In view of the above-mentioned problems existing in the prior art, the purpose of this utility model is to provide a kind of for changing polishing automatically
The grinding head storehouse mechanism of head device.
To achieve the above object, the utility model adopts the following technical scheme that：A kind of grinding head storehouse mechanism, including belt switch
Magnet, grinding head and grinding head fixed plate；
There is multiple grinding head mounting holes for being used to install grinding head, belt switch magnet level in the grinding head fixed plate
Set, and be fixedly connected with the bottom of grinding head fixed plate, the grinding head is consolidated by grinding head mounting hole installed in grinding head
On fixed board.
As optimization, the grinding head fixed plate is made up of left grinding head fixed plate and right grinding head fixed plate, left polishing
Head fixed plate and right grinding head fixed plate it is arranged in parallel, and between there is gap.
As optimization, the grinding head mounting hole three is one group, for installing a grinding head.
As optimization, in addition to multiple common magnet；
The common magnet is arranged between left grinding head fixed plate and right grinding head fixed plate, and each common magnet with
One group of grinding head mounting hole is corresponding.
As optimization, in addition to multiple photoelectric sensors, the photoelectric sensor is arranged on left grinding head fixed plate and the right side
Between grinding head fixed plate, and each photoelectric sensor is corresponding with one group of grinding head mounting hole.
As optimization, the belt switch magnet is plate assembling structure, has the peace of grinding head storehouse mechanism on its four angles respectively
Fill hole.
Relative to prior art, the utility model has the following advantages that：Grinding head storehouse mechanism structure is simple, easy to assembly,
It can be installed in by belt switch magnet with convenient, flexible in frame, the grinding head storehouse mechanism can also rapid clamping in addition
Grinding head, it is convenient, flexible, it can greatly mitigate manual labor.
Brief description of the drawings
Fig. 1 is the automatic structural representation for changing grinding head device.
Fig. 2 is the stereogram of three-dimensional machine mobile phone structure.
Fig. 3 is Fig. 2 front view.
Fig. 4 is Fig. 2 right view.
Fig. 5 is Fig. 2 top view.
Fig. 6 is the stereogram of electric drill key actuated device.
Fig. 7 is Fig. 6 front view.
Fig. 8 is Fig. 6 right view.
Fig. 9 is Fig. 6 top view.
Figure 10 is the stereogram of grinding head storehouse mechanism.
Figure 11 is Figure 10 front view.
Figure 12 is Figure 10 right view.
Figure 13 is Figure 10 top view.
In figure, frame 10；Three-dimensional machine mobile phone structure 20, X-axis straight line slide unit 21, X-axis fixture 21a, X-axis slide bar 21b, X
Axle sliding block 21c, Y-axis straight line slide unit 22, Y-axis fixture 22a, Y-axis slide bar 22b, Y-axis sliding block 22c, Z axis straight line slide unit 23, Z axis
Fixture 23a, Z axis slide bar 23b, Z axis sliding block 23c, Pneumatic parallel folder motor 24, Pneumatic parallel folder motor mounting bracket
24a, shaft coupling 25, Pneumatic parallel folder mounting bracket 26, Pneumatic parallel folder 27；Electric drill key actuated device 30, line slide rail 31, electricity
Bore key actuated motor 32, electric drill key actuated motor mounting rack 33, second shaft coupling 34, connecting shaft 35, torque force limiting device 36,
Electric drill key 37, drive device mounting bracket 38, the second sliding block 39；Grating sensor 40；Grinding head storehouse mechanism 50, belt switch magnet
51st, grinding head 52, photoelectric sensor 53, left grinding head fixed plate 54a, right grinding head fixed plate 54b, common magnet 55, polishing
Head mounting hole 56；Waste recovery mechanism 60.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
In the description of the invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " water
It is flat ", " top ", the orientation of the instruction such as " bottom " or position relationship for based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Sign is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are directly over second feature and oblique upper, or be merely representative of
Fisrt feature level height is less than second feature.
Referring to Fig. 1, a kind of automatic replacing grinding head device, including frame 10, three-dimensional machine mobile phone structure 20, electric drill key drive
Dynamic device 30, grating sensor 40, grinding head storehouse mechanism 50 and Waste recovery mechanism 60.
Referring to Fig. 2 to Fig. 5, three-dimensional machine mobile phone structure 20：Including X-axis straight line slide unit 21, Y-axis straight line slide unit 22, Z axis straight line
Slide unit 23, X-axis motor 21d, Y-axis motor 22d, Z axis motor 23d and crawl structure；
The X-axis straight line slide unit 21, Y-axis straight line slide unit 22 and Z axis straight line slide unit 23 are mutually perpendicular to, and the X-axis straight line is slided
Platform 21 is provided with the X-axis slide block 21c that can be slid along, and X-axis motor 21d drives X-axis slide block 21c along X-axis straight line slide unit 21
Length direction slides；
One end of the Y-axis straight line slide unit 22 is fixed on X-axis slide block 21c, and Y-axis straight line slide unit 22 is provided with can be along its cunning
Dynamic Y-axis sliding block 22c, Y-axis motor 22d drive Y-axis sliding block 22c to be slided along the length direction of Y-axis straight line slide unit 22；
One end of the Z axis straight line slide unit 23 is fixed on Y-axis sliding block 22c, and Z axis straight line slide unit 23 is provided with can be along its cunning
Dynamic Z axis sliding block 23c, Z axis motor 23d drive Z axis sliding block 23c to be slided along the length direction of Z axis straight line slide unit 23；
The crawl structure includes Pneumatic parallel folder motor 24 and Pneumatic parallel folder 27, the Pneumatic parallel folder driving
Motor 24 is arranged on Z axis sliding block 23c, and the output shaft of Pneumatic parallel folder motor 24 is connected driving gas with Pneumatic parallel folder 27
The dynamic parallel rotation of folder 27.
As optimization, the X-axis straight line slide unit 21 includes X-axis fixture 21a, X-axis slide bar 21b and X-axis slide block 21c；Institute
Stating X-axis fixture 21a includes X-axis installing plate and is fixed on the X-axis slide bar engaging lug at X-axis installing plate both ends, the X-axis slide bar
21b is arranged between two X-axis slide bar engaging lugs, and the X-axis slide block 21c is arranged on X-axis slide bar 21b, and can be along X-axis slide bar
21b moves back and forth.There is X-axis slide block centre bore, the X-axis slide bar 21b passes through X-axis slide block center on the X-axis slide block 21c
Hole, and coordinate with X-axis slide block centre bore screw thread；The output shaft of the X-axis motor 21d is connected with X-axis slide bar 21b, drives X
Axle slide bar 21b is rotated.
The Y-axis straight line slide unit 22 includes Y-axis fixture 22a, Y-axis slide bar 22b and Y-axis sliding block 22c；The Y-axis is fixed
Part 22a includes Y-axis installing plate and is fixed on the Y-axis slide bar engaging lug at Y-axis installing plate both ends, and the Y-axis slide bar 22b is arranged on two
Between individual Y-axis slide bar engaging lug, the Y-axis sliding block 22c is arranged on Y-axis slide bar 22b, and can be moved back along Y-axis slide bar 22b
It is dynamic.There is Y-axis its center hole, the Y-axis slide bar 22b passes through Y-axis its center hole, and and Y-axis on the Y-axis sliding block 22c
Its center hole screw thread coordinates；The output shaft of the Y-axis motor 22d is connected with Y-axis slide bar 22b, driving Y-axis slide bar 22b
Rotate.
The Z axis straight line slide unit 23 includes Z axis fixture 23a, Z axis slide bar 23b and Z axis sliding block 23c；The Z axis is fixed
Part 23a includes Z axis installing plate and is fixed on the Z axis slide bar engaging lug at Z axis installing plate both ends, and the Z axis slide bar 23b is arranged on two
Between individual Z axis slide bar engaging lug, the Z axis sliding block 23c is arranged on Z axis slide bar 23b, and can be moved back along Z axis slide bar 23b
It is dynamic.There is Z axis its center hole, the Z axis slide bar 23b passes through Z axis its center hole, and and Z axis on the Z axis sliding block 23c
Its center hole screw thread coordinates；The output shaft of the Z axis motor 23d is connected with Z axis slide bar 23b, driving Z axis slide bar 23b
Rotate.
Design X, Y, Z axis is orthogonal two-by-two, and its mentality of designing meets cartesian coordinate system principle, is advantageous to space three-dimensional
The foundation of structure coordinate system and the fast positioning for being advantageous to workpiece coordinate.X, Y, Z axis is using three straight line slide unit structures
Composition, its precision is higher, and side should be rapid, and motion is got up quick steady.
Further, in addition to Pneumatic parallel folder motor mounting bracket 24a；The Pneumatic parallel folder motor installation
Frame 24a is frame-shaped construction, and Pneumatic parallel folder motor mounting bracket 24a is fixed on Z axis sliding block 23c, the Pneumatic parallel folder
Motor 24 is arranged in Pneumatic parallel folder motor mounting bracket 24a frame-shaped construction.
Further, in addition to first shaft coupling 25, the output shaft of the Pneumatic parallel folder motor 24 passes through the
One shaft coupling 25 is connected with Pneumatic parallel folder 27, drives the Pneumatic parallel rotation of folder 27.
Further, in addition to Pneumatic parallel folder mounting bracket 26, the Pneumatic parallel folder mounting bracket 26 are connected to first
In the output end of shaft coupling 25, the Pneumatic parallel folder 27 is arranged on Pneumatic parallel folder mounting bracket 26.
In use, when host computer receive want three-dimensional mechanical hand mechanism to certain point crawl object signal when, it is upper
Machine sends corresponding signal and driven to X-axis motor 21d, the Y-axis motor 22d in three-dimensional machine mobile phone structure 20 and Z axis
Dynamic motor 23d makes it rotate to corresponding angle, so as to drive corresponding X-axis slide block 21c, Y-axis sliding block 22c and Z axis sliding block
23c is moved, and finally causes three-dimensional mechanical hand to defined location.Then Pneumatic parallel folder motor 24 drives Pneumatic parallel folder
27 are rotated again to corresponding angle, by it is Pneumatic parallel folder 27 clamping and release, and then realize three-dimensional mechanical hand crawl or
Person puts down the grinding head 52 in grinding head storehouse mechanism 50.
The three-dimensional mechanical hand mechanism kinematic smooth flow, precision is high, cost-effective.
Referring to Fig. 6 to Fig. 9, electric drill key actuated device 30：Including drive device mounting bracket 38, line slide rail 31, electric drill
Key actuated motor 32, electric drill key actuated motor mounting rack 33, electric drill key 37, the second sliding block 39；
The line slide rail 31 is horizontally set on drive device mounting bracket 38, and second sliding block 39 is arranged on straight line cunning
On rail 31, and it can be slidably reciprocated along line slide rail 31, electric drill key actuated motor mounting rack 33 is fixed on the second sliding block 39, institute
Electric drill key actuated motor 32 is stated on electric drill key actuated motor mounting rack 33, the output of electric drill key actuated motor 32
Axle is connected with electric drill key 37, and driving electric drill key 37 rotates.
As optimization, the electric drill key actuated device 30 also includes second shaft coupling 34 and connecting shaft 35；The electric drill
The output shaft of key actuated motor 32 passes sequentially through second shaft coupling 34, connecting shaft 35 is connected with electric drill key 37.
The output shaft of the electric drill key actuated motor 32 passes sequentially through second shaft coupling 34, connecting shaft 35 and electric drill key
37 connections, so design can be organic electric drill key actuated motor 32, second shaft coupling 34, connecting shaft 35 and electric drill key 37
Connect, clever structure is reasonable.
Further, the electric drill key actuated device 30 also includes torque force limiting device 36；The torque force limiting device 36
Input is connected with connecting shaft 35, and the output end of torque force limiting device 36 is connected with the left end of electric drill key 37.
Torque force limiting device 36 primarily serves the effect of protection electric drill key actuated motor 32, when electric drill key 37 twists electric drill
After tight, and electric drill key actuated motor 32 is still in rotary work, it is easy to and it is just that electric drill key actuated motor 32 is stuck,
And then burn out electric drill key actuated motor 32, and the effect of torque force limiting device 36 be exactly when electric drill key 37 electric drill tightened with
Afterwards, just electric drill key actuated motor 32 and electric drill key 37 to being separated from, so as to protect electric drill key actuated motor 32 not by
Burn out.
