CN210306234U - Friction welding device for spot welding robot - Google Patents
Friction welding device for spot welding robot Download PDFInfo
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- CN210306234U CN210306234U CN201920752400.6U CN201920752400U CN210306234U CN 210306234 U CN210306234 U CN 210306234U CN 201920752400 U CN201920752400 U CN 201920752400U CN 210306234 U CN210306234 U CN 210306234U
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- 238000003466 welding Methods 0.000 title claims abstract description 145
- 238000004146 energy storage Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000001125 extrusion Methods 0.000 claims description 17
- 239000000725 suspension Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 241000555745 Sciuridae Species 0.000 claims 2
- 238000009826 distribution Methods 0.000 abstract description 7
- 238000007781 pre-processing Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 229910000679 solder Inorganic materials 0.000 abstract 2
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 11
- 238000002844 melting Methods 0.000 description 10
- 238000009825 accumulation Methods 0.000 description 8
- 230000008018 melting Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012943 hotmelt Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000012466 permeate Substances 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of spot welding machine equipment; the friction welding device for the spot welding robot comprises a flywheel relay energy storage device and a friction welding head; the flywheel is arranged in the middle section of the flywheel shaft, the clutch is arranged at the top of the clutch, the lower end of the clutch shaft is connected with the upper end of the flywheel shaft for transmission, the input motor is arranged at the lower part of the flywheel shaft, the output motor is arranged above the clutch, a motor shaft of the output motor is connected with the upper part of the clutch for transmission, and the flywheel shell covers all the flywheel shaft, the flywheel, the clutch shaft, the clutch and the output motor; the friction welding head comprises a welding head frame, a welding head motor, a coupler and a friction shaft; the utility model provides an adopt friction welding mechanism to replace resistance welding to realize welding set of spot welding function, eliminated the restriction of solder joint distribution density and weldment contact condition under the former resistance welding spot welding principle, reduced the equipment cost to weld the surperficial preprocessing technology requirement of solder joint and reduced distribution equipment.
Description
The technical field is as follows:
the invention relates to the technical field of spot welding machine equipment.
Background art:
spot welding is a welding method for forming a welding spot between contact surfaces of two overlapped workpieces, and is realized by adopting a resistance welding mode at present, namely, a columnar motor is electrified after a welding piece is tightly contacted, and materials at an electric shock part of the workpiece are locally melted, mixed, melted and solidified; resistance spot welding is widely used as a non-sealing structure connecting and processing technology for sheet structures, reinforcing steel bars and the like in modern industrial products.
Some inevitable problems caused by the resistance welding principle exist under the existing resistance spot welding equipment and process system, and include:
1. the preprocessing requirement on the contact of the welding part is high, impurities which affect the conductivity such as grease and paint surface cannot be remained in the contact area of the welding part, and the requirement on the surface roughness of the contact is high;
2. the requirement on the distribution of welding points and the overall contact condition of the weldment is high, and if the distribution of the welding points is too dense or the contact between the weldments is too tight, the serious shunting problem can be caused, and the welding quality is influenced;
3. the requirement on power supply equipment is high, because the contact between the pressure-applying welding pieces is processed by depending on large current in resistance welding, the control procedure is complex, the capacitance of the needed welding machine is large, when a plurality of welding machines work simultaneously, the current distribution needs complex process design control, and the related equipment and process cost is high.
Therefore, the existing spot welding equipment based on the resistance welding principle is not suitable for production processes such as trial production of small-scale experimental samples and is not beneficial to research and development of new products.
The invention content is as follows:
in view of the above, there is a need for an electric welding machine that does not rely on the principle of resistance welding to achieve the goal of a spot welding process.
A friction welding device for a spot welding robot comprises a flywheel relay energy storage device and a friction welding head.
The flywheel relay energy storage device comprises a flywheel outer shell, a flywheel shaft, a flywheel, a clutch shaft, a clutch, an input motor and an output motor; the flywheel is arranged on the middle section of the flywheel shaft, the clutch is arranged on the top of the clutch shaft, the lower end of the clutch shaft is connected with the upper end of the flywheel shaft for transmission, the input motor is arranged on the lower portion of the flywheel shaft, the output motor is arranged above the clutch, a motor shaft of the output motor is connected with the upper portion of the clutch for transmission, the flywheel shell covers all the flywheel shafts, the flywheel, the clutch shaft, the clutch and the output motor, and relatively rotating bearings are arranged among the flywheel shell, the flywheel shaft, the flywheel and the clutch shaft.
