CN207464785U - A double-spindle and double-Z-axis CNC machine tool capable of automatic tool change - Google Patents
A double-spindle and double-Z-axis CNC machine tool capable of automatic tool change Download PDFInfo
- Publication number
- CN207464785U CN207464785U CN201721633751.2U CN201721633751U CN207464785U CN 207464785 U CN207464785 U CN 207464785U CN 201721633751 U CN201721633751 U CN 201721633751U CN 207464785 U CN207464785 U CN 207464785U
- Authority
- CN
- China
- Prior art keywords
- axis
- head
- axle
- double
- tool magazine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000009434 installation Methods 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 7
- 239000003381 stabilizer Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
技术领域technical field
本实用新型涉及数控机床技术领域,具体为一种可实现自动换刀的双主轴双Z轴数控机床。The utility model relates to the technical field of numerical control machine tools, in particular to a double-spindle and double-Z-axis numerical control machine tool capable of automatic tool change.
背景技术Background technique
双主轴数控机床的第二主轴是个可移动的主轴(也有的不可移动),它可以移动到第一主轴那里,将工件抓过来进行第二面的加工,这样的配置有利于提高工件精度与提高加工速度,但一般的不能独立运动调节刀具补偿。The second spindle of the double-spindle CNC machine tool is a movable spindle (some of which are not movable). It can move to the first spindle and grab the workpiece to process the second surface. This configuration is conducive to improving the accuracy of the workpiece and improving Processing speed, but in general, the tool compensation cannot be adjusted independently.
实用新型内容Utility model content
本实用新型的目的在于提供一种可实现自动换刀的双主轴双Z轴数控机床,具有能独立运动调节刀具补偿的特点,解决了现有技术中的问题。The purpose of the utility model is to provide a double-spindle and double-Z-axis CNC machine tool capable of automatic tool change, which has the characteristics of independent movement and adjustment of tool compensation, and solves the problems in the prior art.
为实现上述目的,本实用新型提供如下技术方案:一种可实现自动换刀的双主轴双Z轴数控机床,包括底座和第一刀库,所述底座的底部设置有支脚,所述底座的顶部一侧设置有龙门架,所述龙门架的顶部一侧设置有第一X轴滑轨和第二X轴滑轨,所述第一X轴滑轨和第二X轴滑轨上安装有第一Z轴机头和第二Z轴机头,所述第一Z轴机头的顶部安装有第一Z轴机头推动气缸,所述第二Z轴机头的顶部安装有第二Z轴机头推动气缸,所述第一Z轴机头的底部安装有第一刀库,所述第二Z轴机头的底部安装有第二刀库,所述第一刀库和第二刀库的一侧安装有刀头,所述龙门架的底部一侧设置有第一Y轴滑轨和第二Y轴滑轨,所述第一Y轴滑轨和第二Y轴滑轨设置在底座的顶部,所述第一Y轴滑轨和第二Y轴滑轨的顶部安装有工作台,所述工作台的底部安装有工作台推动气缸。In order to achieve the above purpose, the utility model provides the following technical solutions: a double-spindle double-Z-axis CNC machine tool capable of automatic tool change, including a base and a first tool magazine, the bottom of the base is provided with feet, the base of the base One side of the top is provided with a gantry, and the top side of the gantry is provided with a first X-axis slide rail and a second X-axis slide rail, and the first X-axis slide rail and the second X-axis slide rail are installed with The first Z-axis head and the second Z-axis head, the top of the first Z-axis head is installed with the first Z-axis head pushing cylinder, and the top of the second Z-axis head is installed with the second Z The axis head pushes the cylinder, the first tool magazine is installed at the bottom of the first Z-axis head, the second tool magazine is installed at the bottom of the second Z-axis head, and the first tool magazine and the second tool magazine A cutter head is installed on one side of the warehouse, and a first Y-axis slide rail and a second Y-axis slide rail are provided on one side of the bottom of the gantry, and the first Y-axis slide rail and the second Y-axis slide rail are arranged on The top of the base, the top of the first Y-axis slide rail and the top of the second Y-axis slide rail are equipped with a workbench, and the bottom of the workbench is installed with a workbench pushing cylinder.
优选的,所述第一X轴滑轨和第二X轴滑轨上安装有机头安装板,第一Z轴机头和第二Z轴机头安装在机头安装板上,机头安装板的一侧安装有X轴推动气缸,X轴推动气缸推动机头安装板X轴方向运动。Preferably, a machine head mounting plate is installed on the first X-axis slide rail and the second X-axis slide rail, the first Z-axis machine head and the second Z-axis machine head are installed on the machine head mounting plate, and the machine head mounting plate An X-axis push cylinder is installed on one side of the machine head, and the X-axis pushes the cylinder to push the head mounting plate to move in the X-axis direction.
优选的,所述第一Z轴机头推动气缸和第二Z轴机头推动气缸分别推动第一Z轴机头和第二Z轴机头沿Z轴方向运动。Preferably, the first Z-axis head pushing cylinder and the second Z-axis head pushing cylinder respectively push the first Z-axis head and the second Z-axis head to move along the Z-axis direction.
优选的,所述工作台推动气缸推动工作台沿Y轴方向运动。Preferably, the worktable pushes the cylinder to move the worktable along the Y-axis direction.
优选的,所述第一刀库和第二刀库为独立的排刀式刀库,刀头卡接在第一刀库和第二刀库上,可以实现自动换刀。Preferably, the first tool magazine and the second tool magazine are independent tool magazines, and the tool heads are clamped on the first tool magazine and the second tool magazine to realize automatic tool change.
与现有技术相比,本实用新型的有益效果如下:Compared with the prior art, the beneficial effects of the utility model are as follows:
本可实现自动换刀的双主轴双Z轴数控机床,工作台推动气缸推动工作台沿Y轴方向运动,可以将工作台推到第一刀库和第二刀库的下方,第一刀库和第二刀库上安装有刀头,第一刀库和第二刀库分别安装在第一Z轴机头和第二Z轴机头的底部,第一Z轴机头和第二Z轴机头分别安装有独立的推动气缸,为第一Z轴机头推动气缸和第二Z轴机头推动气缸,第一Z轴机头和第二Z轴机头分别在第一Z轴机头推动气缸和第二Z轴机头推动气缸的推动下实现独立运动,使得刀头沿Z轴运动,方便对工作台顶部的产品进行加工,本装置Y轴和Z轴是公用轴,第一Z轴机头和第二Z轴机头为可以独立运动的双Z轴,这样的设计就可以利用Z轴的独立运动调节刀具补偿,双机头加工可以实现同时加工2个配件,效率翻倍。The double-spindle double-Z-axis CNC machine tool that can realize automatic tool change, the worktable pushes the cylinder to push the worktable to move along the Y-axis direction, and the worktable can be pushed to the bottom of the first tool magazine and the second tool magazine, and the first tool magazine The first tool magazine and the second tool magazine are installed on the bottom of the first Z-axis head and the second Z-axis head respectively, and the first Z-axis head and the second Z-axis The heads are respectively equipped with independent push cylinders, which are the first Z-axis head push cylinder and the second Z-axis head push cylinder. The first Z-axis head and the second Z-axis head are respectively on the first Z-axis head. The push cylinder and the second Z-axis machine head push the cylinder to realize independent movement, so that the cutter head moves along the Z-axis, which is convenient for processing the products on the top of the workbench. The Y-axis and Z-axis of this device are common axes, and the first Z The two-axis machine head and the second Z-axis machine head are double Z-axes that can move independently. This design can use the independent movement of the Z-axis to adjust the tool compensation. The double-head machining can realize simultaneous processing of two parts, doubling the efficiency.
附图说明Description of drawings
图1为本实用新型的整体结构图。Fig. 1 is the overall structure diagram of the utility model.
图中:1支脚、2底座、3第一刀库、4龙门架、5第一X轴滑轨、6第二X轴滑轨、7第一Z轴机头、8第一Z轴机头推动气缸、9第二Z轴机头推动气缸、10X轴推动气缸、11第二Z轴机头、12第二刀库、13刀头、14工作台、15第二Y轴滑轨、16工作台推动气缸、17第一Y轴滑轨。In the figure: 1 foot, 2 base, 3 the first tool magazine, 4 gantry frame, 5 the first X-axis slide rail, 6 the second X-axis slide rail, 7 the first Z-axis head, 8 the first Z-axis head Push cylinder, 9 second Z-axis head push cylinder, 10X-axis push cylinder, 11 second Z-axis head, 12 second tool magazine, 13 cutter head, 14 workbench, 15 second Y-axis slide rail, 16 work Taiwan promotes cylinder, 17 first Y-axis slide rails.
具体实施方式Detailed ways
下面将结合本实用新型实施例中的附图,对本实用新型实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本实用新型一部分实施例,而不是全部的实施例。基于本实用新型中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本实用新型保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
请参阅图1,一种可实现自动换刀的双主轴双Z轴数控机床,包括底座2和第一刀库3,底座2的底部设置有支脚1,防止装置滑动,从而影响操作,底座2的顶部一侧设置有龙门架4,龙门架4起支撑作用,方便进行立体滑轨的安装,龙门架4的顶部一侧设置有第一X轴滑轨5和第二X轴滑轨6,第一X轴滑轨5和第二X轴滑轨6上安装有机头安装板,第一Z轴机头7和第二Z轴机头11安装在机头安装板上,机头安装板的一侧安装有X轴推动气缸10,X轴推动气缸10推动机头安装板X轴方向运动,从而推动第一Z轴机头7和第二Z轴机头11沿X轴滑轨运行,第一Z轴机头7的顶部安装有第一Z轴机头推动气缸8,第二Z轴机头11的顶部安装有第二Z轴机头推动气缸9,第一Z轴机头推动气缸8和第二Z轴机头推动气缸9分别推动第一Z轴机头7和第二Z轴机头11沿Z轴方向运动,第一Z轴机头7和第二Z轴机头11分别设置独立的推动气缸,实现了第一Z轴机头7和第二Z轴机头11的独立运动,二者互不影响,第一Z轴机头7的底部安装有第一刀库3,第二Z轴机头11的底部安装有第二刀库12,第一刀库3和第二刀库12的一侧安装有刀头13,第一刀库3和第二刀库12为独立的排刀式刀库,刀头13卡接在第一刀库3和第二刀库12上,可以实现自动换刀,龙门架4的底部一侧设置有第一Y轴滑轨17和第二Y轴滑轨15,第一Y轴滑轨17和第二Y轴滑轨15设置在底座2的顶部,第一Y轴滑轨17和第二Y轴滑轨15的顶部安装有工作台14,工作台14的底部安装有工作台推动气缸16,工作台推动气缸16推动工作台14沿Y轴方向运动,方便工作台14运行到第一刀库3和第二刀库12的底部,从而实现加工,本可实现自动换刀的双主轴双Z轴数控机床,工作台推动气缸16推动工作台14沿Y轴方向运动,可以将工作台14推到第一刀库3和第二刀库12的下方,第一刀库3和第二刀库12上安装有刀头13,第一刀库3和第二刀库12分别安装在第一Z轴机头7和第二Z轴机头11的底部,第一Z轴机头7和第二Z轴机头11分别安装有独立的推动气缸,为第一Z轴机头推动气缸8和第二Z轴机头推动气缸9,第一Z轴机头7和第二Z轴机头11分别在第一Z轴机头推动气缸8和第二Z轴机头推动气缸9的推动下实现独立运动,使得刀头13沿Z轴运动,方便对工作台14顶部的产品进行加工,本装置Y轴和Z轴是公用轴,第一Z轴机头7和第二Z轴机头11为可以独立运动的双Z轴,这样的设计就可以利用Z轴的独立运动调节刀具补偿,双机头加工可以实现同时加工2个配件,效率翻倍。Please refer to Figure 1, a dual-spindle and dual-Z-axis CNC machine tool capable of automatic tool change, including a base 2 and a first tool magazine 3, the bottom of the base 2 is provided with a foot 1 to prevent the device from sliding, thus affecting the operation, the base 2 The top side of the gantry 4 is provided with a gantry 4, and the gantry 4 plays a supporting role to facilitate the installation of the three-dimensional slide rail. The top side of the gantry 4 is provided with a first X-axis slide rail 5 and a second X-axis slide rail 6, The machine head mounting plate is installed on the first X-axis slide rail 5 and the second X-axis slide rail 6, and the first Z-axis machine head 7 and the second Z-axis machine head 11 are installed on the machine head mounting plate. An X-axis push cylinder 10 is installed on one side, and the X-axis pushes the cylinder 10 to push the head mounting plate to move in the X-axis direction, thereby pushing the first Z-axis head 7 and the second Z-axis head 11 to run along the X-axis slide rail. A first Z-axis head push cylinder 8 is installed on the top of a Z-axis head 7, a second Z-axis head push cylinder 9 is installed on the top of the second Z-axis head 11, and a first Z-axis head pushes cylinder 8 and the second Z-axis machine head pushing cylinder 9 respectively push the first Z-axis machine head 7 and the second Z-axis machine head 11 to move along the Z-axis direction, and the first Z-axis machine head 7 and the second Z-axis machine head 11 are respectively set The independent push cylinder realizes the independent movement of the first Z-axis head 7 and the second Z-axis head 11, and the two do not affect each other. The bottom of the first Z-axis head 7 is installed with the first tool magazine 3, and the second The bottom of the Z-axis machine head 11 is equipped with a second knife magazine 12, and a side of the first knife magazine 3 and the second knife magazine 12 is equipped with a cutter head 13, and the first knife magazine 3 and the second knife magazine 12 are independent Row-type tool magazine, the cutter head 13 is clamped on the first tool magazine 3 and the second tool magazine 12, which can realize automatic tool change. The bottom side of the gantry 4 is provided with a first Y-axis slide rail 17 and a second Y-axis slide rail 15, the first Y-axis slide rail 17 and the second Y-axis slide rail 15 are arranged on the top of the base 2, and the top of the first Y-axis slide rail 17 and the second Y-axis slide rail 15 is equipped with a workbench 14 , the bottom of the workbench 14 is equipped with a workbench pushing cylinder 16, and the workbench pushes the cylinder 16 to push the workbench 14 to move along the Y-axis direction, so that the workbench 14 moves to the bottom of the first tool magazine 3 and the second tool magazine 12, thereby To achieve machining, the double-spindle and double-Z-axis CNC machine tool that can realize automatic tool change, the worktable pushes the cylinder 16 to push the worktable 14 to move along the Y-axis direction, and can push the workbench 14 to the first tool magazine 3 and the second tool magazine 12, the first tool magazine 3 and the second tool magazine 12 are equipped with a cutter head 13, and the first tool magazine 3 and the second tool magazine 12 are installed on the first Z-axis machine head 7 and the second Z-axis machine head respectively. 11, the first Z-axis head 7 and the second Z-axis head 11 are respectively equipped with independent push cylinders, which are the push cylinder 8 for the first Z-axis head and the push cylinder 9 for the second Z-axis head. The Z-axis machine head 7 and the second Z-axis machine head 11 realize independent movement under the promotion of the first Z-axis machine head pushing cylinder 8 and the second Z-axis machine head pushing cylinder 9, so that the cutter head 13 moves along the Z-axis, It is convenient to process the products on the top of the workbench 14. The Y-axis and Z-axis of this device are common axes. The first Z-axis head 7 and the second Z-axis head 11 are double Z-axes that can move independently. Such a design can use the independent movement of the Z axis to adjust the tool compensation, and the double head processing can realize the simultaneous processing of 2 parts, doubling the efficiency.
综上所述:本可实现自动换刀的双主轴双Z轴数控机床,工作台推动气缸16推动工作台14沿Y轴方向运动,可以将工作台14推到第一刀库3和第二刀库12的下方,第一刀库3和第二刀库12上安装有刀头13,第一刀库3和第二刀库12分别安装在第一Z轴机头7和第二Z轴机头11的底部,第一Z轴机头7和第二Z轴机头11分别安装有独立的推动气缸,为第一Z轴机头推动气缸8和第二Z轴机头推动气缸9,第一Z轴机头7和第二Z轴机头11分别在第一Z轴机头推动气缸8和第二Z轴机头推动气缸9的推动下实现独立运动,使得刀头13沿Z轴运动,方便对工作台14顶部的产品进行加工,本装置Y轴和Z轴是公用轴,第一Z轴机头7和第二Z轴机头11为可以独立运动的双Z轴,这样的设计就可以利用Z轴的独立运动调节刀具补偿,双机头加工可以实现同时加工2个配件,效率翻倍。To sum up: the dual-spindle dual-Z-axis CNC machine tool that can realize automatic tool change, the worktable pushes the cylinder 16 to push the worktable 14 to move along the Y-axis direction, and can push the worktable 14 to the first tool magazine 3 and the second Below the tool magazine 12, a cutter head 13 is installed on the first tool magazine 3 and the second tool magazine 12, and the first tool magazine 3 and the second tool magazine 12 are installed on the first Z-axis machine head 7 and the second Z-axis respectively. The bottom of the head 11, the first Z-axis head 7 and the second Z-axis head 11 are respectively equipped with independent push cylinders, which are the first Z-axis head push cylinder 8 and the second Z-axis head push cylinder 9, The first Z-axis machine head 7 and the second Z-axis machine head 11 realize independent movement under the promotion of the first Z-axis machine head pushing cylinder 8 and the second Z-axis machine head pushing cylinder 9, so that the cutter head 13 moves along the Z-axis It is convenient to process the products on the top of the workbench 14. The Y-axis and Z-axis of this device are common axes. The first Z-axis head 7 and the second Z-axis head 11 are double Z-axes that can move independently. The design can use the independent movement of the Z axis to adjust the tool compensation, and the double head processing can realize the simultaneous processing of 2 parts, doubling the efficiency.
尽管已经示出和描述了本实用新型的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本实用新型的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本实用新型的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721633751.2U CN207464785U (en) | 2017-11-29 | 2017-11-29 | A double-spindle and double-Z-axis CNC machine tool capable of automatic tool change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721633751.2U CN207464785U (en) | 2017-11-29 | 2017-11-29 | A double-spindle and double-Z-axis CNC machine tool capable of automatic tool change |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207464785U true CN207464785U (en) | 2018-06-08 |
Family
ID=62260007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721633751.2U Expired - Fee Related CN207464785U (en) | 2017-11-29 | 2017-11-29 | A double-spindle and double-Z-axis CNC machine tool capable of automatic tool change |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207464785U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714788A (en) * | 2018-08-13 | 2018-10-30 | 东莞泽鑫数控机床有限公司 | A kind of double main shaft turnning and milling combined numerically controlled machines |
| CN111136492A (en) * | 2020-02-19 | 2020-05-12 | 深圳市盛利达数控设备有限公司 | Numerical control machine tool with knife bin device |
| CN115185231A (en) * | 2022-07-14 | 2022-10-14 | 哈硕永业精密机械(苏州)有限公司 | Automatic control system of double-spindle double-Z-axis vertical machining center |
-
2017
- 2017-11-29 CN CN201721633751.2U patent/CN207464785U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714788A (en) * | 2018-08-13 | 2018-10-30 | 东莞泽鑫数控机床有限公司 | A kind of double main shaft turnning and milling combined numerically controlled machines |
| CN108714788B (en) * | 2018-08-13 | 2023-09-12 | 东莞泽鑫数控机床有限公司 | A dual-spindle turning and milling compound CNC machine tool |
| CN111136492A (en) * | 2020-02-19 | 2020-05-12 | 深圳市盛利达数控设备有限公司 | Numerical control machine tool with knife bin device |
| CN111136492B (en) * | 2020-02-19 | 2021-04-20 | 深圳市盛利达数控设备有限公司 | CNC machine tool with tool magazine device |
| CN115185231A (en) * | 2022-07-14 | 2022-10-14 | 哈硕永业精密机械(苏州)有限公司 | Automatic control system of double-spindle double-Z-axis vertical machining center |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206717543U (en) | Double axis compound CNC machine tool | |
| CN203316803U (en) | Four-shaft linkage numerical control engraving and milling machine | |
| CN206047596U (en) | Complex milling machine tool | |
| CN102000911A (en) | Five-axis linkage laser processing machine | |
| CN111002047A (en) | Numerical control movable beam type five-axis gantry machining center machine tool | |
| WO2020207351A1 (en) | Efficient horizontal machining central machine tool having double main shafts and double work tables | |
| CN106078361B (en) | The vertical compound multi-panel processing center machine tool that crouches of one kind | |
| CN207464785U (en) | A double-spindle and double-Z-axis CNC machine tool capable of automatic tool change | |
| CN103042393A (en) | Combined milling and grinding machine tool | |
| CN207344155U (en) | A kind of multi-station digital-controlled lathe | |
| CN213135814U (en) | Oscillating type vertical and horizontal machining center | |
| CN206216244U (en) | Multifunctional CNC drilling and milling machine | |
| CN217493706U (en) | A special CNC machine tool for double-station deburring | |
| CN203266290U (en) | Fixed workbench numerical control drilling machine with tool automatically changed | |
| CN215239530U (en) | Double-spindle gantry machining mechanism | |
| CN106363417A (en) | Multifunctional numerical control drilling and milling machine | |
| CN207577510U (en) | High precision CNC milling machine | |
| CN105081852A (en) | Portal vertical machining center | |
| CN105234749A (en) | Twin-spindle numerical-control device used for composite sliding block machining | |
| CN104827350A (en) | Processing center with high tool change accuracy | |
| CN103692529B (en) | The timber flexible compound processing unit (plant) of the two spindle combinations formulas of a kind of double-manipulator | |
| CN103817725B (en) | The processing unit (plant) of processing guitar handle | |
| CN203649918U (en) | Five-axis high-speed precision-machining numerical control machine tool | |
| CN105562791B (en) | The overhead cross beam movement gantry High-speed engraving and milling bed of numerical control bridge-type | |
| CN104802017A (en) | Movable type bamboo hat tool changer |
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: 20180608 Termination date: 20211129 |