Further, the electric drill key 37 includes electric drill key connecting shaft, electric drill key gear and electric drill key bit；
The electric drill key connecting shaft is hollow-core construction, is provided with compression spring in it, the electric drill key bit is connected by compression spring
In electric drill key connecting shaft；
The left end of the electric drill key connecting shaft is connected with the output end of torque force limiting device 36, the right side of electric drill key connecting shaft
End installation electric drill key gear, and gear is located at the left side of electric drill key bit.
In use, electric drill key actuated device 30 is wanted to go to tighten or unclamp on electric drill key bit when host computer receives
Grinding head 52 when, host computer sends a signal to electric drill key actuated motor 32, it is rotated corresponding angle, so as to drive
When electric drill key moves forward to the position that can just tighten or unclamp the grinding head 52 on electric drill head, electric drill key is driven,
And then tighten or unclamp the grinding head on electric drill head.When on the electric drill keyhole on electric drill and electric drill key actuated device 30
When the contraposition of electric drill key bit is inaccurate, electric drill key actuated device 30 drives electric drill key to move forward, when electric drill key gear
When being engaged with electric drill head gear, electric drill key is driven, so that electric drill key bit cooperates with electric drill keyhole, Jin Ershi
Existing electric drill automatic tool changer.
The electric drill key actuated device has assembling flexible, and price is economical, can realize Quick fastening or release
The advantages of electric drill head.
Referring to Figure 10 to Figure 13, grinding head storehouse mechanism 50：Fixed including belt switch magnet 51, grinding head 52 and grinding head
Plate；
There is multiple grinding head mounting holes 56 for being used to install grinding head, grinding head fixed plate in the grinding head fixed plate
It is arranged on belt switch magnet 51, the grinding head 52 is arranged in grinding head fixed plate by grinding head mounting hole 56；
As optimization, the grinding head fixed plate in the grinding head storehouse mechanism 50 is beaten by left grinding head fixed plate 54a and the right side
Bistrique fixed plate 54b form, left grinding head fixed plate 54a and right grinding head fixed plate 54b are arranged in parallel, and between have
Gap.
Further, the grinding head mounting hole 56 3 is one group, is for installing a grinding head for a hole
52, other two apertures are the mounting holes (described below) of photoelectric sensor 53.The grinding head storehouse mechanism 50 also includes multiple common
Magnet 55, the common magnet 55 are arranged between left grinding head fixed plate 54a and right grinding head fixed plate 54b, and each general
Logical magnet 55 is corresponding with one group of grinding head mounting hole 56.For the installation end of grinding head 52 to be adsorbed in grinding head fixed plate
Further, the grinding head storehouse mechanism 50 also includes photoelectric sensor 53, and the photoelectric sensor 53 is set
Between left grinding head fixed plate 54a and right grinding head fixed plate 54b, and each photoelectric sensor 53 and one group of grinding head are installed
Hole 56 is corresponding.
Grinding head storehouse mechanism have can clamping grinding head rapidly, it is convenient, flexible, can greatly mitigate manual labor
The advantages of.
Photoelectric sensor 53 is that whether have grinding head on each grinding head mounting hole in grinding head fixed plate 54 for detecting
52, so that the relative position of three-dimensional mechanical hand mechanism to grinding head storehouse mechanism 50 captures new grinding head 52, belt switch magnet
51 be for grinding head storehouse mechanism 50 is adsorbed in the fixed position of frame 10, when the new grinding head in grinding head storehouse mechanism 50 all
When being finished, belt switch magnet 51 is manually turned off magnetic, replacing with harness has the grinding head storehouse mechanism of new grinding head.
The three-dimensional machine mobile phone structure 20 is fixed on the upper left corner of frame 10 by X-axis straight line slide unit 21, is beaten for gripping
Grinding head 52 in bistrique storehouse mechanism 50, electric drill key actuated device 30 are fixed on frame 10 by drive device mounting bracket 38
Middle part, for tightening or unclamping electric drill head, grinding head storehouse mechanism 50 is fixed on the middle part of frame 10 by belt switch magnet 51, and
Positioned at the left side of electric drill key actuated device 30, for providing grinding head 52.
As an improvement, the automatic grinding head device of changing also includes grating sensor 40, the grating sensor 40 is pacified
On four angles of frame 10.When grinding head device is moved certainly in work, when people or other unrelated objects enter
From moving in grinding head device, grating sensor receives this signal, is subsequently sent to host computer, so that whole move certainly
Grinding head device ensures the life safety of employee and the safety of equipment in jerk state.
As an improvement, the automatic grinding head device of changing also includes Waste recovery mechanism 60, the Waste recovery mechanism
60 are arranged in frame 10, and corresponding to the lower left position of electric drill key actuated device 30.
The automatic operation principle for changing grinding head device provided by the invention：
During work, industrial six-joint robot drives electric drill sander to return to the origin position for changing grinding head and sends signal
To control device, when control device receives grinding head signal to be changed, then control device driving one clip it is new
The three-dimensional machine mobile phone structure of grinding head, another Pneumatic parallel folder de-clamping not worked is set grinding head to be changed, Ran Hou electricity
Bore key actuated device to go forward to unclamp electric drill head, Pneumatic parallel folder presss from both sides out old grinding head, then drives Pneumatic parallel folder rotation
New grinding head is put into electric drill in front by the motor rotation 180 degree turned, and then electric drill key actuated device tightens electric drill head then
Home is retracted, three-dimensional machine mobile phone structure is put back to old grinding head in waste recovery mechanism, then according to grinding head storehouse machine
Photoelectric sensor on structure determines that there is new grinding head that position, and what a new grinding head pressed from both sides again, waits next life
Order.
From grinding head device is moved when work, when people or other unrelated objects enter oneself and move grinding head device
Interior, grating sensor receives this signal, is subsequently sent to host computer, so that whole move grinding head device in jerk certainly
State, and then ensure the life safety of employee and the safety of equipment.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (6)
- A kind of 1. grinding head storehouse mechanism, it is characterised in that：Fixed including belt switch magnet (51), grinding head (52) and grinding head Plate；There is multiple grinding head mounting holes (56) for being used to install grinding head, belt switch magnet (51) in the grinding head fixed plate It is horizontally disposed, and be fixedly connected with the bottom of grinding head fixed plate, the grinding head (52) is pacified by grinding head mounting hole (56) In grinding head fixed plate.
- 2. grinding head storehouse mechanism as claimed in claim 1, it is characterised in that：The grinding head fixed plate is fixed by left grinding head Plate (54a) and right grinding head fixed plate (54b) composition, left grinding head fixed plate (54a) and right grinding head fixed plate (54b) are mutual Be arranged in parallel, and between there is gap.
- 3. grinding head storehouse mechanism as claimed in claim 1, it is characterised in that：The grinding head mounting hole (56) three is one Group, for installing a grinding head (52).
- 4. grinding head storehouse mechanism as claimed in claim 3, it is characterised in that：Also include multiple common magnet (55)；The common magnet (55) is arranged between left grinding head fixed plate (54a) and right grinding head fixed plate (54b), and each Common magnet (55) is corresponding with one group of grinding head mounting hole (56).
- 5. grinding head storehouse mechanism as claimed in claim 3, it is characterised in that：Also include multiple photoelectric sensors (53), it is described Photoelectric sensor (53) is arranged between left grinding head fixed plate (54a) and right grinding head fixed plate (54b), and each photoelectric transfer Sensor (53) is corresponding with one group of grinding head mounting hole (56).
- 6. the grinding head storehouse mechanism as described in claim any one of 1-5, it is characterised in that：The belt switch magnet (51) is plate Assembling structure, there is the mounting hole of grinding head storehouse mechanism respectively on its four angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720449710.1U CN206764553U (en) | 2017-04-26 | 2017-04-26 | A kind of grinding head storehouse mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720449710.1U CN206764553U (en) | 2017-04-26 | 2017-04-26 | A kind of grinding head storehouse mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764553U true CN206764553U (en) | 2017-12-19 |
Family
ID=60635605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720449710.1U Expired - Fee Related CN206764553U (en) | 2017-04-26 | 2017-04-26 | A kind of grinding head storehouse mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764553U (en) |
-
2017
- 2017-04-26 CN CN201720449710.1U patent/CN206764553U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171219 Termination date: 20190426 |