CN103586866A - Single-drive clamping transposition mechanical arm - Google Patents
Single-drive clamping transposition mechanical arm Download PDFInfo
- Publication number
- CN103586866A CN103586866A CN201310560570.1A CN201310560570A CN103586866A CN 103586866 A CN103586866 A CN 103586866A CN 201310560570 A CN201310560570 A CN 201310560570A CN 103586866 A CN103586866 A CN 103586866A
- Authority
- CN
- China
- Prior art keywords
- wedge
- mechanical arm
- slide block
- slide
- transposition mechanical
- 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.)
- Granted
Links
Images
Landscapes
- Jigs For Machine Tools (AREA)
Abstract
The invention relates to a single-drive clamping transposition mechanical arm which comprises a base. A mandrel and a lifting pin base are fixed on the base. The mandrel is sleeved with a rotary disc in an empty mode, an installing board is fixed on the rotary disc, the two ends of the installing board are symmetrically provided with two pairs of clamping claw mechanisms, the part between the back portion of each clamping claw mechanism and the middle portion of the installing board is provided with a return spring, the rotary disc is symmetrically provided with two pushing wedge installing holes, each pushing wedge installing hole is internally provided with a pushing wedge for pushing the corresponding clamping claw mechanism to move forwards and clamp a workpiece, the part between the lower end of each pushing wedge and the rotary disc is provided with a pushing wedge return spring, and the lifting pin base is internally provided with a lifting pin. The clamping claw mechanisms can clamp the workpiece by being pushed forwards, and can loose the workpiece firstly and then move backwards by being pulled by the return springs, and the workpiece can be shifted in any direction in the 360-degree ranging from a fixing point only by driving the installing board to do clockwise interval rotation with the period being 180 degrees.
Description
Technical field
The present invention relates to a kind of single driving and clamp transposition mechanical arm.
Background technology
Manipulator is some holding function that can imitate staff and arm, and in order to the automatic pilot that captures, carries object or operation tool by fixed routine, it is widely used in manufacturing industry.Existing workpiece transposition mechanical arm generally needs two drive systems, has complex structure, clamps the shortcomings such as unstable and energy resource consumption is many, the workpiece transposition in generally also only realizing among a small circle.
Summary of the invention
The present invention is directed to the problem that above-mentioned prior art exists and make improvement, technical problem to be solved by this invention is to provide a kind of novel structure, reasonable in design, reliable operation and large single driving of workpiece transposition scope and clamps transposition mechanical arm.
In order to solve the problems of the technologies described above, technical scheme of the present invention is: a kind of single driving clamps transposition mechanical arm, comprise base, on described base, be fixed with axle and ejector pin seat, in described axle, be set with the rotary disk being driven by the drive system using step, on described rotary disk, be fixed with installing plate, on described installing plate two ends, be symmetrically arranged with Liang Fu gripper jaw mechanism, between described gripper jaw mechanism rear portion and installing plate middle part, be provided with return spring, on described rotary disk, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole, be provided with for promote that respective clamp pawl mechanism advances and clamping work pieces push away wedge, described pushing away between wedge lower end and rotary disk is provided with and pushes away wedge return spring, in described ejector pin seat, be provided with by ejector pin spring and promote the ejector pin rising, described ejector pin enters in feed station pushing away in wedge installing hole of aiming at ejector pin seat hole and rises to promote the corresponding wedge that pushes away.
In further technical scheme, described gripper jaw mechanism comprises slide, three slide blocks, two push pedals and two jaws, described slide is locked on installing plate, slide block A, slide block B, slide block C is successively set on slide along gripper jaw mechanism direction of advance, push pedal A, push pedal B is separately fixed in slide block A and slide block B, between push pedal A and push pedal B, be provided with power transmission spring and pilot pin thereof, on described slide block C, be fixed with cross slide, on described cross slide, be symmetrically arranged with two transverse sliders in left and right, two jaw rear portions, left and right are articulated with on push pedal B by two of left and right power transmission pin respectively, jaw middle part, two of left and right is locked in respectively on two transverse sliders, pine folder spring is installed between two jaws in left and right.
In further technical scheme, described gripper jaw mechanism rear portion is provided with and the roller that pushes away wedge top and match, described in push away wedge top inclined-plane K by roller, promote gripper jaw mechanism and move ahead.
In further technical scheme, described in push away on wedge and offer locating slot P, on described rotary disk, be symmetrically arranged with the alignment pin matching with corresponding locating slot P.
In further technical scheme, described installing plate end is provided with in order to determine the dead buting iron of gripper jaw mechanism's forward stroke ultimate position.
In further technical scheme, described axle top is provided with at unloading station and forces to push away the descending discharging block of wedge.
In further technical scheme, described push pedal A and slide block A are made into one, and/or described push pedal B and slide block B are made into one.
In further technical scheme, described cross slide and slide block C are made into one, and/or two of left and right jaw is made into one with corresponding transverse slider respectively.
In further technical scheme, described the drive system using step comprises stepper motor, driving gear and driven gear, described stepper motor is fixed on base, described driving gear is arranged on the output shaft of stepper motor, and described driven gear is fixed on finger plate bottom surface middle part empty set in axle.
In further technical scheme, described rotary disk bottom surface symmetry offers two and is convenient to respectively depress ejector pin to leave the corresponding locating slot L that pushes away wedge.
Compared with prior art, the present invention has following beneficial effect: this list drives that to clamp transposition mechanical arm novel structure, reasonable in design, reliable operation and workpiece transposition scope large, by pushing away wedge, promote gripper jaw mechanism and can realize forward the jaw holding workpiece of protracting, after pulling gripper jaw mechanism to retreat can to make jaw first unclamp workpiece by return spring, return, only demand motive installing plate is done the clockwise intermittent-rotation in 180 ° of cycles, just can realize the location of workpiece from the conversion in any orientation within the scope of fixing point to 360 °.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the cutaway view at A-A place in Fig. 1.
Fig. 3 is the cutaway view at C-C place in Fig. 1.
Fig. 4 is the cutaway view at B-B place in Fig. 3.
Fig. 5 be the embodiment of the present invention overlook use state diagram.
In figure: 1-base, 2-ejector pin spring, 3-ejector pin seat, 4-ejector pin, 5-rotary disk, 6-pushes away wedge, 7-alignment pin, 8-slide, 9-slide block A, 10-slide block B, 11-slide block C, the dead buting iron of 12-, 13-cross slide, 14-transverse slider, 15-back-up ring, 16-power transmission spring guide pin, 17-roller, 18-return spring, 19-discharging block, 20-axle, 21-installing plate, 22-pushes away wedge return spring, 23-the drive system using step, 24-power transmission spring, 25-power transmission pin, 26-jaw, 27-pine folder spring, 28-push pedal B, 29-push pedal A.
The specific embodiment
As shown in Fig. 1 ~ 5, a kind of single driving clamps transposition mechanical arm, comprise base 1, on described base 1, be fixed with axle 20 and ejector pin seat 3, in described axle 20, be set with the rotary disk 5 being driven by the drive system using step 23, on described rotary disk 5, be fixed with installing plate 21, described installing plate is symmetrically arranged with Liang Fu gripper jaw mechanism on 21 two ends, between described gripper jaw mechanism rear portion and installing plate 21 middle parts, be provided with return spring 18, on described rotary disk 5, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole, be provided with for promote that respective clamp pawl mechanism advances and clamping work pieces push away wedge 6, described pushing away between wedge 6 lower ends and rotary disk 5 is provided with and pushes away wedge return spring 22, in described ejector pin seat 3, be provided with by ejector pin spring 2 and promote the ejector pin 4 rising, described ejector pin 4 enters in feed station pushing away in wedge installing hole of aiming at ejector pin seat 3 holes and rises to promote the corresponding wedge 6 that pushes away.
In the present embodiment, described gripper jaw mechanism comprises slide 8, three slide blocks, two push pedals and two jaws 26, described slide 8 is locked on installing plate 21, slide block A9, slide block B 10, slide block C11Yan gripper jaw mechanism direction of advance is successively set on slide 8, push pedal A29, push pedal B28 is separately fixed in slide block A9 and slide block B 10, between push pedal A29 and push pedal B28, be provided with power transmission spring 24 and pilot pin 16 thereof, on described slide block C11, be fixed with cross slide 13, on described cross slide 13, be symmetrically arranged with two transverse sliders 14 in left and right, the skewed slot S at two jaw 26 rear portions, left and right is articulated with on push pedal B28 by two of left and right power transmission pin 25 respectively, described push pedal B28 by two of left and right power transmission pin 25 respectively to the left and right two clamp transferring power, two jaw 26 middle parts, left and right are locked in respectively on two transverse sliders 14, pine folder spring 27 is installed between two jaws 26 in left and right.
In the present embodiment, described gripper jaw mechanism rear portion is provided with and the roller 17 that pushes away wedge 6 tops and match, described in push away wedge 6 tops inclined-plane K by roller 17, promote gripper jaw mechanisms and move ahead; Specifically, described push pedal A29 rear portion is provided with and the roller 17 that pushes away wedge 6 tops and match, described in push away wedge 6 tops inclined-plane K by roller 17, promote slide block A9 and move ahead along slide 8.Described axle 20 tops are provided with at unloading station and force to push away the descending discharging block 19 of wedge 6; Specifically, when pushing away wedge 6 and rotate to unloading station with rotary disk 5, it is descending that the inclined-plane M of described discharging block 19 can force to push away wedge 6.The duty that described gripper jaw mechanism clamps in protracting or pine folder retreats, depend on that pushing away wedge 6 is risings or descending, and the rising that pushes away wedge 6 to be ejector pin seat 3 interior that ejector pin spring 2 promotes the result that ejector pins 4 rise, being fixed in inclined-plane M on the discharging block 19 at axle 20 tops, can to force to push away wedge 6 descending.
In the present embodiment, described return spring 18 is to be arranged between push pedal A29 rear portion and installing plate 21 middle parts.Described wedge 6 sidewalls that push away offer locating slot P, are symmetrically arranged with the alignment pin 7 matching with corresponding locating slot P on described rotary disk 5.Described installing plate 21 ends are provided with in order to determine the dead buting iron 12 of gripper jaw mechanism's forward stroke ultimate position; Specifically, described dead buting iron 12 is in order to determine the stroke ultimate position of slide block C11.Described push pedal A29 and slide block A9 can be made into one, and described push pedal B28 and slide block B 10 also can be made into one; Described cross slide 13 can be made into one with slide block C11, and two of left and right jaw 26 also can be made into one with corresponding transverse slider 14 respectively.
In the present embodiment, described the drive system using step 23 comprises stepper motor, driving gear and driven gear, described stepper motor also can be fixed on base 1, described driving gear is arranged on the output shaft of stepper motor, and described driven gear is fixed on finger plate bottom surface middle part empty set in axle 20.Described rotary disk 5 bottom surface symmetries offer two and are convenient to respectively depress ejector pin 4 to leave the corresponding locating slot L that pushes away wedge 6; Specifically, when workpiece need to be shifted to discharging station from feed station, described the drive system using step 23 drives rotary disk 5 to continue revolution clockwise, and the inclined-plane N of described locating slot L depresses ejector pin 4 to leave and pushes away wedge 6.
In the present embodiment, this single course of work of clamping transposition mechanical arm that drives is as follows:
When receiving the instruction bringing into operation, the drive system using step 23 drives rotary disk 5 to clockwise rotate, and the ejector pin 4 on ejector pin seat 3, under the effect of ejector pin spring 2, enters the moment of the locating slot L on rotary disk 5 bottom surfaces, and the drive system using step 23 makes rotary disk 5 stalls.Now ejector pin 4 heads on that to push away wedge 6 up, until alignment pin 7 stops while entering locating slot P, the inclined-plane K that pushes away wedge 6 tops promotes slide block A9 by roller 17 and moves ahead along slide 8, and move ahead through power transmission spring 24 promotion slide block B 10, be fixed on the power transmission pin 25 of the symmetrical distribution of slide block B 10 end face, drive the left and right jaw 26 being separately fixed on two transverse sliders 14 of left and right together to move ahead, and approach workpiece (feed station).Because the gathering sill of transverse slider 14 is sleeved on the cross slide 13 being fixedly connected with slide block C11, to jaw 26 also can be moved ahead by cross slide 13 band movable slider C11.After slide block C11 encounters dead buting iron 12 and halts, the power transmission pin 25 in slide block B 10 is pushing away still reach under wedge 6 inclined-plane, top K effects, and the skewed slot S keeping left on right jaw 26 makes the relative transverse shifting clamping work pieces of two jaws 26 compression pine folder springs 27.When roller 17 is when pushing away inclined-plane K on wedge 6 and forward straight flange to, clamp action and stop.By power transmission spring 24,26 pairs of workpiece of jaw can be realized floating clamping mechanism.
When workpiece need to be shifted to discharging station from feed station, the drive system using step 23 makes rotary disk 5 continue revolution clockwise, though ejector pin 4 is depressed to leave by the inclined-plane N of rotary disk 5 bottom surface locating slot L, push away wedge 6, because alignment pin 7 is still inserted in the locating slot P that pushes away wedge 6, workpiece still keeps clamped state.When workpiece moves on to discharging station, push away wedge 6 upper ends and encounter discharging buting iron, along its inclined-plane M, down promoted, force alignment pin 7 to exit locating slot, pushing away under 22 effects of wedge return spring, push away wedge 6 and continue to go downwards to original position.Meanwhile, return spring 18 drags slide block A9 and retreats, and the back-up ring 15 of power transmission spring guide pin 16 leading section nut lockings retreats through one section of idle stroke t post-tensioning movable slider B10.Because power transmission pin 25 makes the pressure that left and right jaw 26 clamps, disappear, under pine folder spring 27 promotes, workpiece is unclamped in the first counter motion of jaw 26, after with power transmission pin 25, return to original position.
Another locating slot L that differs 180 ° on rotary disk 5 bottom surfaces forwards the respective phase of feed station, the moment of being inserted by ejector pin 4 to, and another gripper jaw mechanism corresponding thereto repeats the aforementioned clamping process to workpiece.The phase decision that unloading station is installed by the relative rotary disk of discharging pan iron 5 middle parts.
The foregoing is only preferred embodiment of the present invention, all equalizations of doing according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (10)
1. single a driving clamps transposition mechanical arm, comprise base, it is characterized in that: on described base, be fixed with axle and ejector pin seat, in described axle, be set with the rotary disk being driven by the drive system using step, on described rotary disk, be fixed with installing plate, on described installing plate two ends, be symmetrically arranged with Liang Fu gripper jaw mechanism, between described gripper jaw mechanism rear portion and installing plate middle part, be provided with return spring, on described rotary disk, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole, be provided with for promote that respective clamp pawl mechanism advances and clamping work pieces push away wedge, described pushing away between wedge lower end and rotary disk is provided with and pushes away wedge return spring, in described ejector pin seat, be provided with by ejector pin spring and promote the ejector pin rising, described ejector pin enters in feed station pushing away in wedge installing hole of aiming at ejector pin seat hole and rises to promote the corresponding wedge that pushes away.
2. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described gripper jaw mechanism comprises slide, three slide blocks, two push pedals and two jaws, described slide is locked on installing plate, slide block A, slide block B, slide block C is successively set on slide along gripper jaw mechanism direction of advance, push pedal A, push pedal B is separately fixed in slide block A and slide block B, between push pedal A and push pedal B, be provided with power transmission spring and pilot pin thereof, on described slide block C, be fixed with cross slide, on described cross slide, be symmetrically arranged with two transverse sliders in left and right, two jaw rear portions, left and right are articulated with on push pedal B by two of left and right power transmission pin respectively, jaw middle part, two of left and right is locked in respectively on two transverse sliders, pine folder spring is installed between two jaws in left and right.
3. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described gripper jaw mechanism rear portion is provided with and the roller that pushes away wedge top and match, described in push away wedge top inclined-plane K by roller, promote gripper jaw mechanism and move ahead.
4. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described in push away on wedge and offer locating slot P, on described rotary disk, be symmetrically arranged with the alignment pin matching with corresponding locating slot P.
5. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described installing plate end is provided with in order to determine the dead buting iron of gripper jaw mechanism's forward stroke ultimate position.
6. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described axle top is provided with at unloading station and forces to push away the descending discharging block of wedge.
7. single driving according to claim 2 clamps transposition mechanical arm, it is characterized in that: described push pedal A and slide block A are made into one, and/or described push pedal B and slide block B is made into one.
8. single driving according to claim 2 clamps transposition mechanical arm, it is characterized in that: described cross slide and slide block C are made into one, and/or two of left and right jaw is made into one with corresponding transverse slider respectively.
9. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described the drive system using step comprises stepper motor, driving gear and driven gear, described stepper motor is fixed on base, described driving gear is arranged on the output shaft of stepper motor, and described driven gear is fixed on finger plate bottom surface middle part empty set in axle.
10. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described rotary disk bottom surface symmetry offers two and is convenient to respectively depress ejector pin to leave the corresponding locating slot L that pushes away wedge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560570.1A CN103586866B (en) | 2013-11-12 | 2013-11-12 | Single driving clamps transposition mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560570.1A CN103586866B (en) | 2013-11-12 | 2013-11-12 | Single driving clamps transposition mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103586866A true CN103586866A (en) | 2014-02-19 |
| CN103586866B CN103586866B (en) | 2015-09-09 |
Family
ID=50077291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310560570.1A Expired - Fee Related CN103586866B (en) | 2013-11-12 | 2013-11-12 | Single driving clamps transposition mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103586866B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105057425A (en) * | 2015-08-18 | 2015-11-18 | 宁波宝恒轴承配件制造有限公司 | High-precision stamping and feeding manipulator |
| CN109313992A (en) * | 2018-08-24 | 2019-02-05 | 深圳市诚捷智能装备股份有限公司 | Conveying device and capacitor group found machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87211345U (en) * | 1987-11-02 | 1988-08-24 | 上海市公用事业研究所 | Wedge gripping mechanism for manipulator |
| DE3704951A1 (en) * | 1987-02-17 | 1988-08-25 | Fraunhofer Ges Forschung | Drive module for working joints of industrial robots |
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| CN103029000A (en) * | 2011-10-08 | 2013-04-10 | 宜昌永鑫精工科技有限公司 | Automatic unloading device of grooving machine |
| CN203542609U (en) * | 2013-11-12 | 2014-04-16 | 福建农林大学 | Single-drive clamping position-changing mechanical arm |
-
2013
- 2013-11-12 CN CN201310560570.1A patent/CN103586866B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3704951A1 (en) * | 1987-02-17 | 1988-08-25 | Fraunhofer Ges Forschung | Drive module for working joints of industrial robots |
| CN87211345U (en) * | 1987-11-02 | 1988-08-24 | 上海市公用事业研究所 | Wedge gripping mechanism for manipulator |
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| CN103029000A (en) * | 2011-10-08 | 2013-04-10 | 宜昌永鑫精工科技有限公司 | Automatic unloading device of grooving machine |
| CN203542609U (en) * | 2013-11-12 | 2014-04-16 | 福建农林大学 | Single-drive clamping position-changing mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 常治斌: "一种新型机械手手部夹紧机构的设计及应用", 《机械传动》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105057425A (en) * | 2015-08-18 | 2015-11-18 | 宁波宝恒轴承配件制造有限公司 | High-precision stamping and feeding manipulator |
| CN105057425B (en) * | 2015-08-18 | 2017-06-30 | 宁波宝恒轴承配件制造有限公司 | A kind of high accuracy punching press feeding mechanical hand |
| CN109313992A (en) * | 2018-08-24 | 2019-02-05 | 深圳市诚捷智能装备股份有限公司 | Conveying device and capacitor group found machine |
| CN109313992B (en) * | 2018-08-24 | 2021-03-23 | 深圳市诚捷智能装备股份有限公司 | Conveying device and capacitor assembling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103586866B (en) | 2015-09-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201856203U (en) | Pneumatic clamping jaw device | |
| CN102069461B (en) | Pneumatic clamping-jaw device | |
| CN203141173U (en) | Claw clamp of automatic cutter changing manipulator | |
| CN203542609U (en) | Single-drive clamping position-changing mechanical arm | |
| CN102769359A (en) | Automatic assembling machine for electric brush of micro-motor end cover | |
| EP3176067A1 (en) | Overrunning transmission device convenient for switching | |
| CN203817695U (en) | Clamping mechanism for welding flange at end part of automobile exhaust pipe | |
| CN103586866A (en) | Single-drive clamping transposition mechanical arm | |
| CN201471307U (en) | Manual hydraulic jaw vice | |
| RU2017102688A (en) | I / O MECHANISM | |
| CN103286134A (en) | Core rod clamping mechanism of double-roller cold reducing mill | |
| CN110076819B (en) | Quadruple claw mechanism and electric clamping jaw | |
| CN203003524U (en) | Clamp for lathe of oil pump casing | |
| CN104190733A (en) | Automatic pull rod reducing clamp and rod shrinkage machine | |
| CN104440645A (en) | Clamp | |
| CN207983383U (en) | A kind of mechanical hand lift clamping jaw | |
| CN110449525A (en) | A kind of feeding mechanical hand of Quadratic Finite Element manipulator | |
| CN108145490A (en) | A kind of clamping workpiece structure | |
| CN202123262U (en) | Multi-section clamping-type lathe chuck | |
| CN108941868A (en) | A kind of resistance welding equipment based on theory of mechanics | |
| CN207982824U (en) | A kind of clamping workpiece structure | |
| CN202753038U (en) | Hand operated hydraulic vice | |
| CN106516569B (en) | The annular circular pipeline of intermittent driving | |
| CN201677261U (en) | Fixture with quickly replaceable clamp | |
| CN220374151U (en) | Cementing machine and inner page clamping mechanism thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150909 Termination date: 20181112 |