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Publication numberCN202964663 U
Publication typeGrant
Application numberCN 201220739358
Publication date5 Jun 2013
Filing date27 Dec 2012
Priority date27 Dec 2012
Publication number201220739358.2, CN 201220739358, CN 202964663 U, CN 202964663U, CN-U-202964663, CN201220739358, CN201220739358.2, CN202964663 U, CN202964663U
Inventors胡斌, 杨国华
Applicant余姚市嘉力机械设备制造有限公司
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Auxiliary manipulator used for product transfer and location correction between manipulators
CN 202964663 U
Abstract
The utility model discloses an auxiliary manipulator used for product transfer and location correction between manipulators. The auxiliary manipulator used for the product transfer and the location correction between the manipulators comprises a transverse pushing pneumatic rod and a movable first pneumatic clamp which comprises first clamping blocks, a first clamping cylinder, a rotary cylinder and a transverse moving base seat, wherein the first clamping blocks comprise a left clamping block and a right clamping block which are respectively connected with a pushing rod of the first clamping cylinder which is rotationally connected with the transverse moving base seat, a base plate is arranged on the upper side of the first clamping cylinder, and first clamping openings are formed between the base plate and the left clamping block and between the base plate and the right clamping block; the transverse pushing pneumatic rod is installed on the transverse moving base seat; and one end of the rotary cylinder is rotationally connected with the transverse moving base seat, and the other end of the rotary cylinder is rotationally connected with the first clamping cylinder. The auxiliary manipulator used for the product transfer and the location correction between the manipulators can adapt to clamping and correcting for regular straight form products and irregular form products, position accuracy of the products on the manipulator clamp is improved, and working efficiency is enhanced.
Claims(6)  translated from Chinese
1.一种用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,包括横向推动气杆(102)和可移动的第一气动夹具(101);所述第一气动夹具(101)包括第一夹块(113)、第一夹紧气缸(112)、旋转气缸(115)和横向移动底座(111);所述第一夹块(113)有左、右两块,分别与第一夹紧气缸(112)的推杆连接,所述第一夹紧气缸(112)与横向移动底座(111)旋转连接,在所述第一夹紧气缸(112)的上侧设置有底板(114),所述底板(114)与左、右第一夹块(113)之间形成第一夹口(116);所述横向推动气杆(102)安装在横向移动底座(111)上;所述旋转气缸(115) —端与横向移动底座(111)旋转连接,另一端与第一夹紧气缸(112)旋转连接。 1. A method for transfer of the product between the robot, the correction of the position of the auxiliary manipulator, characterized in that the gas comprising lateral pushing rod (102) and a movable first pneumatic clamp (101); the first pneumatic clamp ( 101) comprises a first clamp block (113), a first clamping cylinder (112), rotating cylinder (115) and transverse movable base (111); said first clamp block (113) has left and right two, respectively and a first clamping cylinder push rod (112) is connected, said first clamping cylinder (112) and laterally movable base (111) rotatably connected, at said first clamping cylinder (112) of the upper side is provided with a bottom plate (114), said base plate (114) with the left and right blocks forming a first clamp (113) sandwiched between a first port (116); the lateral pushing pneumatic rod (102) mounted transversely movable base (111) ; said rotating cylinder (115) - and the end transverse movable base (111) rotatably connected to the other end of the first gripping cylinder (112) rotatably connected.
2.根据权利要求1所述的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述第一夹口(116)为常规直型产品或者角通型产品的夹口。 The 1, wherein the product transfer between the robot, the correction of the position of the auxiliary manipulator, characterized in that said first clamp opening (116) for a conventional straight-on type product or product of claim angle nips .
3.根据权利要求1或2所述的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述常规直型产品的第一夹口(116)包含横向夹口(117)和纵向夹口(118)。 According to 1 or 2, wherein the product is passed between the manipulator, the position correction auxiliary manipulator, characterized in that the product of a conventional straight port first clamp (116) comprises a lateral clamp opening (117 claims ) and longitudinal jaws (118).
4.根据权利要求3所述的的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述横向夹口(117)中的产品进入端缺口大于产品移出端缺口。 According to claim for the product to pass between the robot, the correction of the position of the auxiliary manipulator, characterized in that said 3, wherein the transverse clamp opening (117) of the product into the product end of the gap is greater than the downstream side of the gap.
5.根据权利要求1所述的的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述第一夹紧气缸(112)与所述横向移动底座(111)的旋转角度为90。 5. The robot according to claim between the product delivery, the position correction auxiliary manipulator, wherein 1, wherein said first gripping cylinder (112) rotating with said transverse movable base (111) angle of 90 .
6.根据权利要求2所述的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述角通型的第一夹口(116)为横向放入下一道工序的机械手位置的夹口。 According to claim 2 for the product to pass between the manipulator, the position correction auxiliary manipulator, characterized in that the angle of the first clip-on type opening (116) is placed laterally next process of claim robot jaws position.
Description  translated from Chinese

一种用于机械手之间对产品传递、位置矫正的辅助机械手技术领域[0001] 本实用新型涉及机械手设备领域,特别涉及一种用于机械手之间对产品传递、位置矫正的辅助机械手。 A product transfer between robots, robot assisted technology field position correction [0001] The utility model relates to the field of robotic devices, and more particularly to a method for the product delivered, corrected position between the auxiliary robot manipulator. 背景技术[0002] 在现有的用于机械手之间的辅助机械手一般只能可以用于传递直线的常规产品(如常规直型接头等),像一些异型结构(如直角型接头和三通接头等)无法传递,使用功能性不高。 [0002] In the existing conventional products (such as conventional straight joints, etc.) used to assist the robot manipulator can generally only be used between the pass line, like some shaped structures (such as right-angle connectors and tees etc.) can not be delivered, use the function is not high. 而且在使用过程中,因上道工序的机械手可能对产品夹取的位置不对,造成对上道工序的机械手传递到辅助机械手时的夹取产品位置也不对而引起传递错误,降低了工作效率。 And in the course, because of the location on the procedures of the robot may be the product gripping wrong, resulting in gripping the product position on the procedure of the robot passes to the secondary robot when not to cause transfer errors, reducing efficiency. 实用新型内容[0003]( 一)要解决的技术问题[0004] 本实用新型要解决的技术问题是要提出一种用于机械手之间对产品传递、位置矫正的辅助机械手,以适应常规直型产品和异型产品的夹取和状态矫正,提高产品在机械手夹具上位置的精确性。 Utility model content [0003] (a) technical problem to be solved [0004] The technical problem to be solved utility model is to propose a method for product transfer between robots, robot position correction auxiliary to adapt conventional straight products and special products for gripping and state correction, improve the accuracy of the product on the robot fixture locations. [0005] ( 二)技术方案[0006] 为解决上述问题,本实用新型提出一种用于机械手之间对产品传递、位置矫正的辅助机械手,包括包括横向推动气杆和可移动的第一气动夹具。 [0005] (b) technical solutions [0006] In order to solve the above problems, the utility model is proposed for the transfer of goods, position correction between auxiliary robot manipulator, including gas including horizontal push rods and movable first pneumatic fixture. 所述第一气动夹具包括第一夹块、第一夹紧气缸、旋转气缸和横向移动底座;所述第一夹块有左、右两块,分别与第一夹紧气缸的推杆连接,所述第一夹紧气缸与横向移动底座旋转连接,在所述第一夹紧气缸的上侧设置有底板,所述底板与左、右第一夹块之间形成第一夹口;所述横向推动气杆安装横向移动底座上;所述旋转气缸一端与横向移动底座旋转连接,另一端与第一夹紧气缸旋转连接。 The first pneumatic clamp includes a first clamp block, a first clamping cylinder, rotating cylinder and transverse movable base; said first clamp block has left and right two, separately connected to the first clamping cylinder push rod, said first clamping cylinder is connected with the transversely movable base rotation, is provided with a bottom plate on the side of said first clamping cylinder, the base plate and the left and right is formed between the first block of the first clamp jaw opening; the lateral pushing gas bar on the lateral movement of the base installation; the rotating cylinder at one end rotatably connected to the lateral movement of the base and the other end connected to the first clamping cylinder rotation. [0007] 作为本实用新型的进一步改进,所述第一夹口为常规直型产品或者角通型产品的夹口。 [0007] As a further improvement of the utility model, the first jaws conventional straight-through products or product angle jaws. [0008] 作为本实用新型的进一步改进,所述常规直型产品的第一夹口包含横向夹口和纵向夹口。 [0008] As the utility model to further improve the conventional product of the first straight jaws jaws contain transverse and longitudinal jaws. [0009] 作为本实用新型的进一步改进,所述横向夹口中的产品进入端缺口大于产品移出端缺口。 [0009] As a further improvement of the utility model, the lateral end of the clip into the mouth of the product out of the end of the gap is greater than the product gap. [0010] 作为本实用新型的进一步改进,所述第一夹紧气缸与所述横向移动底座的旋转角度为90。 [0010] As a further improvement of the utility model, the first clamping cylinder with the lateral movement of the base of the rotation angle of 90 . [0011] 作为本实用新型的进一步改进,所述角通型的第一夹口为横向横向放入下一道工序的机械手位置的夹口。 [0011] As a further improvement of the utility model, the angle of the first-pass laterally into the jaws of the transverse processes of the jaws under a manipulator position. [0012](三)有益效果[0013] 本实用新型的传递弯管的机械手装置的优点:[0014] 1.可以将上道工序的机械手夹取产品的位置位置状态通过第一气动夹具旋转角度,改变其夹取状态传以适应下道工序机械手的夹取状态,使常规直型和异型产品均可以夹取正常传递,增强了机械手的功能性。 [0012] (c) the beneficial effects [0013] The utility model transfer elbow manipulator device advantages: [0014] 1. You can be on the procedure of robotic gripping position location status of the product through the first pneumatic clamp rotation angle change its gripping state passed to the next process to adapt the robot gripping state, the conventional straight and shaped products can be gripping normal transfer, enhance the functionality of the robot. [0015] 2.通过把横向夹口中的产品进入端缺口大于产品移出端缺口的结构,可以使产品放入夹口内更加方便,又可以矫正产品的夹取位置;通过设置纵向的夹口也同样即可以直接夹取纵向位置的产品,也可以对产品直接进行矫正。 [0015] 2. The clip by laterally into the mouth of the product out of the product end of the gap is greater than the end gap structure, can make the product easier to clip into the mouth, but also can correct product gripping position; by setting the longitudinal nips also which can be directly vertical position gripping products, the product can be directly corrected. 上述矫正方式,不但提高产品在机械手夹具上位置的精确性,减少由于夹取产品状态不对而引起的产品传递错误,提高工作效率,符合机械自动化发展规律。 The correction mode, not only to improve the product on the robot fixture position accuracy, reduce the gripping Status wrong product delivery errors caused, improve work efficiency, in line with the law of development of mechanical automation. 附图说明[0016] 图1为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的立体图;[0017] 图2为本实用新型的第一气动夹具的立体图;[0018] 图3为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手中无拾取机械手的主视图;[0019] 图4为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手中无拾取机械手的俯视图;[0020] 图5为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图1 ;[0021] 图6为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图2 ;[0022] 图7为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图3 ;[0023] 图8为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图4 ;[0024] 图9为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图5 ;[0025] 图中2为产品送至机床机械手装置、3为拾取机械手、4为接头、101为第一气动夹具、102为横向推动气杆、111为横向移动底座、112为第一夹紧气缸、113为第一夹块、114为底板、115为旋转气缸、116为第一夹口、117为横向夹口、118为纵向夹口。 BRIEF DESCRIPTION [0016] Figure 1 is a utility model of the product delivery, the position correction of the auxiliary robot manipulator is used between a perspective view; [0017] Figure 2 is a first pneumatic grips utility model perspective view; [0018] Figure 3 is a front view of a utility model for product transfer between the robot, the robot position auxiliary correction without picking robot; [0019] Figure 4 is a utility model for product transfer between the robot for position correction auxiliary robot manipulator without picking a plan view; [0020] Figure 5 is a utility model for product transfer between the robot for position correction using state aid robot Figure 1; [0021] Figure 6 is a utility model for product transfer between the robot, the robot position correction using state aid Figure 2; [0022] Figure 7 is a utility model for product transfer between robots for use state aid robot position correction in Figure 3; [0023] Figure 8 is a utility model for product transfer between the robot, using state aid robot position correction Figure 4; [0024] Figure 9 is a utility model for product transfer between the robot for position correction using state aid robot in Figure 5; [0025] Figure 2 is the product to the machine manipulator device 3 for picking robot, 4 connector, 101 for the first pneumatic clamps, 102 for lateral pushing gas bars, 111 transverse mobile base for the first clamping cylinder 112, 113 for the first clamp block 114 for the floor, rotating cylinder 115, 116 for the first jaws, jaws transverse 117, 118 for vertical jaws. 具体实施方式[0026] 下面结合附图和实施例,对本实用新型的具体实施方式作进一步详细描述。 DETAILED DESCRIPTION [0026] The following accompanying drawings and examples of the utility model specific embodiments described in further detail. 以下实施例用于说明本实用新型,但不用来限制本实用新型的范围。 The following examples illustrate the utility model, but not to limit the scope of the utility model. [0027] 如图1、图2、图3和图4所不,一种用于机械手之间对产品传递、位置矫正的辅助机械手,包括横向推动气杆102和可移动的第一气动夹具101,所述第一气动夹具101包括第一夹块113、第一夹紧气缸112、旋转气缸115和横向移动底座111 ;所述第一夹块113有左、右两块,分别与第一夹紧气缸112的推杆连接,所述第一夹紧气缸112与横向移动底座111旋转连接,在所述第一夹紧气缸112的上侧设置有底板114,所述底板114与左、右第一夹块113之间形成横向的第一夹口116 ;所述横向推动气杆102安装横向移动底座111上;所述旋转气缸115—端与横向移动底座111旋转连接,另一端与第一夹紧气缸112旋转连接,此目的是为了通过旋转可改变角通的异型产品的夹取状态位置调整到与下一道工序的机械手相对应的夹取位置,还可以调整到上一道工序的机械手位置,方便产品从上一道工序的机械手产品放入到第一夹口116内,从而可以传递常规直型和异形产品。 [0027] Figure 1, Figure 2, Figure 3 and Figure 4 are not, for the product to pass between the robot, the correction of the position of the auxiliary robot, including horizontal push rod 102 and the first pneumatic air movable jaw 101 said first pneumatic clamp 101 includes a first clamp block 113, a first clamping cylinder 112, rotating cylinder 115 and lateral movement of the base 111; the first clamp block 113 has left and right two, with the first clip tight cylinder push rod 112 is connected, said first clamping cylinder 112 and the lateral movement of the rotating base 111 is connected, on the side of the first cylinder 112 is provided with a clamping plate 114, the bottom plate 114 and the left and right section transverse opening 116 is formed between the first clip of a clip 113 block; the lateral push rod 102 is mounted on the gas traversing the base 111; 115- end of the rotating cylinder and the lateral movement of the base 111 rotatably connected to the other end of the first clip tight cylinder 112 rotatably connected, this purpose is to adjust to the mechanical palmistry next step corresponding to the gripping position, you can also adjust the robot position on a process by gripping state position rotation can change the angle through a shaped product, convenience products from the working procedure of robotic products put into the mouth of the first clip 116, which can deliver conventional straight and shaped products. 所述第一夹紧气缸112与所述横向移动底座111的旋转角度为90通过横向推动气杆102可以将产品推送到产品送至机床机械手装置2实现传递。 Said first clamping cylinder 112 and the rotational angle of said transverse movable base 111 is 90 air by lateral pushing rod 102 can push the product to the machine product robot 2 realizes transmission means. 所述第一夹口116为常规直型或者角通型的夹口,所述角通型的第一夹口116为横向的弯管夹口。 The first jaws 116 for conventional straight-through or angle of the jaws, the angle-through port 116 of the first clip for lateral elbow jaws. . 所述常规直型的第一夹口116包含横向夹口117和纵向夹口,通过纵向夹口不但可以矫正其纵向方向的产品夹取位置,也可以不用使第一气动夹具101旋转角度,可直接夹取产品。 The first conventional straight jaws 116 and 117 contain vertical transverse jaws jaws, jaws through vertical longitudinal direction can be corrected only product gripping position, you can not make the rotation angle of the first pneumatic clamps 101, may Direct gripping products. 所述横向夹口117中的产品进入端缺口大于产品移出端缺口,此目的是一是为了避免产品送入第一夹口116时堵塞、卡住,还可以矫正其上道工序机械手的夹取位置错误使传递到第一夹口的位置也发生错误。 The transverse folder entry 117 is greater than the product into the product end of the downstream side cutout notch, this purpose is first, in order to avoid the product fed to the first port 116 when the folder blocked, jammed, which may also be corrected on the procedure robot gripping delivered to the wrong place so that the position of the jaws of the first error also occurred. [0028] 实施例一:当传递加工常规直型的接头4时,,整个加工设备包括拾取机械手3、辅助机械手和产品送至机床机械手装置2如图1和图5所示。 [0028] Example 1: When the transfer processing of a conventional straight connector 4:00 ,, entire processing apparatus includes a pickup robot 3, the auxiliary manipulator to the tool and product manipulator apparatus shown in FIG. 1 and FIG. 所述第一夹紧气缸112通过旋转气缸115顺时针推动旋转90,所述拾取机械手3松开将弯管4从横向夹口117的横向夹口117中的产品进入端缺口放入,所述旋转气缸115逆时针推动旋转90,通过横向移动底座111移动到产品送至机床的机械手装置2处,所述横向推动气杆102将接头4从横向夹口117的产品进入端缺口慢慢向前推进,接头因缺口变化慢慢矫正其位置,最后推送到产品送至机床的机械手装置2内的夹具内,所述机床的机械手装置2夹紧接头4,送至机床加工处如图6。 Said first clamping cylinder 112 by pushing rotated clockwise rotating cylinder 115 90 , the pickup robot 3 Release 4 will bend laterally from the jaws 117, 117 in the lateral jaws into the end product into the gap, the push the rotating cylinder 115 rotated counterclockwise 90 , by traversing the base 111 is moved to the product to the machine manipulator device 2, the lateral push rod 102 gas fitting 4 from the lateral jaws 117 products into end gap slowly forward, the joint gap changes slowly due to correction of its position, and finally to push the product to the machine robot apparatus 2 inside the jig, the machine tool manipulator means 2 clamping joint 4, as shown in Figure 6 to the machining of the . 加工好后,所述第一夹紧气缸112通过旋转气缸115顺时针推动旋转90横向移动到产品送至机床的机械手装置2处,所述产品送至机床的机械手装置2松开接头4。 After processing, the first clamping cylinder 112 through 115 in the clockwise rotation of the cylinder rotated 90 lateral movement to promote the product to the machine manipulator device 2, the product to the machine manipulator device 2 loosen 4. 所述左、右第一夹块113上的纵向夹口118夹住弯管向后横向移动如图7。 The left and right longitudinal first clamp block clamp port 113 is sandwiched between the elbow 118 shown in Figure 7 backwards lateral movement. 然后旋转气缸115逆时针推动旋转90,所述左、右第二夹块211松开,所述拾取机械手3向下夹住接头4并取出完成往返传递操作如图8。 Then rotate the cylinder 115 rotate counterclockwise pushing 90 , the left and right of the second clamp block 211 is released, the pickup robot three clamped down and remove the complete joint 4 roundtrip transfer operation in Figure 8. [0029] 实施例二:当传递加工角通型的接头4时,整个加工设备包括拾取机械手3、辅助机械手和产品送至机床机械手装置2。 [0029] EXAMPLE 2: When the pass-through connector angle machining 4:00, the entire processing equipment, including pick-up robot three auxiliary products to the machine tool and robot manipulator device 2. 所述所述拾取机械手3向下移动将接头4放置角通型的第一夹口116内,所述左、右第一夹块113慢慢加紧,使接头4根据第一夹口116位置自动矫正,夹紧接头4通过横向移动底座111向前移动到产品送至机床的机械手装置2处,所述所述左、右第一夹块113松开,所述横向推动气杆102将接头4从横向夹口117的后端推向前,所述送至机床的机械手装置2夹紧接头4,然后送至机床加工。 Said pick-up robot three downward movement will be placed within the joint 4 angle-through port 116 of the first clip, the left and right of the first clip slowly stepping block 113, 116 according to the joint position of the first four jaws automatically correction, clamping joint 4 by traversing the base 111 is moved forward to the product to the machine manipulator device 2, wherein the left and right of the first clamp block 113 is released, the lateral push rod 102 gas fittings 4 From the front of the rear end of the lateral jaws 117 into the machine to the manipulator device 2 clamp connector 4, and then sent to the machine tool. 加工后,所述送至机床的机械手装置2松开接头4,与此同时所述左、右第一夹块113夹住接头4,移动到拾取机械手3的下方,所述拾取机械手3向下夹住接头4并取出完成如图1和图9。 After processing, the robotic device to the machine 2 loosen 4, while the left and right of the first clamp block 113 clamped joints 4, move the robot to pick up the bottom three, and the pick-up robot 3 down clamped joints 4 and remove the complete Figure 1 and Figure 9. [0030] 本实用新型的传递弯管的机械手装置的优点:[0031] 1.可以将上道工序的机械手夹取产品的位置位置状态通过第一气动夹具101旋转角度,改变其夹取状态传以适应下道工序机械手的夹取状态,使常规直型和异型产品均可以夹取正常传递,增强了机械手的功能性。 [0030] The practical advantages of the new transfer elbow manipulator device: [0031] 1. You can be on the procedure of robotic gripping position the product location status through the first pneumatic clamps 101 rotation angle, change its status gripping biography to adapt to the next process robot gripping state, the conventional straight and shaped products can be gripping normal transfer, enhance the functionality of the robot. [0032] 2.通过把横向夹口116中的产品进入端缺口大于产品移出端缺口的结构,可以使产品放入夹口内更加方便,又可以矫正产品的夹取位置;通过设置纵向的夹口也同样即可以直接夹取纵向位置的产品,也可以对产品直接进行矫正。 [0032] 2. By the lateral jaws 116 products into end products out of the end of the gap is greater than the gap of the structure, you can make the product easier to put a folder inside the mouth, they can correct product gripping position; by setting the vertical jaws That can also be directly vertical position gripping products, the product can be directly corrected. 上述的矫正方式,不但提高产品在机械手夹具上位置的精确性,减少由于夹取产品状态不对而引起的产品传递错误,提高工作效率,符合机械自动化发展规律。 Correction of the above methods, not only to improve the accuracy of the product on the robot fixture position, reduce the gripping Status wrong product delivery errors caused, improve work efficiency, in line with the law of development of mechanical automation. [0033] 以上所述仅是本实用新型的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本实用新型技术原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本实用新型的保护范围。 [0033] The above is only the utility model of the preferred embodiments, it should be pointed out that one of ordinary skill in the art, in the utility model without departing from the technical principles of the premise, you can also make a number of improvements and modifications These improvements and modifications should be considered as the scope of the protection of the utility model.

Referenced by
Citing PatentFiling datePublication dateApplicantTitle
CN103817691A *6 Mar 201428 May 2014深圳先进技术研究院Orthodontic instrument preparing robot and manipulator thereof
CN103817691B *6 Mar 20143 Jun 2015深圳先进技术研究院Orthodontic instrument preparing robot and manipulator thereof
Classifications
International ClassificationB25J11/00, B25J15/00
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