CN209394697U - Electrodynamic type robot end's fast replacing device - Google Patents
Electrodynamic type robot end's fast replacing device Download PDFInfo
- Publication number
- CN209394697U CN209394697U CN201822037150.6U CN201822037150U CN209394697U CN 209394697 U CN209394697 U CN 209394697U CN 201822037150 U CN201822037150 U CN 201822037150U CN 209394697 U CN209394697 U CN 209394697U
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- side panel
- robot
- sealed
- fast replacing
- replacing device
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- 230000005520 electrodynamics Effects 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims description 4
- 230000006872 improvement Effects 0.000 description 23
- 238000000034 method Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model discloses a kind of electrodynamic type robot end fast replacing devices, including robot side panel interconnected and tool side panel, the robot side panel is equipped with driving groove towards the end face of tool side panel, the tool side disk is correspondingly provided with locking slot to the end face of driving groove, main shaft is rotatably connected in the driving groove, transmission mechanism is additionally provided in the driving groove, main shaft is connect by the transmission mechanism with motor drive, and the motor is fixed with robot side panel；Lock uint, the sealed and unlock of the main shaft drives lock uint control robot side panel and tool side panel are equipped in the locking slot.From the above it is found that electrodynamic type robot end's fast replacing device of the utility model, drives push plate to realize that the sealed fixation of robot side panel and tool side panel and disassembly separate to ball by motor, the sealed fixation and disassembly separative efficiency of fast replacing device are improved.
Description
Technical field
The utility model relates to a kind of technical fields of robot tool fast replacing device, and in particular to a kind of electrodynamic type machine
People end fast replacing device.
Background technique
With the increase of cost of labor, more and more enterprises start to promote the use of robot.Since robot does not need
Rest, level of enforcement is high, so the production work of many duplications of labour can be carried out by robot.
In the use process of robot, for different processes, robot needs replacing different tools, at present market
On robot when the tool of replacement realized by fast replacing device, can be improved robot replacement tool in this way
Efficiency, and it is able to achieve production of the robot to a variety of different processes, and then improve the utilization rate of robot.
But in current robot production process, the power source of used robot fast replacing device is typically all to press
Then contracting gas is moved pneumatic element and is executed and implements quick change by the powered belt of compressed gas.But pneumatic fast replacing device exists
Following disadvantage: being exactly first, and due to the limitation of gas source, as soon as causing robot that must have a tracheae to connect with gas source, this is limited
The movement of robot, such as the robot that moves have to a tracheae in tow when using pneumatic quick-change, it is clear that limit
The moving range of Zhi Liao robot；It, can only be using the stroke both ends of pneumatic element as having in addition, pneumatic element is when in use
Imitate operating point, remaining point in stroke, be then due to can not accurate movement to and stop at somewhere and be not available, it is pneumatic
The fast replacing device of element necessarily requires the model of corresponding workpiece side panel that must unify, and otherwise can not be applicable in；There are also be exactly pneumatic
Element can generate biggish impact, so pneumatic element after frequent use, is easy to happen damage when execution acts
It is bad.
Utility model content
The purpose of this utility model is that: overcome the deficiencies of the prior art and provide a kind of electrodynamic type robot end quick change
Device drives push plate to realize that the sealed fixation of robot side panel and tool side panel and disassembly separate to ball, improves by motor
The sealed fixation and disassembly separative efficiency of fast replacing device；Motor driven fast replacing device is not necessarily in external other power sources, more
It is used suitable for mobile robot；Ball is in the sealed or disassembly process for robot side panel and tool side panel, ball
Moving range be equivalent to the radius of ball, moving distance very little, but ball is to guarantee robot side panel and tool side panel
It is sealed to need to apply enough active forces, therefore connected by the transmission with screw rod of the kind of drive of worm and gear and push plate
It connects, exactly has displacement compared with small, displacement accuracy is high, torque is big, the characteristic of stable drive, but also the motor as power source
Lesser power is only needed to be able to achieve required function；It is sequentially connected by screw rod and push plate, so as to be moved to push plate
Any position in stroke range, so that steel ball arbitrary value in overhang maximum magnitude can realize stretching for steel ball
Out, so that the fast replacing device be enable to be suitable for various sizes of tool side panel, the scope of application is wider；Structure is simple, dismounting side
Just, easy to repair, production cost is low.
Technical solution adopted in the utility model is:
Electrodynamic type robot end's fast replacing device, including robot side panel interconnected and tool side panel, the machine
People's side panel is equipped with driving groove towards the end face of tool side panel, and the tool side disk is correspondingly provided with sealed to the end face of driving groove
Slot is rotatably connected to main shaft in the driving groove, is additionally provided with transmission mechanism in the driving groove, the transmission mechanism by main shaft with
Motor drive connection, the motor are fixed with robot side panel；Lock uint, the main shaft drives lock are equipped in the locking slot
Attach together the sealed and unlock for setting control robot side panel and tool side panel.
The utility model is further improved scheme, and the lock uint includes set between driving groove and locking slot
Connecting sleeve, end face of the connecting sleeve towards tool side panel is coaxially fixed with the sealed casing protruded into locking slot, institute
The push plate for being equipped in sealed casing and moving axially along sealed casing is stated, the push plate is connect with spindle drive, the sealed set
The tube wall of pipe is equipped with the through-holes inside and outside the sealed casings of multiple connections, be equipped in the through-hole with the matched ball of through-hole diameter,
The inner wall of the locking slot is coaxially fixed with sealed ring positioned at the outside of sealed casing, and the sealed ring inner wall bottom is inwardly set
There is flange A, push plate suppresses ball in flange A, by tool side panel and the sealed fixation of robot side panel under the action of main shaft.
The further improvement project of the utility model is that the main shaft is coaxially fixed with screw rod towards one end of locking slot,
The axle center of the push plate is equipped with and connect with the matched internal screw thread of screw rod, with screw rod transmission.
The further improvement project of the utility model is the base diameter of the circumferential side wall of the push plate and sealed casing
Internal diameter is equal, and the top diameter of the circumferential side wall of the push plate is less than base diameter.
The further improvement project of the utility model is that the circumferential side wall of the push plate is shiny surface.
The further improvement project of the utility model is the circumferential side wall of the push plate and the top surface round-corner transition of push plate.
The further improvement project of the utility model is that the length of the through-hole is greater than the radius of ball and is less than rolling
The diameter of pearl.
The further improvement project of the utility model is, when push plate is moved to maximum stroke to robot side panel side
When, the outermost side of ball is flushed with the lateral wall of sealed casing corresponding position or the outermost side of ball is positioned at logical
In hole；When push plate tool side panel side is moved to maximum stroke, the most inner side end of ball position corresponding with sealed casing
The inside side walls at the place of setting flush or the most inner side end of ball is located in sealed casing.
The further improvement project of the utility model is, the through-hole along the sequence from sealed outside of sleeve to axle center to
The side of robot side panel tilts.
The further improvement project of the utility model is that the outside aperture of the through-hole is provided inwardly with flange B, the flange
The internal diameter of B is less than the diameter of ball.
The further improvement project of the utility model is that the medial surface of the flange B is and the matched curved surface of ball spherical surface.
The further improvement project of the utility model is, the flange A backwards to robot side panel side end face along by
It is tilted outside to the sequence in axle center to the side of robot side panel, inside of the flange A backwards to a side end face of robot side panel
Lowest part of the height less than or equal to the outside aperture of through-hole where edge.
The further improvement project of the utility model is outside of the flange A backwards to the end face of robot side panel side
Edge contacts with the end face of robot side panel, the flange A backwards to the end face of robot side panel side inner side edge along and connection
Casing-contact.
The further improvement project of the utility model is, the transmission mechanism include the worm gear for being coaxially fixed on main shaft, with
The worm screw of worm-drive connection, further include with the co-axially fixed driving wheel A of worm screw, and be fixed on the driving wheel of motor output shaft
B, the driving wheel A and driving wheel B transmission connection, the worm gear, worm screw, driving wheel A and driving wheel B are rotationally connected with driving groove
It is interior.
The further improvement project of the utility model is that the driving wheel A and driving wheel B are sequentially connected by transmission belt.
The further improvement project of the utility model is that the transmission belt is synchronous belt.
The further improvement project of the utility model is that the number of teeth of the driving wheel A is more than or equal to the number of teeth of driving wheel B.
The further improvement project of the utility model is that the through-hole is uniformly distributed in the side wall of sealed casing.
The further improvement project of the utility model is that the main shaft is rotatablely connected by the slot bottom of bearing A and driving groove,
The main shaft is rotatablely connected by bearing B and connecting sleeve.
The further improvement project of the utility model is that the inner wall of the connecting sleeve is provided inwardly with flange C, the bearing
B is contacted with a side end face of flange C object manipulator side panel.
The further improvement project of the utility model is that the notch of the driving groove of the robot side panel is equipped with step groove,
The connecting sleeve is connect with step groove.
The further improvement project of the utility model is that the connecting sleeve and robot side panel are threadably secured company
It connects.
The further improvement project of the utility model, which is that the sealed ring is threadably secured with tool side panel, to be connect.
The further improvement project of the utility model is that the motor is servo motor.
The further improvement project of the utility model is that the robot side panel is connect with robot, the tool side panel
It is connect with tool.
The utility model has the beneficial effects that:
The first, electrodynamic type robot end's fast replacing device of the utility model drives push plate to realize ball by motor
The sealed fixation and disassembly separation of robot side panel and tool side panel improve the sealed fixation and disassembly separation effect of fast replacing device
Rate.
The second, electrodynamic type robot end's fast replacing device of the utility model, motor driven fast replacing device, without external
Other power sources are more applicable for mobile robot and use.
Electrodynamic type robot end's fast replacing device of third, the utility model, ball is for robot side panel and tool
In the sealed or disassembly process of side panel, the moving range of ball is equivalent to the radius of ball, moving distance very little, but ball is
Guarantee that robot side panel and the sealed of tool side panel need to apply enough active forces, therefore the kind of drive for passing through worm and gear
And the transmission connection with screw rod of push plate, exactly have displacement compared with small, displacement accuracy is high, torque is big, the spy of stable drive
Property, but also the motor as power source only needs lesser power to be able to achieve required function.
4th, electrodynamic type robot end's fast replacing device of the utility model is sequentially connected by screw rod and push plate, thus
Push plate can be made to be moved to any position in stroke range, so that arbitrary value can in overhang maximum magnitude for steel ball
Enough realize the stretching of steel ball, so that the fast replacing device be enable to be suitable for various sizes of tool side panel, the scope of application is wider.
5th, electrodynamic type robot end's fast replacing device of the utility model, it is simple in construction, easy to disassemble and assemble, it is easy to repair,
Production cost is low.
Detailed description of the invention:
Fig. 1 is the main view schematic cross-sectional view of the application.
Specific embodiment:
As shown in Figure 1, electrodynamic type robot end's fast replacing device includes robot side panel 1 interconnected and tool side panel
2, the robot side panel 1 is equipped with driving groove 15 towards the end face of tool side panel 2, and the tool side panel 2 is towards driving groove 15
End face is correspondingly provided with locking slot 12, and main shaft 4 is rotatably connected in the driving groove 15, is additionally provided with driver in the driving groove 15
Main shaft 4 and motor 3 are sequentially connected by structure, the transmission mechanism, and the motor 3 and robot side panel 1 are fixed；The locking slot 12
Interior to be equipped with lock uint, the main shaft 4 drives the sealed and unlock of lock uint control robot side panel 1 and tool side panel 2.
The lock uint includes set connecting sleeve 8 between driving groove 15 and locking slot 12, the connector sleeve
End face of the pipe 8 towards tool side panel 2 is coaxially fixed with the sealed casing 11 protruded into locking slot 12, sets in the sealed casing 11
There is the push plate 6 moved axially along sealed casing 11, the push plate 6 is sequentially connected with main shaft 4, the tube wall of the sealed casing 11
The through-hole 13 being equipped with inside and outside multiple sealed casings 11 of connection, the interior ball 7 being equipped with 13 diameter matches of through-hole of the through-hole 13,
The inner wall of the locking slot 12 is coaxially fixed with sealed ring 9, the sealed 9 inner wall bottom of ring positioned at the outside of sealed casing 11
It is provided inwardly with flange A10, push plate 6 suppresses ball 7 in flange A10, by tool side panel 2 and robot under the action of main shaft 4
The sealed fixation of side panel 1.
The described one end of main shaft 4 towards locking slot 12 is coaxially fixed with screw rod 5, and the axle center of the push plate 6 is equipped with and screw rod 5
Matched internal screw thread is sequentially connected with screw rod 5.
The base diameter of the circumferential side wall of the push plate 6 is equal with the internal diameter of sealed casing 11, the circumference of the push plate 6
The top diameter of wall is less than base diameter.
The circumferential side wall of the push plate 6 is shiny surface.
The circumferential side wall of the push plate 6 and the top surface round-corner transition of push plate 6.
The length of the through-hole 13 is greater than the radius of ball 7 and is less than the diameter of ball 7.
When push plate 6 is moved to maximum stroke to 1 side of robot side panel, the outermost side of ball 7 with it is sealed
The lateral wall of 11 corresponding position of casing flushes or the outermost side of ball 7 is located in through-hole 13；When push plate tool side panel 2
When side is moved to maximum stroke, the most inner side end of ball 7 and the inside side walls of sealed 11 corresponding position of casing are neat
Flat or ball 7 most inner side end is located in sealed casing 11.
The through-hole 13 is tilted along from sealed 11 outside of casing to the sequence in axle center to the side of robot side panel 1.
The outside aperture of the through-hole 13 is provided inwardly with flange B, and the internal diameter of the flange B is less than the diameter of ball 7.
The medial surface of the flange B be and the matched curved surface of 7 spherical surface of ball.
The flange A10 backwards to 1 side of robot side panel end face along from outside to the sequence in axle center to robot side panel 1
Side inclination, the flange A10 backwards to a side end face of robot side panel 1 inner side edge along place height be less than or equal to it is logical
The lowest part in the outside aperture in hole 13.
Outer side edges of the flange A10 backwards to the end face of 1 side of robot side panel connect along the end face with robot side panel 1
Touching, the flange A10 are contacted backwards to the inner side edge edge of the end face of 1 side of robot side panel with connecting sleeve 8.
The transmission mechanism includes the worm gear 16 for being coaxially fixed on main shaft 4, the worm screw 17 with the transmission connection of worm gear 16, is also wrapped
Include with the co-axially fixed driving wheel A18 of worm screw 17, and be fixed on the driving wheel B19, the driving wheel A18 of 3 output shaft of motor
It is sequentially connected with driving wheel B19, the worm gear 16, worm screw 17, driving wheel A18 and driving wheel B19 are rotationally connected with driving groove 15
It is interior.
The driving wheel A18 and driving wheel B19 is sequentially connected by transmission belt 20.
The transmission belt 20 is synchronous belt.
The number of teeth of the driving wheel A18 is more than or equal to the number of teeth of driving wheel B19.
The through-hole 13 is uniformly distributed in the side wall of sealed casing 11.
The main shaft 4 is rotatablely connected by the slot bottom of bearing A22 and driving groove 15, and the main shaft 4 passes through bearing B21 and company
Female connector pipe 8 is rotatablely connected.
The inner wall of the connecting sleeve 8 is provided inwardly with flange C14, the bearing B21 and flange C14 object manipulator side panel
1 side end face contact.
The notch of the driving groove 15 of the robot side panel 1 is equipped with step groove, and the connecting sleeve 8 is connect with step groove.
The connecting sleeve 8 is threadably secured with robot side panel 1 and connect.
The sealed ring 9 is threadably secured with tool side panel 2 to be connect.
The motor 3 is servo motor.
The robot side panel 1 is connect with robot, and the tool side panel 2 is connect with tool.
Furthermore it is also possible to which driving wheel A18 and driving wheel B19 is replaced with gear in such a way that transmission belt 20 is sequentially connected
Transmission, to avoid transmission belt from damaging during height turns round output, and gear drive equally can also reach and steadily be driven
Effect.
When the robot side panel 1 and tool side panel 2 of the utility model are sealed fixed, 3 drive transmission device band of motor
Dynamic main shaft 4 rotates backward, so that push plate 6 is moved to maximum stroke to the side of robot side panel 1 under the effect of screw rod 5, this
When ball 7 outermost end and do not extend out the lateral wall of sealed casing 11；Then robot band mobile robot side panel 1 is to being connected with work
2 side of tool side panel of tool is mobile, and contacts robot side panel 1 and the corresponding position of tool side panel 2；Then motor 3 drives
Transmission mechanism drives main shaft 4 to rotate forward, so that push plate 6 is mobile to the side of tool side panel 2 under the action of screw rod 5, is pushing away
Under the migration of plate 6, the ball 7 in through-hole 13 is pushed outwardly along through-hole 13, thus contact ball 7 with flange A10,
And robot side panel 1 is fixed on by flange A10 connectivitv tool side panel 2 is sealed together.
When the robot side panel 1 of the utility model is separated with the disassembly of tool side panel 2,3 drive transmission device band of motor
Dynamic main shaft 4 rotates backward, so that push plate 6 is mobile to the side of robot side panel 1 under the effect of screw rod 5, at this time due to through-hole 13
Itself inclined structure, so that ball 7 is inwardly retracted along through-hole 13 automatically, until the outermost end of ball 7 and not extending out sealed
The lateral wall of casing 11；Then robot is mobile to 2 side of tool side panel far from the tool that is connected with mobile robot side panel 1,
To realize that robot side panel 1 and the disassembly of tool side panel 2 separate.
Claims (10)
1. electrodynamic type robot end's fast replacing device, it is characterised in that: including robot side panel (1) interconnected and tool side
Disk (2), the robot side panel (1) are equipped with driving groove (15) towards the end face of tool side panel (2), tool side panel (2) face
It is correspondingly provided with locking slot (12) to the end face of driving groove (15), is rotatably connected to main shaft (4), the biography in the driving groove (15)
Transmission mechanism is additionally provided in dynamic slot (15), main shaft (4) and motor (3) are sequentially connected by the transmission mechanism, the motor (3) with
Robot side panel (1) is fixed；Lock uint is equipped in the locking slot (12), main shaft (4) the driving lock uint controls machine
The sealed and unlock of device people side panel (1) and tool side panel (2).
2. electrodynamic type robot end fast replacing device as described in claim 1, it is characterised in that: the lock uint includes position
The set connecting sleeve (8) between driving groove (15) and locking slot (12), the connecting sleeve (8) is towards tool side panel (2)
End face be coaxially fixed with the sealed casing (11) protruded into locking slot (12), be equipped in the sealed casing (11) along sealed
The push plate (6) of casing (11) axial movement, the push plate (6) and main shaft (4) are sequentially connected, the tube wall of the sealed casing (11)
The through-holes (13) being equipped with inside and outside the sealed casings (11) of multiple connections, are equipped in the through-hole (13) and through-hole (13) diameter matches
Ball (7), the inner wall of the locking slot (12), be located at sealed casing (11) outside be coaxially fixed with sealed ring (9), it is described
Sealed ring (9) inner wall bottom is provided inwardly with flange A(10), push plate (6) suppresses ball (7) in turning under the action of main shaft (4)
Side A(10), by tool side panel (2) and robot side panel (1) sealed fixation.
3. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the main shaft (4) is towards lock
The one end for closing slot (12) is coaxially fixed with screw rod (5), the axle center of the push plate (6) be equipped with the matched internal screw thread of screw rod (5), with
Screw rod (5) transmission connection.
4. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the circumference of the push plate (6)
The base diameter of side wall is equal with the internal diameter of sealed casing (11), and the top diameter of the circumferential side wall of the push plate (6) is less than bottom
Portion's diameter.
5. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the length of the through-hole (13)
Radius greater than ball (7) and the diameter less than ball (7).
6. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the through-hole (13) along by
It is tilted on the outside of sealed casing (11) to the sequence in axle center to the side of robot side panel (1).
7. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the outside of the through-hole (13)
Aperture is provided inwardly with flange B, and the internal diameter of the flange B is less than the diameter of ball (7).
8. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the flange A(10) backwards
The end face of robot side panel (1) side along from outside to the sequence in axle center to the side of robot side panel (1) tilt, the flange
A(10) inner side edge backwards to a side end face of robot side panel (1) is less than or equal to the apertura lateralis of through-hole (13) along place height
The lowest part of mouth.
9. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the flange A(10) backwards
The outer side edges of the end face of robot side panel (1) side along contacted with the end face of robot side panel (1), the flange A(10) backwards
The inner side edge edge of the end face of robot side panel (1) side is contacted with connecting sleeve (8).
10. electrodynamic type robot end fast replacing device as claimed in claim 2, it is characterised in that: the transmission mechanism includes
The worm gear (16) for being coaxially fixed on main shaft (4), the worm screw (17) being sequentially connected with worm gear (16), further include coaxial with worm screw (17)
Fixed driving wheel A(18), and it is fixed on the driving wheel B(19 of motor (3) output shaft), the driving wheel A(18) and transmission
Take turns B(19) transmission connection, the worm gear (16), worm screw (17), driving wheel A(18) and driving wheel B(19) it is rotationally connected with transmission
In slot (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822037150.6U CN209394697U (en) | 2018-12-06 | 2018-12-06 | Electrodynamic type robot end's fast replacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822037150.6U CN209394697U (en) | 2018-12-06 | 2018-12-06 | Electrodynamic type robot end's fast replacing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209394697U true CN209394697U (en) | 2019-09-17 |
Family
ID=67893954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822037150.6U Withdrawn - After Issue CN209394697U (en) | 2018-12-06 | 2018-12-06 | Electrodynamic type robot end's fast replacing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209394697U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483599A (en) * | 2018-12-06 | 2019-03-19 | 淮安市博泽科技有限公司 | Electrodynamic type robot end's fast replacing device |
-
2018
- 2018-12-06 CN CN201822037150.6U patent/CN209394697U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483599A (en) * | 2018-12-06 | 2019-03-19 | 淮安市博泽科技有限公司 | Electrodynamic type robot end's fast replacing device |
| CN109483599B (en) * | 2018-12-06 | 2024-04-12 | 淮安市博泽科技有限公司 | Terminal quick change device of electric robot |
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| GR01 | Patent grant | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190917 Effective date of abandoning: 20240412 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190917 Effective date of abandoning: 20240412 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |