KR102149566B1 - 다중스테이션프레스에서 워크피스의 이송궤적을 결정하는 방법 - Google Patents

다중스테이션프레스에서 워크피스의 이송궤적을 결정하는 방법 Download PDF

Info

Publication number
KR102149566B1
KR102149566B1 KR1020157010183A KR20157010183A KR102149566B1 KR 102149566 B1 KR102149566 B1 KR 102149566B1 KR 1020157010183 A KR1020157010183 A KR 1020157010183A KR 20157010183 A KR20157010183 A KR 20157010183A KR 102149566 B1 KR102149566 B1 KR 102149566B1
Authority
KR
South Korea
Prior art keywords
trajectory
workpiece
press
stations
information
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.)
Active
Application number
KR1020157010183A
Other languages
English (en)
Korean (ko)
Other versions
KR20170074723A (ko
Inventor
도미니크 셰어
Original Assignee
귀델 그룹 아게
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 귀델 그룹 아게 filed Critical 귀델 그룹 아게
Publication of KR20170074723A publication Critical patent/KR20170074723A/ko
Application granted granted Critical
Publication of KR102149566B1 publication Critical patent/KR102149566B1/ko
Assigned to 귀델 아게 reassignment 귀델 아게 권리의 전부이전등록 Assignors: 귀델 그룹 아게
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39105—Manipulator cooperates with moving machine, like press brake
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40395—Compose movement with primitive movement segments from database
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40421—Motion planning for manipulator handling sheet metal profiles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43176—Scale velocity profile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45142—Press-line
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Data Mining & Analysis (AREA)
  • Mathematical Physics (AREA)
  • Robotics (AREA)
  • Computational Mathematics (AREA)
  • Software Systems (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Algebra (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Press Drives And Press Lines (AREA)
  • Control Of Presses (AREA)
  • Numerical Control (AREA)
KR1020157010183A 2012-10-22 2013-10-22 다중스테이션프레스에서 워크피스의 이송궤적을 결정하는 방법 Active KR102149566B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH20682012 2012-10-22
PCT/CH2013/000181 WO2014063262A1 (en) 2012-10-22 2013-10-22 Method for the determination of workpiece transport trajectories in a multiple station press
CHCH2068/12 2014-10-22

Publications (2)

Publication Number Publication Date
KR20170074723A KR20170074723A (ko) 2017-06-30
KR102149566B1 true KR102149566B1 (ko) 2020-08-31

Family

ID=49513699

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020157010183A Active KR102149566B1 (ko) 2012-10-22 2013-10-22 다중스테이션프레스에서 워크피스의 이송궤적을 결정하는 방법

Country Status (8)

Country Link
US (1) US9864822B2 (https=)
EP (1) EP2909684B1 (https=)
JP (1) JP6530315B2 (https=)
KR (1) KR102149566B1 (https=)
CN (1) CN104903804B (https=)
ES (1) ES2802850T3 (https=)
SG (1) SG11201503120PA (https=)
WO (1) WO2014063262A1 (https=)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10289761B1 (en) * 2013-06-12 2019-05-14 The United States Of America, As Represented By The Secretary Of The Navy Method for modeling dynamic trajectories of guided, self-propelled moving bodies
EP2952988B1 (de) * 2014-06-03 2020-07-29 Siemens Aktiengesellschaft Verfahren zur Berechnung einer optimierten Trajektorie
US10551820B2 (en) * 2015-06-03 2020-02-04 Siemens Aktiengesellschaft Method for calculating an optimized trajectory
DE102016222649B3 (de) * 2016-09-19 2017-08-31 Schuler Automation Gmbh & Co. Kg Verfahren zur Bestimmung einer Bahnkurve für eine Transfereinrichtung und Produktionsvorrichtung
EP3315267B1 (de) * 2016-10-25 2019-12-04 Siemens Aktiengesellschaft Verfahren zur optimierung von bewegungsprofilen, verfahren zur bereitstellung von bewegungsprofilen, steuereinrichtung, anlage und computerprogrammprodukt
JP6765291B2 (ja) * 2016-12-16 2020-10-07 コマツ産機株式会社 シミュレーション装置、シミュレーション方法およびシミュレーションプログラム
CN109426690B (zh) * 2017-08-31 2023-07-28 西门子公司 生成空间的可视化模型布局的方法、装置和设备
JP7051465B2 (ja) 2018-01-29 2022-04-11 コマツ産機株式会社 シミュレーション装置、プレスシステム、シミュレーション方法、プログラム、および記録媒体
CN108563826B (zh) * 2018-03-02 2022-02-08 河北工业大学 多连杆伺服压力机传动机构性能分析系统
EP3627257B1 (de) * 2018-09-18 2022-11-30 Siemens Aktiengesellschaft Bewegungsplanung für ein transportsystem einer servopressenanlage
DE102018125434B4 (de) * 2018-10-15 2020-06-18 Schuler Pressen Gmbh Verfahren zur Prüfung der Transferfreigängigkeit
JP6508691B1 (ja) * 2018-10-15 2019-05-08 株式会社Ｍｕｊｉｎ 制御装置、作業ロボット、プログラム、及び、制御方法
WO2020116479A1 (ja) * 2018-12-04 2020-06-11 株式会社エイチアンドエフ トランスファプレスシステム
CN113396035A (zh) 2019-02-27 2021-09-14 伯克希尔格雷股份有限公司 用于在可编程运动系统中的软管布线的系统和方法
ES2982678T3 (es) * 2019-04-25 2024-10-17 Berkshire Grey Operating Company Inc Sistema y método para mantener la vida útil de una manguera de vacío en sistemas de enrutamiento de mangueras en sistemas de movimientos programables
JP7355533B2 (ja) * 2019-06-25 2023-10-03 ファナック株式会社 ロボットプログラミング装置
JP7316111B2 (ja) * 2019-06-25 2023-07-27 ファナック株式会社 プレス加工シミュレーション装置
JP7438761B2 (ja) * 2020-01-20 2024-02-27 住友重機械工業株式会社 プレス装置
US12413242B2 (en) * 2020-12-21 2025-09-09 Google Llc Reconfigurable analog-to-digital converter
CN115283508B (zh) * 2021-03-16 2025-08-29 浙江大学台州研究院 一种雨刮器钢条的折弯设备
CN114378818B (zh) * 2022-01-14 2024-06-28 浙江精尚数控科技有限公司 一种多工位配套夹持机械手的移动选择方法
JP2024002097A (ja) * 2022-06-23 2024-01-11 コマツ産機株式会社 シミュレーションプログラム、記録媒体、シミュレーション方法、およびシミュレーション装置
CN116653346B (zh) * 2023-07-05 2025-06-17 合肥工业大学 一种冲压工件成形质量的在线监测方法与工具
DE102024120336A1 (de) * 2024-07-18 2026-01-22 Andritz Schuler Pressen Gmbh Verfahren und Vorrichtung zur Steuerung eines Stößelantriebs
DE102024130355A1 (de) * 2024-10-18 2026-04-23 Andritz Schuler Pressen Gmbh Verfahren zur Bewegungssteuerung einer Umformanlage

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080109105A1 (en) * 2005-05-27 2008-05-08 Mueller Weingarten Ag Method for optimizing the transport displacement of workpieces in transfer presses

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0370188B1 (de) * 1988-11-17 1998-07-15 Balzers Aktiengesellschaft Transporteinrichtung und Vakuumkammer mit einer solchen Einrichtung sowie Verfahren zum Beschicken und Entleeren einer Bearbeitungskammer
US5655060A (en) * 1995-03-31 1997-08-05 Brooks Automation Time optimal trajectory for cluster tool robots
US5807449A (en) * 1997-01-08 1998-09-15 Hooker; Jeffrey A. Workpiece treating apparatus and method of treating same
US6216058B1 (en) * 1999-05-28 2001-04-10 Brooks Automation, Inc. System of trajectory planning for robotic manipulators based on pre-defined time-optimum trajectory shapes
DE19944607A1 (de) * 1999-09-17 2001-03-22 Isg Ind Steuerungstechnik Gmbh Satzübergreifende Geschwindigkeitsführung bei einer numerisch gesteuerten Werkzeugmaschine oder einem Roboter
DE10025614A1 (de) * 2000-05-24 2001-12-06 Helmut Schuster Vorrichtung zum Greifen und Transportieren von Werkstücken in Drehmaschinen
US6662067B1 (en) * 2000-10-07 2003-12-09 Ford Motor Company Method of optimizing part transfer motion
JP3784282B2 (ja) * 2001-07-02 2006-06-07 アイダエンジニアリング株式会社 トランスファプレスの干渉チェック装置
JP3925844B2 (ja) * 2002-02-22 2007-06-06 アイダエンジニアリング株式会社 プレス機械
US7180253B2 (en) 2003-09-30 2007-02-20 Rockwell Automation Technologies, Inc. Method and system for generating multi-dimensional motion profiles
MXPA06005645A (es) 2003-11-25 2007-05-23 Gudel Group Ag Transportador que traslada piezas de trabajo en prensa.
EP1615090B1 (en) * 2004-07-10 2008-02-20 FAGOR, S.Coop Synchronized control system of a line of machines, particularly presses
JP4656562B2 (ja) * 2004-10-25 2011-03-23 アイダエンジニアリング株式会社 トランスファプレス機械
JP4507250B2 (ja) 2004-10-29 2010-07-21 アイダエンジニアリング株式会社 トランスファプレス機械
ES2452022T3 (es) * 2006-02-06 2014-03-31 Abb Research Ltd. Sistema de línea de prensas y método
JP5181562B2 (ja) * 2007-07-23 2013-04-10 株式会社Ｉｈｉ シミュレーション方法
US8457791B2 (en) * 2009-03-10 2013-06-04 GM Global Technology Operations LLC Method for dynamically controlling a robotic arm
DE102010060158B4 (de) * 2010-10-26 2012-07-12 Schuler Pressen Gmbh Steuereinrichtung und Verfahren zur Steuerung der Stationen einer Fertigungsstraße
JP5902500B2 (ja) * 2012-02-10 2016-04-13 本田技研工業株式会社 搬送モーションの変更方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080109105A1 (en) * 2005-05-27 2008-05-08 Mueller Weingarten Ag Method for optimizing the transport displacement of workpieces in transfer presses

Also Published As

Publication number Publication date
EP2909684A1 (en) 2015-08-26
JP6530315B2 (ja) 2019-06-12
US9864822B2 (en) 2018-01-09
JP2016500882A (ja) 2016-01-14
EP2909684B1 (en) 2020-04-22
KR20170074723A (ko) 2017-06-30
CN104903804B (zh) 2018-09-11
ES2802850T3 (es) 2021-01-21
SG11201503120PA (en) 2015-05-28
WO2014063262A1 (en) 2014-05-01
CN104903804A (zh) 2015-09-09
US20150294044A1 (en) 2015-10-15

Similar Documents

Publication Publication Date Title
KR102149566B1 (ko) 다중스테이션프레스에서 워크피스의 이송궤적을 결정하는 방법
CN102009323B (zh) 金属板材成型方法及其柔性生产线
US9874868B2 (en) Method for calculating an optimized trajectory
EP3624997B1 (en) Method and control system for controlling movement sequences of a robot
JP2016500882A5 (https=)
EP2811355B1 (en) Servo transfer feeder and method for controlling servo transfer feeder
CN105929789A (zh) 优化运动轮廓的方法，计算机程序，控制装置和技术系统
JP2018069336A (ja) 移動プロフィールの最適化方法、移動プロフィールの調製方法、制御装置、設備およびコンピュータプログラム
Li et al. The implementation and experimental research on an S-curve acceleration and deceleration control algorithm with the characteristics of end-point and target speed modification on the fly
JP2009006385A (ja) 複数プレス機械の制御方法及び装置
EP1457854A1 (en) Compound processing system for sheet metal processing
CN106383505A (zh) 一种闭环应用的全过程自动化作业方法
WO2022168362A1 (ja) 搬送システム、制御方法、および制御プログラム
CN105807720B (zh) 手机模具成型零件数控编程及自动化加工控制装置
Ranky Collaborative, synchronous robots serving machines and cells
JP2009269081A (ja) サーボプレス設備とその制御方法
Yonemoto et al. Task scheduling of material-handling manipulator for enhancing energy efficiency in flow-type FMS
Lu et al. Stamping System with Automated Feeding Based on Programmable Logic Controller Electronic Cam Function.
CN110920134A (zh) 用于伺服压机的运动规划的方法
Pateloup et al. HSM-adapted tool path calculation for pocketing
EP4053658B1 (en) Automated production station and related methods
Guimarães et al. A bending cell for small batches
Bočák et al. Influential Aspects to Robotic Cell Energetic Efficiency: Overview
Omar et al. Simulation study of an agile high-speed machining system for automotive cylinder heads
CN114309212A (zh) 一种全自动冲压生产线

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

A201 Request for examination
E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

D13-X000 Search requested

St.27 status event code: A-1-2-D10-D13-srh-X000

D14-X000 Search report completed

St.27 status event code: A-1-2-D10-D14-srh-X000

E902 Notification of reason for refusal
P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

GRNT Written decision to grant
PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

R18-X000 Changes to party contact information recorded

St.27 status event code: A-5-5-R10-R18-oth-X000

PN2301 Change of applicant

St.27 status event code: A-5-5-R10-R11-asn-PN2301

PN2301 Change of applicant

St.27 status event code: A-5-5-R10-R14-asn-PN2301

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 4

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 5

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 6

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-OTH-PR1001 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 6