The friction welding head comprises a welding head frame, a welding head motor, a coupler and a friction shaft, wherein the welding head motor is installed at one end of the welding head frame and is electrically connected with the output motor, a motor shaft of the welding head motor extends into the welding head frame and is connected with the friction shaft through the coupler, the friction shaft extends out of the other end of the welding head frame and penetrates through the welding head frame to be provided with a bearing.
The end of the friction shaft extending out of the welding head frame is a working end, the working end is provided with a friction dome, an extrusion ring groove and an outer edge ring edge, the friction dome is positioned at the circle center of the working end and is a protruded ellipsoid surface, the outer edge ring edge is positioned at the outer edge of the working end and is an annular convex edge, a top fillet is processed and is lower than the friction dome, the extrusion ring groove and the outer edge ring edge are arranged concentrically, and the position of the extrusion ring groove is between the friction dome and the outer edge ring edge.
When the welding device works, the input motor drives the flywheel shaft and the flywheel to store energy in a rotating mode, the rotating speed is controlled to be in a designed rotating speed range, the top end of the friction shaft is aligned to a welding point and contacts one surface of a weldment, the clutch is combined to enable the flywheel shaft and the flywheel to be in motor shaft linkage with the output motor, the friction shaft is driven to rotate through the electrically connected welding head motor, the friction shaft and the weldment rub enables the weldment to be heated until the weldment is locally hot-melted, the rear friction welding head moves towards the side of the weldment, and the top end of the friction shaft extrudes the hot-melting part of the weldment to enable the hot-melting part of; and then the friction welding head moves back to the weldment, the clutch separates the welding head motor to stop rotating, the hot melting part is cooled and solidified to form a welding spot, and the spot welding process is finished.
In the process that the friction shaft extrudes the hot melting part of the weldment, the friction dome firstly rubs the weldment and extrudes the annular accumulation area for manufacturing the hot melting material, then the outer edge annular edge contacts the weldment and is extruded in a friction mode, the annular accumulation area does not expand without limit, then the annular accumulation area is injected into the extrusion ring groove, and the extrusion ring groove is extruded to enable the annular accumulation area to permeate into gaps between the back side weldment and the weldment. When the welding part is separated from the welding part, residual hot melt in the extrusion ring groove is sucked into the pores of the friction dome under normal atmospheric pressure, and the extrusion traces on the back side of the welding point are partially filled, so that serious cratering on the surface of the welded part after welding is prevented.
In the process, the outer shell of the flywheel is vacuumized under negative pressure when in work so as to reduce the air resistance when the flywheel rotates; the friction welding head is installed on the mechanical arm, the flywheel relay energy storage device is installed on the mechanical arm base, and the flywheel rotates and cannot cause difficulty when the mechanical arm changes the direction.
Preferably, the clutch comprises a lower fork, a friction plate, a friction clamp and a second-order electromagnetic push rod, wherein the lower fork is fixedly arranged at the upper end of the clutch shaft, the lower fork is unfolded upwards and is in an inverted cone shape, the center of the friction plate is provided with a hole, the friction plate is parallel and coaxial with the flywheel and is arranged at the top of the lower fork, the second-order electromagnetic push rod is arranged on the motor shaft, the top step extends into the hole in the center of the friction plate, the friction clamp comprises two friction clamps, the two friction clamps are respectively arranged on the top step and the second step of the second-order electromagnetic push rod and are. The structure is beneficial to installation and leveling, when in installation, the combined flywheel shaft, flywheel, clutch shaft, lower fork and friction plate are firstly arranged in the flywheel outer shell and driven to level, positioning marks are made on the friction plate after leveling, the friction plate and the friction clamp are detached and alternately sleeved on the second-order electromagnetic push rod, and then the position-stabilizing marks are installed on the lower fork again; when the clutch works in a combined mode, the top step of the second-order electromagnetic push rod moves oppositely to the secondary step to clamp the friction plate, and the secondary step moves back to the output motor to compensate motion deviation so as to prevent the flywheel shaft from being separated from the working range of the bearing and rotating unstably.
Preferably, thrust bearings are arranged between the flywheel outer shell and the bottom end of the flywheel shaft, between the lower surface of the flywheel facing the flywheel shaft and between the flywheel outer shell and the middle section of the clutch shaft. Furthermore, the thrust bearing is a magnetic suspension bearing consisting of annular magnets.
Preferably, the input motor is a squirrel-cage ac motor, wherein the squirrel-cage coil is fixedly mounted on the flywheel shaft, and the magnetic pole coil group is mounted at a corresponding position of the flywheel outer shell.
Preferably, the output motor is a direct current generator, the welding head motor is a direct current motor, the advantage of large starting torque of the direct current motor is fully utilized, the friction shaft can be attached to a weldment and pre-tightened before the clutch is combined, and the welding spot positioning accuracy is improved.
Preferably, the flywheel is provided with a plurality of leveling screw holes, and leveling screws are installed in the leveling screw holes. Furthermore, a plurality of leveling screw holes are formed in the top end of the lower fork, and leveling screws are installed in the leveling screw holes. The leveling screw holes comprise a plurality of leveling screw holes in the vertical direction and a plurality of leveling screw holes in the horizontal direction, wherein the leveling screw holes in the vertical direction are used for leveling to eliminate nutation, and the leveling screw holes in the horizontal direction are used for leveling to enable the flywheel, the clutch and the output motor to be coaxial.
Preferably, the welding head motor is provided with a shaft pushing device for pushing out and withdrawing a motor shaft, a coupling and a friction shaft of the welding head motor along the axis of the motor, and the mechanical arm is replaced for moving the friction welding head integrally out and withdrawing along the direction of the friction shaft, so that the machining precision is further improved.
The invention provides a welding device which adopts a friction welding mechanism to replace resistance welding to realize a spot welding function, eliminates the limitations of the distribution density of welding spots and the contact conditions of welding pieces under the original resistance welding spot welding principle, reduces the requirements of the preprocessing process on the surfaces of the welding spots and reduces the equipment cost of power distribution equipment.
Description of the drawings:
FIG. 1 is a schematic structural diagram of a flywheel relay energy storage device of a friction welding device for a spot welding robot according to a specific embodiment of the invention;
FIG. 2 is a schematic structural diagram of a friction welding head of a friction welding device for a spot welding robot according to a specific embodiment of the present invention; FIG. 3 is a schematic view of a partial structure of a working surface of a friction shaft of a friction welding device of a spot welding robot according to an embodiment of the present invention.
In the figure: the device comprises a flywheel outer shell 1, a flywheel shaft 2, a flywheel 3, a clutch shaft 4, an input motor 5, an output motor 6, a lower fork 7, a friction plate 8, a friction clamp 9, a second-order electromagnetic push rod 10, a welding head frame 11, a welding head motor 12, a coupler 13, a friction shaft 14, a push shaft device 15, a friction dome 16, an extrusion ring groove 17, an outer edge ring ridge 18, a leveling screw hole 19 and a magnetic suspension bearing 20.
The specific implementation mode is as follows:
a friction welding device for a spot welding robot comprises a flywheel 3 relay energy storage device and a friction welding head.
The relay energy storage device of the flywheel 3 comprises a flywheel outer shell 1, a flywheel shaft 2, the flywheel 3, a clutch shaft 4, a clutch, an input motor 5 and an output motor 6; flywheel 3 installs in 2 middle sections of flywheel axle, the clutch is installed at 4 tops of clutch axle, the transmission is connected with 2 upper ends of flywheel axle to 4 lower extremes of clutch axle, input motor 5 installs in 2 lower parts of flywheel axle, output motor 6 installs in the clutch top, the transmission is connected with clutch upper portion to the motor shaft of output motor 6, the whole flywheel axle 2 of 1 shade of flywheel shell body, flywheel 3, clutch axle 4, clutch and output motor 6, flywheel shell body 1 and 2 bottom of flywheel axle, flywheel 3 is towards 2 side lower surfaces of flywheel axle, all be provided with the magnetic suspension bearing 20 that annular magnet constitutes between the clutch axle 4 middle-section.
The input motor 5 is a squirrel-cage alternating current motor, wherein a squirrel-cage coil is fixedly arranged on the flywheel shaft 2, a magnetic pole coil group is arranged at a corresponding position of the flywheel outer shell 1, and the output motor 6 is a direct current generator.
The clutch is composed of a lower fork 7, a friction plate 8, a friction clamp 9 and a second-order electromagnetic push rod 10, wherein the lower fork 7 is fixedly arranged at the upper end of a clutch shaft 4 and is unfolded towards the upper side to form an inverted cone shape, the center of the friction plate 8 is provided with a hole which is parallel and coaxial with the flywheel 3 and is arranged at the top of the lower fork 7, the second-order electromagnetic push rod 10 is arranged on a motor shaft, the top step extends into the hole at the center of the friction plate 8, the friction clamp 9 is provided with two pieces which are respectively arranged on the top step and the second step of the second-order electromagnetic push rod 10 and are parallel to the friction plate
The friction welding head comprises a welding head frame 11, a welding head motor 12, a coupler 13 and a friction shaft 14, wherein the welding head motor 12 is a direct current motor and is installed at one end of the welding head frame 11 and electrically connected with the output motor 6, a motor shaft of the welding head motor 12 extends into the welding head frame 11 and is connected with the friction shaft 14 through the coupler 13, the friction shaft 14 extends out from the other end of the welding head frame 11 and penetrates through the welding head frame 11 to be provided with a bearing, and a shaft pushing device 15 is arranged on the welding head motor 12 and used for pushing out and withdrawing the motor shaft of the welding head motor 12, the coupler 13 and the friction shaft 14 along.
The end of the friction shaft 14 extending out of the welding head frame 11 is a working end, the working end is provided with a friction dome 16, an extrusion ring groove 17 and an outer edge ring ridge 18, wherein the friction dome 16 is positioned at the circle center of the working end and is a protruded ellipsoid, the outer edge ring ridge 18 is positioned at the outer edge of the working end and is an annular ridge, the top fillet is processed and is lower than the friction dome 16, the extrusion ring groove 17 and the outer edge ring ridge 18 are concentrically arranged and are positioned between the friction dome 16 and the outer edge ring ridge 18.
The flywheel 3 is provided with a plurality of leveling screw holes 19, leveling screws are installed in the leveling screw holes 19, the top end of the lower fork 7 is provided with a plurality of leveling screw holes 19, and leveling screws are installed in the leveling screw holes 19. The leveling screw holes 19 comprise a plurality of leveling screw holes 19 in the vertical direction and a plurality of leveling screw holes 19 in the horizontal direction, wherein the leveling screw holes 19 in the vertical direction are used for leveling to eliminate nutation, and the leveling screw holes 19 in the horizontal direction are used for leveling to enable the flywheel 3, the clutch and the output motor 6 to be coaxial.
When the relay energy storage device of the flywheel 3 is installed, firstly, the combined flywheel shaft 2, the flywheel 3, the clutch shaft 4, the lower fork 7 and the friction plate 8 are arranged in the flywheel outer shell 1, a driving test is leveled through the leveling screw hole 19 and the leveling screw rod, after leveling, a positioning mark is made on the friction plate 8, the friction plate 8 and the friction clamp 9 are detached and alternately sleeved on the second-order electromagnetic push rod 10, and then the positioning mark is installed on the lower fork 7 again; when the clutch works in a combined mode, the top step of the second-order electromagnetic push rod 10 moves oppositely to the secondary step to clamp the friction plate 8, and the secondary step moves back to the output motor 6 to compensate motion deviation so as to prevent the flywheel shaft 2 from being separated from the bearing working range and rotating unstably.
When the welding device works, the input motor 5 drives the flywheel shaft 2 and the flywheel 3 to store energy in a rotating mode, the rotating speed is controlled to be in a designed rotating speed range, during welding, the top end of the friction shaft 14 is aligned to a welding point and contacts one surface of a weldment, the clutch is combined to enable the flywheel shaft 2 and the flywheel 3 to be in linkage with the motor shaft of the output motor 6, the friction shaft 14 is driven to rotate through the welding head motor 12 which is electrically connected, the friction shaft 14 and the weldment rub to enable the weldment to be heated until local hot melting is achieved, the friction welding head is pushed by the rear shaft pushing device 15 to move towards the side of the weldment, and the top end of the friction shaft 14 extrudes the hot melting part of; then the shaft pushing device 15 drives the friction welding head to move and return to the welding part, the clutch separates the welding head motor 12 to stop rotating, the hot melting part is cooled and solidified to form a welding spot, and the spot welding process is completed.
In the process that the friction shaft 14 extrudes the hot melting part of the weldment, the friction dome 16 firstly rubs the weldment and extrudes the annular accumulation area made of hot melting materials, then the outer edge annular ridge 18 contacts the weldment and performs friction extrusion, the annular accumulation area is not expanded without limit, then the annular accumulation area is injected into the extrusion ring groove 17, and the annular accumulation area is pushed by the extrusion ring groove 17 to permeate into the gap between the welding part on the back side and the weldment. When the welding part is separated, residual hot melt in the extrusion ring groove 17 is absorbed into the pores of the friction dome 16 under normal atmospheric pressure, and the extrusion traces on the back side of the welding point are partially filled, so that the serious crater on the surface of the welded part after welding is prevented.
In the process, the flywheel outer shell 1 is vacuumized under negative pressure when in work so as to reduce the air resistance when the flywheel 3 rotates; the friction welding head is installed on the mechanical arm, the flywheel 3 is relayed the energy storage device and is installed on the mechanical arm base, the flywheel 3 rotates and can not cause the mechanical arm to change the difficulty when pointing.
Claims (9)
1. The friction welding device for the spot welding robot is characterized by comprising a flywheel relay energy storage device and a friction welding head;
the flywheel relay energy storage device comprises a flywheel outer shell, a flywheel shaft, a flywheel, a clutch shaft, a clutch, an input motor and an output motor; the flywheel is arranged at the middle section of the flywheel shaft, the clutch is arranged at the top of the clutch shaft, the lower end of the clutch shaft is connected with the upper end of the flywheel shaft for transmission, the input motor is arranged at the lower part of the flywheel shaft, the output motor is arranged above the clutch, a motor shaft of the output motor is connected with the upper part of the clutch for transmission, the flywheel shell covers all the flywheel shaft, the flywheel, the clutch shaft, the clutch and the output motor, and the flywheel shell is connected with the flywheel shaft, the flywheel and the clutch shaft through relatively rotating bearings;
the friction welding head comprises a welding head frame, a welding head motor, a coupler and a friction shaft, wherein the welding head motor is arranged at one end of the welding head frame and is electrically connected with the output motor;
the end, extending out of the welding head frame, of the friction shaft is a working end, the working end is provided with a friction dome, an extrusion ring groove and an outer edge ring edge, the friction dome is located in the circle center of the working end and is a protruding ellipsoid surface, the outer edge ring edge is located at the outer edge of the working end and is an annular convex edge, a top fillet is processed and is lower than the friction dome, and the extrusion ring groove and the outer edge ring edge are arranged concentrically and are located between the friction dome and the outer edge ring edge.
2. A friction welding device for a spot welding robot as claimed in claim 1, wherein said clutch is composed of a lower fork fixedly installed at an upper end of a clutch shaft and developed in an inverted cone shape toward an upper side, a friction plate having a hole in a center thereof and being parallel and coaxial with the flywheel is installed at a top of the lower fork, and a second-order electromagnetic push rod installed at a motor shaft with a top step extending into the hole in the center of the friction plate, the friction clamp having two pieces installed respectively on the top step and the second step of the second-order electromagnetic push rod and being parallel to the friction plate, such that the friction plate is located between the two friction clamps.
3. A friction welding device for a spot welding robot as claimed in claim 1, wherein thrust bearings are provided between the outer housing of the flywheel and the bottom end of the flywheel shaft, the lower surface of the flywheel facing the flywheel shaft side, and the middle section of the clutch shaft.
4. A friction welding device for a spot welding robot as claimed in claim 3, wherein said thrust bearing is a magnetic suspension bearing consisting of a ring magnet.
5. A friction welding device for a spot welding robot as claimed in claim 1 wherein said input motor is a squirrel cage AC motor wherein the squirrel cage coils are fixedly mounted on the flywheel shaft and the sets of pole coils are mounted in corresponding positions on the flywheel housing.
6. A friction welding device for a spot welding robot as defined in claim 1, wherein said output motor is a dc generator and said welding head motor is a dc motor.
7. A friction welding device for a spot welding robot as claimed in claim 1, wherein said flywheel is provided with a plurality of leveling screw holes in which leveling screws are installed.
8. A friction welding device for a spot welding robot as claimed in claim 2, wherein said lower fork is provided at a top end thereof with a plurality of leveling screw holes, and leveling screws are installed in the leveling screw holes.
9. A friction welding apparatus for a spot welding robot as claimed in claim 1, wherein said horn motor is provided with a push shaft device for pushing and retracting a motor shaft, a coupling and a friction shaft of the horn motor along a motor axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920752400.6U CN210306234U (en) | 2019-05-24 | 2019-05-24 | Friction welding device for spot welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920752400.6U CN210306234U (en) | 2019-05-24 | 2019-05-24 | Friction welding device for spot welding robot |
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| Publication Number | Publication Date |
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| CN210306234U true CN210306234U (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920752400.6U Withdrawn - After Issue CN210306234U (en) | 2019-05-24 | 2019-05-24 | Friction welding device for spot welding robot |
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| CN (1) | CN210306234U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026674A (en) * | 2019-05-24 | 2019-07-19 | 宁夏吴忠市好运电焊机有限公司 | Friction welding apparatus for spot welding robot |
-
2019
- 2019-05-24 CN CN201920752400.6U patent/CN210306234U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026674A (en) * | 2019-05-24 | 2019-07-19 | 宁夏吴忠市好运电焊机有限公司 | Friction welding apparatus for spot welding robot |
| CN110026674B (en) * | 2019-05-24 | 2023-12-26 | 宁夏吴忠市好运电焊机有限公司 | Friction welding device for spot welding robot |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200414 Effective date of abandoning: 20231226 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200414 Effective date of abandoning: 20231226 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |