CN209922189U - EPS assembly automated inspection assembly line - Google Patents
EPS assembly automated inspection assembly line Download PDFInfo
- Publication number
- CN209922189U CN209922189U CN201920247806.9U CN201920247806U CN209922189U CN 209922189 U CN209922189 U CN 209922189U CN 201920247806 U CN201920247806 U CN 201920247806U CN 209922189 U CN209922189 U CN 209922189U
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- motor
- rotating
- grabbing
- eps
- adjusting
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- 238000007689 inspection Methods 0.000 title abstract description 5
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 239000000725 suspension Substances 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 230000005291 magnetic effect Effects 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 22
- 239000002184 metal Substances 0.000 claims description 7
- 229910052751 metal Inorganic materials 0.000 claims description 7
- 210000000078 claw Anatomy 0.000 claims description 4
- 238000004904 shortening Methods 0.000 claims description 4
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000003302 ferromagnetic material Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
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Abstract
The utility model discloses a EPS assembly automated inspection assembly line. The device comprises a hanging transmission chain, a parallel motion joint, a multi-degree-of-freedom rotating holder, an automatic leveling mechanism and a grabbing mechanism. The suspension conveying chain is connected with the parallel moving joint through the transmission mechanism, the bottom of the parallel moving joint is connected with the multi-freedom-degree rotating tripod head, the multi-freedom-degree rotating tripod head is provided with the automatic leveling mechanism, and the grabbing mechanism is arranged on the rotating tripod head. When the parallel kinematic joint reaches an operation station, the parallel kinematic joint can realize space displacement through three sliding pairs, so that the cradle head can be displaced to a place to be operated. The multi-freedom-degree rotating holder has two rotating degrees of freedom, and the gripping mechanism at the bottom grips the EPS assembly to be detected through adjustment. After the EPS assembly is fixed, the automatic leveling mechanism can realize leveling of the EPS assembly.
Description
Technical Field
The utility model relates to a EPS assembly automated inspection assembly line especially is to the detection of the extensive EPS assembly on the car rabbet assembly line.
Background
In the automobile industry, an EPS assembly system for assisting steering is an important part of an automobile body, the detection process of the assembly is very complicated, items such as axial cylindricity, rigidity and elastic turning moment need to be detected, workers need to carry the assembly back and forth between each detection procedure, and a lot of requirements are also provided for the installation mode of the assembly on detection equipment, so that the working strength of the workers is high, and the detection efficiency is low. A detection assembly line which can be used for an assembly special structure and can be automatically carried among various devices is urgently needed in the market.
Disclosure of Invention
The utility model aims at overcoming the not enough of prior art, provide a EPS assembly automated inspection assembly line.
The EPS assembly automatic detection assembly line comprises a hanging transmission chain, a parallel motion joint, a multi-degree-of-freedom rotating holder, an automatic leveling mechanism and a grabbing mechanism;
the suspension conveying chain comprises chain teeth, a clamping table, a traveling gear, a guide rail, a guide column, a magnetic tool seat and a support rail; the upper part of the supporting track is provided with chain teeth, the clamping table is connected with the supporting track in a sliding way, the traveling gears are distributed on two sides of the clamping table, and the traveling gears are meshed with the chain teeth; a guide rail is arranged in the support rail; the bottom of the clamping table is connected with a guide column; the guide post at the bottom of the clamping table is arranged in a guide rail arranged on the support rail, and the bottom of the support rail is provided with a magnetic tool seat; an electromagnet is arranged in the clamping table, and the electromagnet can be attracted with the magnetic tool seat through magnetic force in a power-on state so as to lock the position of the clamping table;
the parallel kinematic joint comprises an upper locking seat, a revolute pair, a middle support rod, a ball pair, a lower connecting plate, a rotary table and a moving pair; the upper locking seat is fixedly connected with the clamping table; the upper locking seat is connected with three rotating pairs, the middle part of the upper locking seat is fixedly supported by a supporting rod, the three rotating pairs are respectively connected with a moving pair, the three moving pairs are connected with a lower connecting plate by a ball pair, and the lower connecting plate is connected with a rotary table by a rotary bearing; the three moving pairs realize the extension and the shortening of the three long rods through the moving motor, so that the lower connecting plate and the rotary table can realize spatial multi-angle rotary inclination to adjust the working angle of the working claw below;
the multi-degree-of-freedom rotating tripod head comprises a pitching motor, a metal plate supporting piece, a rotating motor, a rotating shaft, a mountain-shaped connecting seat and a rotating bearing; the pitching motor is connected with the rotating shaft and the mountain-shaped connecting seat through the rotating bearing respectively; the pitching motor can drive the mountain-shaped connecting seat to swing in a pitching manner;
the automatic leveling mechanism comprises an adjusting motor, an adjusting plate, a laser indicator, a lifting rod and an adjusting screw rod; the adjusting motor is connected with the adjusting plate, an output shaft of the adjusting motor is connected to the adjusting screw rod, and the laser indicator is arranged below the adjusting plate and is opposite to the lower part to clamp a workpiece; the lifting rod is connected with the grabbing mechanism at the lower part of the lifting rod; the laser emitted by the laser indicator can irradiate the gripped EPS assembly and can transmit distance information back to the adjusting motor, and the adjusting motor adjusts the rotating angle according to the distance information and adjusts the length of the lead screw so that the EPS assembly below reaches the level;
the grabbing mechanism comprises a motor grabbing table, a grabbing upper arm, a grabbing motor, a grabbing arm, a rotating hinge, a clamping motor, a transmission shaft, an auxiliary bushing and a magnetic inner wall; snatch the platform, snatch the upper arm and be connected with the lifter, snatch the motor and install on snatching the upper arm, grab the arm and connect on the upper arm through rotating hinged joint, press from both sides tight motor and transmission shaft and connect, there is supplementary bush in the inside of grabbing the arm, and the motor snatchs a platform inside and has the magnetic force inner wall.
The support rail has an arch-shaped descending displacement at the operation station, and the height of the support rail is just matched with that of the operation station; the magnetic tool seat is arranged at the arched descending position and is made of ferromagnetic materials such as iron.
The length of the side wall of the mountain-shaped connecting seat can ensure that the pitching motor can move in the front and back 60 degrees without interfering with the sheet metal supporting piece above.
The laser that the laser indicator sent can shine the EPS assembly of grabbing to can return distance information and give the adjustment motor, calculate distance difference and rotation angle automatically.
The motor grabbing table can be buckled with the EPS motor base in shape, and the inner wall of the magnetic force has magnetism for adsorbing the motor base.
The utility model discloses can realize the automatic handling of EPS assembly system between each check out test set, the installation with acquire to can realize the level (l) ing to the assembly before the operation, supplementary subsequent detection operation has alleviateed workman's intensity of labour greatly, has improved work efficiency.
Drawings
FIG. 1 is a general schematic view of an EPS assembly automatic detection assembly line of the present invention;
FIG. 2 is a schematic view of a hanging transmission chain of the EPS assembly automatic detection assembly line of the present invention;
FIG. 3 is a schematic view of the parallel kinematic joint of the EPS assembly automatic detection assembly line of the present invention;
FIG. 4 is a schematic view of a multi-degree-of-freedom rotating head of the EPS assembly automatic detection assembly line of the present invention;
FIG. 5 is a schematic view of an automatic leveling mechanism of the EPS assembly automatic detection assembly line of the present invention;
FIG. 6 is a schematic view of a gripping mechanism of the EPS assembly automatic detection assembly line of the present invention;
FIG. 7 is a schematic view of a gripping mechanism of the EPS assembly automatic detection assembly line of the present invention;
in the figure, a suspension conveying chain 1, a parallel kinematic joint 2, a multi-degree-of-freedom rotating holder 3, an automatic leveling mechanism 4, a grabbing mechanism 5, a sprocket 11, a clamping table 12, a traveling gear 13, a guide rail 14, a guide column 15, a magnetic tool seat 16, a support rail 17, an upper locking seat 21, a revolute pair 22, an intermediate support rod 23, a ball pair 24, a lower connecting plate 25, a rotary table 26, a moving pair 27, a pitching motor 31, a sheet metal support 32, a rotary motor 33, a rotating shaft 34, a mountain-shaped connecting seat 35, a rotary bearing 36, an adjusting motor 41, an adjusting plate 42, a laser indicator 43, a lifting rod 44, an adjusting screw rod 45, a motor grabbing table 51, a grabbing upper arm 52, a grabbing motor 53, a grabbing arm 54, a rotating hinge 55, a clamping motor 56, a transmission shaft 57, an auxiliary bushing 58 and a magnetic inner.
Detailed Description
As shown in fig. 1, an EPS assembly automatic detection assembly line includes a suspension transmission chain 1, a parallel motion joint 2, a multi-degree-of-freedom rotation holder 3, an automatic leveling mechanism 4, and a gripping mechanism 5. The suspension conveying chain 1 is connected with the parallel moving joint 2, the bottom of the parallel moving joint 2 is connected with the multi-freedom-degree rotating tripod head 3, the multi-freedom-degree rotating tripod head 3 is provided with an automatic leveling mechanism 4, and the grabbing mechanism 5 is arranged on the automatic leveling mechanism 4. When the parallel moving joint 2 reaches an operation station, the parallel moving joint 2 can realize space displacement through three sliding pairs in the parallel moving joint 2, so that the multi-freedom-degree rotating tripod head 3 can be displaced to a place to be operated. The multi-freedom-degree rotating cradle head 3 has two rotating degrees of freedom, and the gripping mechanism 5 at the bottom grips the EPS assembly to be detected through adjustment. After the EPS assembly is fixed, the automatic leveling mechanism 4 can realize leveling of the EPS assembly.
As shown in fig. 2, the suspension conveyor chain 1 includes a sprocket 11, a pallet 12, a traveling gear 13, a guide rail 14, a guide post 15, a magnetic base 16, and a support rail 17. The sprocket 11 is arranged above the supporting track 17, the clamping table 12 is connected with the supporting track 17 in a sliding mode, the traveling gears 13 are distributed on two sides of the clamping table 12, and the traveling gears 13 are meshed with the sprocket 11; a guide rail 14 is arranged in the support rail 17; the bottom of the clamping table 12 is connected with a guide post 15; the guide post 15 at the bottom of the clamping table 12 is arranged in the guide rail 14 arranged on the support rail 17, and the guide post 15 slides on the guide rail 14 to realize the guide function of the movement of the clamping table 12 on the support rail 17.
The support rail 17 descends in an arch shape at the operating station (the middle of the support rail 17). The magnetic tool base 16 (made of ferromagnetic material) is arranged at the arched descending position. An electromagnet is arranged in the clamping table 12, and the electromagnet can be attracted with the magnetic tool seat 16 through magnetic force in a power-on state so as to lock the position of the clamping table 12; when the device works, the clamping table 12 moves under the driving of the front and rear walking gears 13, the guide columns 15 play a role in guiding in the moving process, and when the device reaches the lowest point (the bottom of the arched descending part), the electromagnet is electrified to fasten the clamping table 12 and the lower parallel moving joint 2 with the track, so that the spatial position of the whole device is fixed.
As shown in fig. 3, the parallel kinematic joint 2 includes an upper locking base 21, a revolute pair 22, an intermediate support rod 23, a ball pair 24, a lower connecting plate 25, a turn table 26, and a moving pair 27. The upper locking seat 21 is symmetrically connected with three revolute pairs 22 (three connection points are distributed in a regular triangle shape), the middle part of the upper locking seat is fixedly supported by a support rod 23, the three revolute pairs 22 are respectively connected with a moving pair 27, the three moving pairs 27 are connected with a lower connecting plate 25 through a ball pair 24, and the lower connecting plate 25 is connected with a rotary table 26 through a rotary bearing. During operation, when arriving at the operation station, go up locking seat 21 and track and pass through electromagnetic force locking, three removal vice 27 realizes the extension and the shortening of three root length poles through the mobile motor for lower connecting plate 25 and revolving platform 26 can realize the rotatory slope of space multi-angle, adjust the operating angle of below work claw, and middle support rod 23 provides the fixed and support to overall mechanism. The turntable 26 is provided with a built-in motor, and can rotate the lower working mechanism. Through the adjustment of the parallel mechanism 2 and the rotary bearing, the grabbing mechanism is adjusted to the optimal grabbing angle.
As shown in fig. 4, the multi-degree-of-freedom rotating head 3 includes a pitching motor 31, a sheet metal support 32, a rotating motor 33, a rotating shaft 34, a chevron-shaped connecting seat 35, and a rotating bearing 36. The rotating motor 33 is connected to the sheet metal support 32 via a rotary bearing, and the tilt motor 31 is connected to the rotating shaft 34 and the chevron-shaped connecting base 35 via a rotary bearing 36. During operation, rotating electrical machines 33 can drive lower part mechanism rotatory, and pitch motor can drive the swing of mountain type connecting seat 35 every single move, can adjust the every single move angle through the length of adjusting mountain type connecting seat 35 lateral wall, 60 degrees every single move in the front and back, and do not interfere with the panel beating support piece 32 of top.
As shown in fig. 5, the automatic leveling mechanism 4 includes an adjusting motor 41, an adjusting plate 42, a laser pointer 43, a plurality of lifting rods 44, and an adjusting screw 45. The adjusting motor 41 is connected with the adjusting plate 42, the output shaft of the adjusting motor 41 is connected to the adjusting screw 45, the laser indicator 43 is arranged below the adjusting plate 42 and is opposite to the lower part for clamping a workpiece, and the lifting rod 44 is connected with the grasping mechanism 5 at the lower part. Laser that laser pointer 43 sent can shine the EPS assembly of grabbing to can return distance information and give adjustment motor 41, in operation, because the one end distance has descended when arranging support rail 17 earlier stage, lifter 44 only need reach the station through short distance's flexible, because the testing process needs the work piece to keep the level, according to the distance that indicator 43 returned, with fixed adjusting plate 42 of spatial position as the benchmark, calculate the distance difference between front and back, adjustment motor 41 calculates corresponding rotation angle, rotatory adjustment adjusting screw 45 for the EPS assembly of below reaches the level.
As shown in fig. 6 and 7, the gripping mechanism 5 includes a motor gripping table 51, an upper gripping arm 52, a gripping motor 53, a gripping arm 54, a rotating hinge 55, a clamping motor 56, a transmission shaft 57, an auxiliary bushing 58, and a magnetic inner wall 59. The grabbing device comprises a grabbing platform 51, grabbing upper arms 52 and lifting rods 44, wherein the grabbing platform 51 is connected with one lifting rod 44, two grabbing upper arms 52 are respectively connected with one lifting rod 44, the three lifting rods 44 are respectively connected with respective adjusting motors 41, a grabbing motor 53 is installed on the grabbing upper arms 52, grabbing arms 54 are connected on the upper arms 52 through rotating hinges 55, clamping motors 56 are connected with transmission shafts 57, auxiliary bushings 58 are arranged inside the grabbing arms 53, and magnetic inner walls 59 are arranged inside the motor grabbing platform 51. Because the whole shape of the EPS assembly is a shaft-shaped body and is provided with a power part, when the EPS assembly works, the motor grabbing table 51 can be buckled to the shape of an EPS motor base and is adsorbed and fixed through a magnetic inner wall 59, the front grabbing arm and the rear grabbing arm 54 are buckled into the shaft-shaped body, the clamping motor 56 is started, the two grabbing arms 53 are closed to the middle part, then the clamping motor 56 is started, the front grabbing arm and the rear grabbing arm are enabled to rotate through the transmission shaft to clamp the EPS shaft-shaped part, and the auxiliary bushing 58 can increase the grabbing force.
The detection method for automatically detecting the assembly line by applying the EPS assembly comprises the following steps of:
1) the clamping table moves under the driving of the front and rear walking gears, the guide column plays a role in guiding in the moving process, and when the guide column reaches the lowest point, the magnetic tool seat is started to clamp the clamping table and the parallel moving joint and the track at the lower part, so that the spatial position of the whole device is fixed;
2) when the working platform arrives at an operation station, the upper locking seat and the track are locked through electromagnetic force, the three moving pairs realize the extension and the shortening of the three long rods through the moving motor, so that the lower connecting plate and the rotary platform can realize the spatial multi-angle rotary inclination to adjust the working angle of the working claw below, and the middle support rod provides the fixation and the support for the whole mechanism;
3) the slewing bearing is internally provided with a motor, so that the rotation of the lower working mechanism can be realized. The grabbing mechanism is adjusted to the optimal grabbing angle through the adjustment of the parallel mechanism and the holder bearing;
4) because the distance of one end is reduced when the track is arranged in the early stage, the lifting rod only needs to reach the station through short-distance extension, because the workpiece needs to be kept horizontal in the detection process, the front-back distance difference is calculated by taking an adjusting plate with a fixed spatial position as a reference according to the distance returned by the indicator, the corresponding rotating angle is calculated by an adjusting motor, and the adjusting screw rod is rotationally adjusted, so that the EPS assembly below reaches the level;
5) the motor snatchs the shape that the platform can lock EPS motor cabinet to adsorb fixedly through the magnetic force inner wall, two preceding back grab arms are detained and are gone into shaft-shaped body department, press from both sides tight motor and start, and two grab arms draw close to the middle part, and later press from both sides tight motor and start, make around the grab arm rotation clip EPS shaft-shaped part through the transmission shaft, the auxiliary sleeve can increase and grab the tight power.
Claims (4)
1. An EPS assembly automatic detection assembly line is characterized by comprising a hanging transmission chain (1), a parallel motion joint (2), a multi-degree-of-freedom rotating holder (3), an automatic leveling mechanism (4) and a grabbing mechanism (5);
the suspension conveying chain (1) comprises chain teeth (11), a clamping table (12), a traveling gear (13), a guide rail (14), a guide column (15), a magnetic tool seat (16) and a support rail (17); the upper part of the supporting track is provided with chain teeth, the clamping table is connected with the supporting track in a sliding way, the traveling gears are distributed on two sides of the clamping table, and the traveling gears are meshed with the chain teeth; a guide rail is arranged in the support rail; the bottom of the clamping table is connected with a guide column; the guide post at the bottom of the clamping table is arranged in a guide rail arranged on the support rail, and the bottom of the support rail (17) is provided with a magnetic tool seat (16); an electromagnet is arranged in the clamping table (12), and the electromagnet can be attracted with the magnetic tool seat (16) through magnetic force under the electrified state so as to lock the position of the clamping table (12);
the parallel kinematic joint (2) comprises an upper locking seat (21), a revolute pair (22), a middle support rod (23), a ball pair (24), a lower connecting plate (25), a rotary table (26) and a moving pair (27); the upper locking seat (21) is fixedly connected with the clamping table (12); the upper locking seat is connected with three rotating pairs, the middle part of the upper locking seat is fixedly supported by a supporting rod, the three rotating pairs are respectively connected with a moving pair, the three moving pairs are connected with a lower connecting plate by a ball pair, and the lower connecting plate is connected with a rotary table by a rotary bearing; the three moving pairs realize the extension and the shortening of the three long rods through the moving motor, so that the lower connecting plate and the rotary table can realize spatial multi-angle rotary inclination to adjust the working angle of the working claw below;
the multi-degree-of-freedom rotating tripod head (3) comprises a pitching motor (31), a sheet metal support (32), a rotating motor (33), a rotating shaft (34), a mountain-shaped connecting seat (35) and a rotating bearing (36); the pitching motor is connected with the rotating shaft and the mountain-shaped connecting seat through the rotating bearing respectively; the pitching motor can drive the mountain-shaped connecting seat to swing in a pitching manner;
the automatic leveling mechanism (4) comprises an adjusting motor (41), an adjusting plate (42), a laser indicator (43), a lifting rod (44) and an adjusting screw rod (45); the adjusting motor is connected with the adjusting plate, an output shaft of the adjusting motor is connected to the adjusting screw rod, and the laser indicator is arranged below the adjusting plate and is opposite to the lower part to clamp a workpiece; the lifting rod is connected with a grabbing mechanism (5) at the lower part of the lifting rod; the laser emitted by the laser indicator can irradiate the gripped EPS assembly and can transmit distance information back to the adjusting motor, and the adjusting motor adjusts the rotating angle according to the distance information and adjusts the length of the lead screw so that the EPS assembly below reaches the level;
the grabbing mechanism (5) comprises a motor grabbing table (51), a grabbing upper arm (52), a grabbing motor (53), a grabbing arm (54), a rotating hinge (55), a clamping motor (56), a transmission shaft (57), an auxiliary bushing (58) and a magnetic inner wall (59); snatch the platform, snatch the upper arm and be connected with the lifter, snatch the motor and install on snatching the upper arm, grab the arm and connect on the upper arm through rotating hinged joint, press from both sides tight motor and transmission shaft and connect, there is supplementary bush in the inside of grabbing the arm, and the motor snatchs a platform inside and has the magnetic force inner wall.
2. An EPS assembly automatic detection assembly line according to claim 1, characterized in that the middle of said support rail (17) descends in an arch shape; the magnetic tool seat (16) is arranged at the arched descending position.
3. The EPS assembly automatic detection assembly line of claim 1, characterized in that the length of the side wall of the chevron-shaped connecting seat (35) ensures that the pitching motor can move back and forth 60 degrees without interfering with the sheet metal support (32) above.
4. The EPS assembly automatic detection assembly line of claim 1, wherein the motor grabbing table (51) is buckled with the EPS motor base, and the magnetic inner wall (59) has magnetism for adsorbing the motor base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920247806.9U CN209922189U (en) | 2019-02-27 | 2019-02-27 | EPS assembly automated inspection assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920247806.9U CN209922189U (en) | 2019-02-27 | 2019-02-27 | EPS assembly automated inspection assembly line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209922189U true CN209922189U (en) | 2020-01-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920247806.9U Withdrawn - After Issue CN209922189U (en) | 2019-02-27 | 2019-02-27 | EPS assembly automated inspection assembly line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209922189U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703983A (en) * | 2019-02-27 | 2019-05-03 | 浙江万达汽车方向机股份有限公司 | EPS assembly automatic detection assembly line and detection method thereof |
-
2019
- 2019-02-27 CN CN201920247806.9U patent/CN209922189U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703983A (en) * | 2019-02-27 | 2019-05-03 | 浙江万达汽车方向机股份有限公司 | EPS assembly automatic detection assembly line and detection method thereof |
| CN109703983B (en) * | 2019-02-27 | 2024-03-01 | 浙江万达汽车方向机有限公司 | EPS assembly automatic detection assembly line and detection method thereof |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No.28 Xiangshan Road, Wenyan Town, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG WANDA STEERING GEAR Co.,Ltd. Address before: No.28 Xiangshan Road, Wenyan Town, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG WANDA STEERING GEAR CO.,LTD. |
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| CP01 | Change in the name or title of a patent holder | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20200110 Effective date of abandoning: 20240301 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200110 Effective date of abandoning: 20240301 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |