Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B37/00—Boring by making use of ultrasonic energy
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
  • B23B31/02—Chucks
  • B23B31/08—Chucks holding tools yieldably
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
  • B23B31/02—Chucks
  • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
  • B23B31/117—Retention by friction only, e.g. using springs, resilient sleeves, tapers
  • B23B31/1179—Retention by friction only, e.g. using springs, resilient sleeves, tapers using heating and cooling
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B2231/00—Details of chucks, toolholder shanks or tool shanks
  • B23B2231/24—Cooling or lubrication means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B2240/00—Details of connections of tools or workpieces
  • B23B2240/28—Shrink-fitted connections, i.e. using heating and cooling to produce interference fits
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B2250/00—Compensating adverse effects during turning, boring or drilling
  • B23B2250/12—Cooling and lubrication
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23B—TURNING; BORING
  • B23B2250/00—Compensating adverse effects during turning, boring or drilling
  • B23B2250/16—Damping of vibrations

Definitions

• the described invention relates generally to systems for machining metals and other materials and more specifically to a system for machining metals and other materials into which an ultrasonic machining module has been incorporated, wherein the ultrasonic machining module is compatible with a variety of existing machining systems, devices, and processes due to its vibration-isolating characteristics.
• Machining which is a collective term for drilling, milling, reaming, tapping, and turning, is an enabling technology that impacts virtually all aspects of manufacturing in the United States and elsewhere in the world.
• a milling machine is a machining tool used to machine solid materials.
• Milling machines are typically classified as either horizontal or vertical, which refers to the orientation of the main spindle. Both types range in size from small, bench-mounted devices to much larger machines suitable for industrial purposes.
• milling machines move the workpiece axially and radially against the rotating milling cutter, which cuts on its sides as well as its tip.
• Milling machines are used to perform a vast number of operations, from simple tasks (e.g., slot and keyway cutting, planing, drilling) to complex tasks (e.g., contouring, diesinking).
• Cutting and drilling tools and accessories used with machining systems are often referred to in the aggregate as "tooling”.
• Milling machines often use CAT or HSK tooling.
• CAT tooling sometimes called V-Flange tooling, is the oldest and probably most common type used in the United States.
• CAT tooling was invented by Caterpillar Inc. of Peoria, Illinois, to standardize the tooling used on Caterpillar machinery.
• HSK tooling sometimes called “hollow shank tooling” is much more common in Europe where it was invented than it is in the United States.
• the holding mechanism for HSK tooling is placed within the hollow body of the tool and, as spindle speed increases, it expands, gripping the tool more tightly with increasing spindle speed.
• Ultrasonic-assisted machining was developed in the United States in the 1950's and was used for machining materials that were considered to be difficult to machine at the time.
• the more modern process of ultrasonic machining involves the application of high power ultrasonic vibrations to "traditional" machining processes (e.g., drilling, turning, milling) for improving overall performance in terms of faster drilling, effective drilling of hard materials, increased tool life, and increased accuracy.
• This is typically accomplished by using drill bits manufactured from high speed steel (HSS), carbide, cobalt, polycrystalline diamond composite, or other suitable materials affixed to a collet (e.g., shrink fit, compression, hydraulic, or mechanical) that is affixed to an ultrasonic (US) transmission line.
• HSS high speed steel
• carbide carbide
• cobalt polycrystalline diamond composite
• US ultrasonic
• UM is not the existing ultrasonic-based slurry drilling process (i.e., impact machining) used for cutting extremely hard materials such as glass, ceramics, quartz. Rather, this type of UM concerns methods for applying high power ultrasonics to drills, mills, reamers, taps, turning tools, and other tools that are used with modern machining systems.
• a first device for use in a machining system includes an ultrasonic machining module that further includes an ultrasonic transducer, wherein the ultrasonic transducer is adapted to receive a machining tool; a vibration-isolating housing adapted to be both compatible with a machining system and to receive the ultrasonic transducer therein, wherein the housing further includes at least one modification for isolating all vibrations generated by the ultrasonic transducer when the device is in operation except axial vibrations transmitted to the machining tool, thereby preventing unwanted vibrations from traveling backward or upward into the machining system; and a connector in electrical communication with the ultrasonic transducer, wherein the connector is operative to supply electrical energy to the ultrasonic transducer, and wherein the connector is adapted to rotate at a predetermined speed.
• a second device for use in a machining system also includes an ultrasonic machining module that further includes an ultrasonic transducer, wherein the ultrasonic transducer is adapted to receive a machining tool; a vibration-isolating housing adapted to be both compatible with a machining system and to receive the ultrasonic transducer therein, wherein the housing further includes at least one modification for isolating all vibrations generated by the ultrasonic transducer when the device is in operation except axial vibrations transmitted to machining tool, thereby preventing unwanted vibrations from traveling backward or upward into the machining system; a connector in electrical communication with the ultrasonic transducer, wherein the connector is operative to supply electrical energy to the ultrasonic transducer, and wherein the connector is adapted to rotate at a predetermined speed; and a tool holder, wherein the tool holder and the top portion of the housing are mechanically coupled to one another or are integrated with one another, and
• a third device for use in a machining system also includes an ultrasonic machining module that further includes an ultrasonic transducer, wherein the ultrasonic transducer is adapted to receive a machining tool; a vibration-isolating housing adapted to be both compatible with a machining system and to receive the ultrasonic transducer therein, wherein the housing further includes at least one modification for isolating all vibrations generated by the ultrasonic transducer when the device is in operation except axial vibrations transmitted to machining tool, thereby preventing unwanted vibrations from traveling backward or upward into the machining system; a connector in electrical communication with the ultrasonic transducer, wherein the connector is operative to supply electrical energy to the ultrasonic transducer, and wherein the connector is adapted to rotate at a predetermined speed; and a spindle assembly, wherein the connector is adapted to be mounted on one end of the spindle assembly.
• FIG. 1 is a side view of an ultrasonic machining module in accordance with a first exemplary embodiment of the present invention
• FIG. 2 is a cross-sectional view of the ultrasonic machining module of FIG. 1;
• FIG. 3-4 are alternate side views of an ultrasonic machining module in accordance with a second embodiment of the present invention, wherein an external high-speed rotary connector has been included, and wherein the high-speed rotary connector is shown in the open position or condition;
• FIG. 5 is a perspective view of the ultrasonic machining module and high-speed rotary connector of FIGS. 3-4;
• FIG. 6-7 are alternate side views of an ultrasonic machining module in accordance with a second embodiment of the present invention, wherein an external high-speed rotary connector has been included, and wherein the high-speed rotary connector is shown in the closed position or condition;
• FIG. 8 is a perspective view of the ultrasonic machining module and high-speed rotary connector of FIGS. 6-7;
• FIG. 9 is a cross-sectional side view of the ultrasonic machining module and highspeed rotary connector of FIGS. 6-7;
• FIG. 10 is a side view of an ultrasonic machining module in accordance with a third embodiment of the present invention, wherein a high-speed rotary connector has been included on one end of a spindle assembly that has been adapted to include a through spindle coolant system;
• FIG. 11 is a cross-sectional side view of the ultrasonic machining module and high-speed rotary connector of FIG. 10;
• FIG. 12 is a cross-sectional side view of the ultrasonic machining module and high-speed rotary connector of FIG. 10 showing the portion of the spindle assembly that includes the ultrasonic machining module;
• FIG. 13 is a cross-sectional side view of the ultrasonic machining module and high-speed rotary connector of FIG. 10 showing the portion of the spindle assembly that includes the rotary union;
• FIG. 14 is a side view of an ultrasonic machining module in accordance with a fourth embodiment of the present invention, wherein a high-speed rotary connector has been included on one end of a spindle assembly that does not include a through spindle coolant system;
• FIG. 15 is a cross-sectional side view of the ultrasonic machining module and high-speed rotary connector of FIG. 14;
• FIG. 16 is a cross-sectional side view of the ultrasonic machining module and high-speed rotary connector of FIG. 14 showing the portion of the spindle assembly that includes the rotary union.
• a first exemplary embodiment of the present invention provides an ultrasonic machining module for use in a machining system, wherein the ultrasonic machining module includes: (a) an ultrasonic transducer, wherein the ultrasonic transducer is adapted to receive a tool bit, and wherein the ultrasonic transducer further comprises: (i) a front mass; (ii) a back mass; (iii) a plurality of piezoelectric ceramics positioned between the front mass and back mass; (iv) at least one electrical connector; and (v) a bolt passing through the front mass, back mass, and ceramics, wherein the bolt is operative to apply compressive force to the ceramics; and (b) a vibration- isolating housing adapted to be both compatible with a machining system and to receive the ultras
• the housing further includes a spring-like feature formed radially therein above the front mass, wherein the spring-like feature further includes a curved and thinned section of the housing, and wherein the curved and thinned section of the housing is operative to permit flexion in the housing for isolating all vibrations generated by the ultrasonic transducer when the device is in operation except axial vibrations transmitted to the tool bit, thereby preventing unwanted vibrations from traveling backward or upward into the machining system and potentially causing damage to the system or other problems.
• This particular embodiment is disclosed in U.S. Patent Application No. 13/046,099 (now U.S. Patent No. 8,870,500), which is expressly incorporated by reference herein in its entirety, for all purposes.
• an exemplary embodiment of ultrasonic machining module 10 includes three basic components: tool holder 20, housing 40, and ultrasonic transducer assembly 70.
• Tool holder 20 includes upper portion 22, which further includes primary bore 24 formed therein for attaching machining module 10 to the main spindle (e.g., CAT 40, 60 or HSK) of a machining system (not shown).
• Lower portion 26 of tool holder 20 includes a plurality of secondary bores 28 that cooperate with similar structures in housing 40 to mechanically couple tool holder 20 to housing 40 using connectors 49 (i.e., centering bolts).
• connectors 49 i.e., centering bolts
• tool holder 20 is shrink-fit to housing 20 in addition to or instead of being bolted thereto.
• Housing 40 includes a rigid cylindrical body 42 that further includes a centrally located aperture 44 that is adapted to receive tool holder 20, and a bottom opening 54, into which ultrasonic transducer assembly 70 is inserted.
• Circumferential electrical contacts 56 i.e., slip rings
• Housing 40 includes a rigid cylindrical body 42 that further includes a centrally located aperture 44 that is adapted to receive tool holder 20, and a bottom opening 54, into which ultrasonic transducer assembly 70 is inserted.
• Circumferential electrical contacts 56 i.e., slip rings
• a single contact 56 may be utilized or the contacts may extend through the spindle of the machining system, while still providing or maintaining the flow of cooling air through the spindle.
• housing 40 includes a plurality of apertures 46 that connect to a plurality of bores 48 that correspond to the placement of bores 28 in tool holder 20 when machining module 10 is assembled.
• a series of connectors 49 are inserted into bores 48 and 28 for the purpose of bolting tool holder 20 to housing 40.
• a plurality of air outlets 50 is formed in housing 20. As described in greater detail below, air outlets 50 cooperate with specific structures on ultrasonic transducer assembly 70 to cool machining module 10 when in use, thereby reducing or eliminating the need for any separate or external system or apparatus for cooling piezoelectric ceramics 74.
• Housing 40 also includes circumferential region 52, which acts as a vibration isolating spring, and as such is characterized as a "spring-like structure".
• region 52 includes a contoured and thinned section of the material from which housing 40 is manufactured. When machining module 10 is in use, region 52 permits a degree of flexion in housing 40, thereby absorbing and/or isolating acoustic energy generated by ultrasonic transducer assembly 70 and preventing unwanted vibration from traveling backward or upward into the spindle or other mechanical components of the machining system.
• Axial vibration generated by ultrasonic transducer assembly 70 is not diminished by region 52; therefore, torque is still delivered to the tool bit or other item that is attached to front mass 76 and that is being used to machine a workpiece.
• the term "tool bit” should be understood to mean drill bit or any other item that is attached to front mass 76.
• region 52 is operative to absorb and/or isolate most or all vibrational modes except the axial vibrations directed toward the workpiece.
• Ultrasonic transducer assembly 70 includes back mass 72, front mass 76, and a plurality of piezoelectric ceramics 74 positioned between these two structures. A plurality of electrodes 75 are sandwiched between piezoelectric ceramics 74, and bolt 86 passes through back mass 72, ceramics 74, electrodes 75 and a portion of front mass 76. When tightened, bolt 86 is operative to apply compressive force to piezoelectric ceramics 74.
• a series of electrical lead wires are typically attached to at least one of the electrodes 75. These wires exit the interior of housing 40 either through housing 40 or through tool holder 20 where they then connect to circumferential electrical contacts 56. Brush contacts or other types of electrical contacts may be used to provide electricity to machining module 10. Transducer assembly 70 typically operates at power levels ranging from 1 kW-5 kW and amplitudes ranging from 25 ⁇ to 150 ⁇ .
• ultrasonic transducer assembly 70 further includes a plurality of cooling members, fins or vanes 78 that are located circumferentially around front mass 76 just beneath a plurality of air inlets 80 that are also formed in front mass 76.
• vanes 78 which simulate a compressor wheel, are operative to draw air upward and through air inlets 80. Air then flows through the interior of housing 40 across ceramics 74 for cooling purposes, and exits housing 40 though air outlets 50.
• the front or bottom area of front mass 76 includes a tapered collet 82 that further includes bore 84, which is adapted to receive a drill bit, milling tool, or other item.
• a drill bit or other item may be attached to collet 82 using the process known as shrink-fitting.
• shrink-fitting By heating the mass around bore 84 uniformly, it is possible to significantly expand the diameter of the bore. The shaft of a drill bit or other item is then inserted into the expanded bore. Upon cooling, the mass around the bore shrinks back to its original diameter and frictional forces create a highly effective joint.
• the bottom edge of housing 40 is attached to the top portion of front mass 76 using a shrink-fit process for facilitating removal of case 40 for repairing ultrasonic machining module 10.
• other means of attaching tooling items to front mass 76 and/or attaching housing 40 to transducer assembly 70 are possible and are compatible with the present invention.
• ultrasonic machining module 10 Some or all of the metal components of ultrasonic machining module 10 are typically manufactured from A2 tool steel. Alternately, D2, SS, 4140, and/or 350-M tool steel may be used. Regardless of the material used, front mass 76 and back mass 72 may both be manufactured from the same material as a means for reducing amplitude. In general terms, mixing of the mass of these components adjusts amplitude. In the exemplary embodiment shown in FIGS. 1-2, total module length is about 7.5 inches (19.1 cm). However, the present invention is scalable and miniaturized variants of ultrasonic machining module 10 are compatible with medical and surgical systems and devices, among other applications.
• the present invention also includes features that permit the introduction of the high-voltage signals that are used to operate high- power ultrasonic systems within a machining or metalworking environment.
• this invention is capable of transmitting voltages over 400V AC at power levels up to lOkW through the use of a high-speed rotary connector.
• this connector is designed such that the inner body thereof acts as a rotor which is affixed to the machine spindle while the stator is affixed to the spindle face. Electrical contact is established through a plunger affixed to the stator that makes the appropriate electrical connection.
• the entire system is typically purged with pressurized air which flows through a series of labyrinth seals to eliminate the possibility of fluid ingress in embodiments that include through-spindle coolant systems.
• pressurized air be delivered at over 30 psi for: (i) creating stability of the air bearing, thereby allowing the system to rotate up to 80,000 RPM; and (ii) unlocking the system position brake for tool changing events.
• the system position brake is responsible for orientating the stator to the machine spindle and electrical plunger in the same orientation at each tool change.
• the electrical connection is made by a series of electrodes that include graphite brushes, copper electrodes, nickel plated disks, fiber fingers, carbon rods, and other components. This is an important aspect of these embodiments, as the rotary connector is capable of accommodating diameters in excess of one (1) inch, which must withstand extremely high surface velocities.
• Other materials that can be used are electrically conductive liquid metals such as gallium and mercury.
• FIG. 3-4 provide alternate side views of an ultrasonic machining module in accordance with a second embodiment of the present invention, wherein an external high-speed rotary connector has been included, and wherein the high-speed rotary connector is shown in the open position or condition.
• FIG. 5 provides a perspective view of the ultrasonic machining module and high-speed rotary connector of FIGS. 3-4.
• FIGS. 6-7 provide alternate side views of an ultrasonic machining module in accordance with a second embodiment of the present invention, wherein an external high-speed rotary connector has been included, and wherein the high-speed rotary connector is shown in the closed position or condition.
• FIG. 8 provides a perspective view of the ultrasonic machining module and high-speed rotary connector of FIGS. 6-7 and FIG.
• FIGS. 6-7 provide a cross-sectional side view of the ultrasonic machining module and high-speed rotary connector of FIGS. 6-7.
• the features shown in these Figures deliver electrical energy to the driving components of the ultrasonic transducer necessary to convert electrical energy into mechanical oscillations that are delivered to a machining tool connected to the ultrasonic machining module.
• the base ultrasonic transducer design is expanded upon while maintaining the common Langevin type construction including a front mass, back mass, driving elements, compression member and tool attachment methods (e.g. collet).
• the system for delivering electrical energy to the ultrasonic transducer is a high speed "external" system due to the fact that the components are all adapted to accommodate the external components of a machine tool spindle.
• ultrasonic machining module 110 includes tool holder 120, retention knob 122, housing 140, compression stud 141, vibration-isolating region 152, ultrasonic transducer assembly 170, transducer back mass 172, piezoelectric ceramics 174, transducer front mass 176, collet 177, spindle face mount clamp 179, left-side slip ring clamshell arm 181, clamshell actuator 182, right-side slip ring clamshell arm 183, pneumatic air purge fitting 185, electrical cable fitting 187, electrical brush 189, and high-speed rotary electrical trace 190.
• electrical delivery to ultrasonic machining module 110 is based on a clamshell design that opens to 180° for providing clearance to a tool changer arm.
• retention knob 122 is pulled by a drawbar into the mating faces of tool holder 120.
• the tool changer device retracts and the clamshell actuator 182 closes left-side slip ring clamshell arm 181at the same time as right-side slip ring clamshell arm 183.
• high-speed rotary electrical trace 190 is mated by way of force contact with, and creates continuity around the perimeter of, electrical brushes 189.
• Electrical brushes 189 are affixed to a flexible spring such that rotating centrifigual force pushes electrical brushes 189 outward, thereby making contact against high-speed rotary electrical trace 190.
• Electrical current is introduced to high-speed rotary electrical trace 190 through electrical cable fitting 187, which is mated with a high voltage cable supplied with the system power supply.
• a sylonoid valve is typically actuated to pressurize any internal passages for positively pressurizing clamshell housing arms 181 and 183 and preventing coolant/debris ingress and contamination thereof.
• FIG. 10 is a side view of an ultrasonic machining module in accordance with a third embodiment of the present invention, wherein a high-speed rotary electrical connector has been included on one end of a spindle assembly that has been adapted to include a through- spindle coolant system for delivering coolant fluid to a machining tool attached to the ultrasonic machining module.
• Rotating spindle assembly 200 includes ultrasonic machining module 210, collet 214 (which is adapted to receive machining tools), bearing housing 230, drive shaft 240, coolant adapter 242, rotary slip ring 244, alignment ring 246, and coolant rotary union 250.
• FIG. 10 is a side view of an ultrasonic machining module in accordance with a third embodiment of the present invention, wherein a high-speed rotary electrical connector has been included on one end of a spindle assembly that has been adapted to include a through- spindle coolant system for delivering coolant fluid to a machining tool attached to the ultrasonic
• FIG. 11 provides a detailed cross-sectional side view of spindle assembly 200, wherein the following components are depicted in their relative positions within spindle assembly 200: ultrasonic module 200, ultrasonic transducer 212, collet 214, housing 216, tool holder 220, retention knob 222, bearing housing 230, bearing 232, electrical connection 234, electrode shaft 236, drive shaft 240, coolant adapter 242, rotary slip ring 244, alignment ring 246, and coolant rotary union 250.
• FIG. 12 provides a cross-sectional side view of the portion of spindle assembly 200 that includes ultrasonic machining module 210 and depicts the following additional structures: vibration dampening feature 218, transducer coolant coupler 224, electrical connection 234, electrode shaft 236, and coolant plug 238.
• FIG. 13 provides a cross-sectional side view of the portion of spindle assembly 200 that includes coolant rotary union 250 and depicts the following additional structures: electrode path 237 and coolant electrode seal 254.
• electrical energy is delivered to ultrasonic transducer 212 using conductors that are located in a central lengthwise passage (electrode shaft 236) formed in spindle assembly 200.
• the conductors run parallel through spindle assembly 200 and make electrical contact with electrodes located within retention knob 222 (which also positions tool holder 220 within housing 216) at electrical connection 234, wherein electrical connection 234 is typically a two conducer pin connection.
• Electrical connection 234 also includes a plug and stem; wherein plug 238 makes the electrical connection and the stem protrudes into the body of retention knob 222 for sealing the electrical components from coolant fluid passing through fluid conduit 235.
• Electrode shaft 236 includes a stainless steel inner sleeve for withstanding high pressure situations that develop within spindle assembly 200 during operations that include coolant fluid. For this connection to function with various tool changers, both positive and negative electrodes float in a manner that can be compressed with a plunger device during tool changing events (see description of fourth embodiment, below). Electrical energy is delivered by high voltage rotary slip ring 244, which is mounted on spindle assembly 200 on the end thereof that is opposite ultrasonic machining module 210. Rotary slip ring 244 exposes positive and negative electrode wiring through wiring passages 237, thereby permitting electrical connection to a processor main cable.
• FIGS. 14-16 provide side and cross-sectional views respectively of an ultrasonic machining module in accordance with a fourth embodiment of the present invention, wherein a high-speed rotary connector has been included on one end of a spindle assembly that includes an ultrasonic machining module, but that does not include a through spindle coolant system.
• Spindle assembly 300 which is similar to the previous embodiment, includes ultrasonic machining module 310, ultrasonic transducer 312, collet 314, vibration-isolating region 318, tool holder 320, retention knob 322, electrode shaft 336, floating electrode 337, spring-loaded plunger 339, and rotary slip ring 344.
• electrical energy is delivered to ultrasonic transducer 312 by using conductors that are located in a central lengthwise passage (electrode shaft 336) formed in spindle assembly 300. Electrical energy is delivered by high voltage rotary slip ring 344 that is mounted on spindle assembly 300 on the end thereof that is opposite ultrasonic machining module 310.
• FIG. 15 provides a cross-sectional side view of ultrasonic machining module 310 showing the portion of spindle assembly 300 that includes high-speed rotary connector 344. As shown in FIG. 15, this embodiment utilizes floating electrodes 337 and spring- loaded plunger 339 for making this connection compatible with various tool changers. In FIGS. 13-14, spring-loaded plunger 339 is shown in a decompressed position.

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• 2015
  • 2015-09-04 CA CA2959413A patent/CA2959413A1/en not_active Abandoned
  • 2015-09-04 WO PCT/US2015/048589 patent/WO2016037081A1/en active Application Filing
  • 2015-09-04 EP EP15837713.5A patent/EP3188862A1/en not_active Withdrawn
  • 2015-09-04 KR KR1020177006281A patent/KR102417763B1/ko active IP Right Grant
  • 2015-09-04 JP JP2017512707A patent/JP2017532210A/ja active Pending

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