Gantry type hybrid parallel linkage five-axis machine tool

Description

BACKGROUND OF THE INVENTION

[0001] 1. Field of the Invention

[0002] The present invention relates to a gantry type hybrid parallel linkage 5-axis machine tool, in particular, to a high efficiency machine tool having at least five dimensional axes moving direction composed of a parallel spatial linkage mechanism and a gantry type framework.

[0003] 2. Description of the Prior Art

[0004] In bygone time, the conventional gantry type 5-axis machine tools are all in a form of serially linked feeding mechanism in which a linear feeding shaft and a rotating shaft are laid overlapping. Referring to FIGS. 1(A) and 1(B), wherein FIG. 1(A) is a gantry type 5-axis machine tool presently in mass production by PARPAS Co., and FIG. 1(B) shows its main shaft head in possession of two independently rotatable directions(A/C axes rotational direction). This type of machine tool is the most commonly adopted gantry type 5-axis machine tool. In this machine tool, the X aix feeding control is carried out by movement of a main shaft head base along a transverse beam; the Y axis feeding control is carried out by movement of the transverse beam along a U shaped structure; While the Z axis feeding control is carried out by movement of the head base. As for the directional adjustment of the A/C axis is controlled by the rotatable main shaft head shown in FIG. 1(B). Hence, the scheme of the gantry type 5-axis machine tool shown in FIG. 1(A) is basically a serially banked mechanism with rigidity like a serially jointed spring. In case there is a component in short of rigidity, the rigidity of the whole serial system will be degraded.

[0005] Fatal shortcomings of such a serial mechanism exist in its excessive cantilever length that brings about too long loading path, less rigidity, susceptible to yielding to bending moment, and the theremally non-symmetric structure which often cause restriction to system dynamic frequency range disadvantageous to high speed operation. Putting the structure in a rough finish condition is an usual remedy of solving the problem. However, the machine constructed as such requires greater driving force to activate the feeding mechanism resulting in greater power consumption and increasing production cost. At present, notwithstanding the geometrical errors in machine dimension and the thermal deformation etc. can be compensated through computer numerical control (CNC) technology so as to upgrade the machine accuracy for a serially constructed machine tool with such a less costy computer software, it is a primary consideration that whether the machine is of sufficient repeatability, (ie having sufficient rigidity and resistive to low thermal deformation). It is regretful that the present serially constructed machine tools are far from these features.

[0006] Meanwhile, it is that one which having a main shaft head composed of two rotational axes has the lowest rigidity yet the highest production cost among the conventional gantry type 5-axis machine tools that causes the serial feeding machanism applied therefore to suffer from insufficient rigidity and difficulty in high speed operation. Moreover, users have to tclerate a high market price for this type of machine tools. It is therefore the utmost important matter to improve the rigidity of the main shaft head of the above described 5-axis machine tool and reduce its production cost so as to promote the domestic and even the international market growth for the gantry type 5-axis machine tool.

[0007] Aiming at the above depicted problems, the present invention is to propose an ingeniously developed construction for a gantry type hybrid parallel linkage five-axis machine tool capable of operating with a satisfactory rigidity, high speed, and less thermal deformation.

SUMMARY OF THE INVENTION

[0008] Therefore, it is an object of the present invention to provide a gantry type hybrid parallel linkage 5-axis machine tool wherein by combining the parallel spatial linkage with all types of gantry machine tool so as to palliate the aforesaid defects of the conventional gantry type multi-axis serial machine tools such as long loading path caused by a too long cantilever arm, insufficient rigidity, susceptible to deformation by bending moment, and thermally non-symmetric structure.

[0009] It is another object of the present invention to provide a gantry type hybrid parallel linkage 5-axis machine tool with a simple structure easy for assembling yet having a high rigidity and a low inertia suitable for high speed feeding operation thereby upgrading the machine accuracy and widening the system dynamic frequency region.

[0010] For achieving aforesaid objects, the gist of the present invention is to apply my “Hybrid structural Multi-Axis machine Tool” disclose in Patent Gazette No.363480 Taiwan ROC, and “Composite Mechanism Multi-Axis Machine Tool” disclosed in U.S. Pat. No. 6,048,143, for all types of gantry structural machine tool so as to improve the operation speed of the feeding mechanism of the gantry type machine tool well utilizing the high rigidity and the low inertia features of a parallel spatial linkage mechanism.

[0011] The present invention essentially comprises: A pedestal with at least two parallel linear guide ways provided at its one surface thereof; and a working platform with two sliding slots provide at its surface facing to the pedestal such that the working platform may move straightly with respect to the pedestal by coupling the two sliding slots with the two linear guide ways. A machine framework is at least composed of a planar roof and two supporting columns, the end portions of the columns are parallelly fixed to both sides of the pedestal, and the surfaces of the other two end portions are each provided with a linear guide way. Besides, a sliding slot is formed at each side of the planar roof such that the planar roof is able to make straight linear motion with respect to the columns by coupling the two sliding slots with the two linear guide ways on the end portion s of the columns. A hollow guide hood is secured its one end to one side of the planar roof, and the other end extending towards the pedestal. A parallel spatial linkage mechanism formed of a plurality of straight feeding molding dies are parallelly in connection with a base in the way that the individual molding die is able to swivel freely, and that each molding die is connected with the base in an indivisual position. By so the base is able to make at least two dimensional swiveling driven by those straight feeding molding dies. Each straight feeding molding die includes a linear guide way, a sliding base, and a connecting rod, the sliding base can move linearly along the linear guide way, the connecting rod can at least make an uni-dimensional swiveling with its one end hinged to the sliding base in the version that forming a hinge pin at the rod side while forming a corresponding bearing on the sliding base side such that the other end of the connecting rod is able to make uni-dimensional swiveling with respect to the joint on the sliding base as a fulcrum. Besides, the opposite end of the connecting rod may be rotatably hinged to the sliding base with a universal shaft coupling or a ball joint. With this structure the sliding base is able to make at least uni-dimensional displacement and two dimensional swiveling thus altogether three dimensional movement is possible. A refining molding unit is installed on a side surface of the Pedestal facing to the working platform. The refining molding unit is a cutting equipment having cutting tools Provided at its one end thereof capable of cutting and refining a work piece gripped on the working platform. Besides, this refining molding unit may also be a welding or supersonic bonding equipment. A feeding shaft mechanism is for driving above mentioned planar roof to make uni-dimensional movement along the linear guide ways. A controller is for controlling and coordinating the operation of parallel spatial linkage mechanism with the feeding shaft mechanism, and adjusting the relative position between the refining molding unit and the working platform.

[0012] Meanwhile, in the present invention, the aspect of assembling the pedestal, the working platform, the machine framework and the guide hood can be varied in many respect for matching with the parallel spatial linkage so as to serve effectively as a parallel spatial linkage mechanism. If the working platform is secured to one surface of the pedestal, and one end portion of each column is parallelly fixed to each side of the pedestal respectively, whereas the other end portion of each column is provided with a linear guide way which is able to match its own corresponding linear guide way so as to enable the planar roof to make uni-dimensional movement (Y axis direction). And, other two linear guide ways are formed on the other end surfaces of both columns. The former two linear guide ways and the latter two linear guide ways respectively make their projections on X ais and Y axis planes perpendicular to each other thereby guiding hood is able to make uni-dimensional movement (X axis direction) by the two sliding slots formed on it to slide on the two linear guide ways provided on the planar roof. And, further modification is possible with the structure that the two linear guide ways formed on the pedestal facing to ∩ shaped machine framework and the two linear guide ways formed on the planar roof make projection on the XY axis planes perpendicular to each other such that the working platform is able to make uni-dimensional movement in X axis direction by coupling the two sliding slots formed on the bottom of the working platform with the two linear guide ways formed on the pedestal.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] To enable a further understanding of the innovative and technological content of the invention herein, refer to the detailed description of the invention and the accompanying brief description of the drawings.

[0014]
FIG. 1(A) is a three dimensional view of a conventional gantry type five-axis machine tool;

[0015]
FIG. 1(B) is an illustrative view of a main shaft head of a conventional gantry type five-axis machine tool;

[0016]
FIG. 2 is a three dimensional view of the present invention;

[0017]
FIG. 3 is a three dimensional exploded view of the present invention for illustration;

[0018]
FIG. 4 is a three dimensional view of the parallel spatial linkage mechanism used in the present invention;

[0019]
FIGS. 4A and 4B are illustrative views showing the transferring way of the feeding shaft mechanism in an embodiment of the present invention;

[0020]
FIGS. 4C and 4D are illustrative views showing the transferring way of the straight feeding molding unit in an embodiment of the present invention;

[0021]
FIG. 5 is an illustrative view in a second embodiment of the present invention;

[0022]
FIG. 6 is an illustrative view in a third embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0023] Referring to FIG. 2 through FIG. 4, wherein FIG. 2 is a three dimensional view of the present invention, and also is a drawing of an embodiment of the present invention. FIG. 3 is a three dimensional exploded view of the present invention for illustration purpose, and FIG. 4 shows a three dimensional view of the parallel spatial linkage machenism used in the present invention. In the present invention, a pedestal 1 used for entraining all component parts of the present invention on the ground is provided, the other components are a working platform 2, a machine framework 3, a guide hood 4, a parallel spatial linkage mechanism 5, a refining molding unit 6, a feeding shaft machanism 7, and a controller 8. There are at least two parallel linear guide ways 11 provided at one surface of the pedestal 1, and two sliding slots 21 are provided at one surface of the working platform 2 facing to the pedestal 1 such that the working platform 2 may move straightly with respect to the pedestal 1 by coupling the two sliding slots 21 with the two linear guide ways 11. The machine framework 3 is composed of a planar roof 31 and two supporting columns 32, 33. The end portions 321,331 of the columns 32,33 are parallelly fixed to both sides of the pedestal 1, and the surfaces 323,333 of the other two end portions 322,332 are provided with linear guide ways 324,334 respectively. Besides, sliding slots 311, 312 are formed at both sides of the planar roof 31 respectly such that the planar roof 31 is able to make straight linear motion (Y axis direction) with respect to the columns 32,33 by coupling the two sliding slots 311,312 with the two linear guide ways 324,334 on the end portions 322,332 when the planar roof 31 is driven by the feeding shaft mechanism 7. The guide hood 4 is made hollow with its one end secured to one side of the planar roof 31 facing to the pedestal 1, and the other end is extending towarsrds the pedestal 1. The parallel spatial linkage mechanism 5 formed of three straight feeding molding dies 51 parallelly in connection with a base 54 is installed in the guide hood 4. All of these straight feeding molding dies 51 are rotatably hinged to the base 54 at mutually different positions thereof. By these three straight feeding molding dies 51 in connection with the base 54 respectively at different positions, the base 54 can make linear motion along Z axis direction, and also make at least two dimensional swiveling around A and C axes shown in FIG. 4. The refining molding unit 6 is installed on a side surface of the pedestal 1 facing to a side surface of the working platform 2. The feeding shaft mechanism 7 is for driving aforesaid sliding slots 21,311 and 312 on the planar roof 31 and working platform 2 so as to couple them with the linear guide ways 11, 324 and 334 thereby making uni-dimensional (X axis or Y axis) linear motion. As for driving means for planar roof 31 or the working platform 2 with the feeding shaft mechanism 7, a ball screw driving mechanism 71 employing a screw bolt 712 and its driving servo motor 711, or an oil pressure driving mechanism 72 for controlling an oil pressure circuit 721 to drive a transmission rod 723 with an oil pressure cylinder 722, is applicable to move the planar roof 31 or the working platform 2. Referring to FIGS. 4(A) and 4(B), the controller 8 is for controlling and coordinating the operation of the straight feeding molding dies 51 of the parallel spatial linkage mechanism 5 and the feeding shaft mechanism 7 so as to change the spatial azimuth of the base 54 thereby adjusting the relative position between the refining molding unit 6 and the working platform 2.

[0024] Referring again to FIG. 4, each straight feeding molding die 51 in the parallel spatial linkage mechanism 5 (herein referring to a single molding die 51, should there be a plurality of straight feeding molding dies, they are similarly constructed) includes a linear guide way 511, a sliding base 512, and a connecting rod 513. The linear guide ways 511 are parallelly disposed with a relevant separation along the inner surface of guide hood 4. the connecting rods 513 are conjoined to the circumference of the base 54 at different positions equally separated. The sliding bases 512 can move linearly along the linear guide ways 511 in the directions Z1 axis, Z2 axis, and Z3 axis shown in FIG. 4. Each connecting rod 513 is hinged to the sliding base 512 with its one end so as to be able to make at least uni-dimensional swiveling, while its other end thereof also can be rotatably hinged to the base 54. By connecting the connecting rods 513 of three straight feeding molding dies 51 to the base 54 at different positions, and coupling respective sliding bases 512 with their corresponding linear guide ways 511 for performing linear motion, the base 54 is able to carry out uni-dimensional linear motion (Z axis direction), and two-dimensional (A/C axes) swiveling, three-dimensional motion altogether. As for the way the straight feeding molding die 51 driving the sliding base 512 to move linearly along the linear guide way 511 for driving the planar roof 31 or the working platform 2, a ball screw mechanism 52 (ie a servo motor 521 for driving a screw bolt 522), or an oil pressure driving mechanism 53(ie. An oil pressure circuit 531 to drive a transmission rod 533 with an oil pressure cylinder 532) is applicable as shown in FIGS. 4(C) and 4(D).

[0025] How to make a hinged joint between the connecting rod 513 and the sliding base 512 will be illustrated as follows. A hinge pin 514 is formed at one end of the rod 513, while a corresponding bearing 515 is formed on the sliding base 512 such that the other end of the connecting rod 513 is able to make uni-dimensional revolution with respect to the joint made on the sliding base 512 as a fulcrum. Meanwhile the joint of the connecting rod 513 to the base 54 can be carried out with a universal shaft coupling 516. The universal shaft coupling 516 is composed of two units of shaft and bearing with an intersected center of axes. With this structure, the base 54 is able to make at least two-dimensional swiveling motion with respect to the jointed point of the rod 513 with the base 54 as a fulcrum. Alternatively, a ball joint may be employed which may serve equivalently as the above mentioned universal shaft coupling 516.

[0026] Referring back to FIG. 2 and FIG. 4, the parallel spatial linkage mechanism 5 is composed of three sliding bases 512 capable of straightly moving up and down, the connecting rods 513 hinged to each base 512, the refining molding unit 6 and three universal shafts joint 516 interposed between the refining molding unit 6 and the connecting rods 513. When three sliding bases 512 removes with different speeds or in different directions (Z1,Z2, and Z3), the refining molding unit 6 makes a spatially biased revolution due to swiveling of the universal shaft joint 516 in A/C axes. The controller 8 controls the working information (such as a working position and suppling cutter tools etc.) to be transmitted to the planar roof 31 and the working platform 2 through the feeding shaft mechanism 7 such that the refining molding unit 6 makes two dimensional spatial directional change on X and Y planes with respect to the working piece 9. In case the controller 8 further controls the parallel spatial linkage mechanism 5 to carry out control in Z axis (the same amount of displacement or speed of the sliding base 512 at Z1,Z2 and Z3 axes directions) and in A/C axes (the different amount of displacement or speed), the refining molding unit 6 will make a biased revolving motion in vertical (Z axis) and A/C axes direction with respect to the working piece 9. In this version, the gantry type hybrid parallel linkage five-axis machine tool of the present invention is able to perform refining the working piece 9 at least from five spatial directions.

[0027] Referring to FIGS. 5 and FIG. 6, an illustrative view in an second embodiment, and an illustrative view in an third embodiment of the present invention respectively. In these two embodiments, the aspect of the pedestal 1, working platform 2, the machine framework 3 and the guide hood 4 are modified so as to improve the effectiveness of the parallel spatial linkage mechanism 5 when it is combined with the above mentioned component. As shown in FIG. 5, a working platform 2a on a machine framework 3a is secured to one furface of a pedestal 1a. Each of the end portions 321a and 331a of two supporting columns 32a and 33a is parallelly fixed to two sides of the pedestal 1a respectively, while each of the end surface 323a or 333a of the other end portions 322a and 332a of the two supporting columns 32a and 33a is respectively provided with a linear guide way 324a or 334a to be coupled with sliding slots 311a or 312a formed on a planar roof 31a so that the planar roof 31a can make uni-dimensional linear motion in Y axis direction. And, on the other surface of the planar roof 31a where the sliding slots 311a and 312a being formed, there are provided with two linear guide ways 34 and 35. These two linear guide ways 34 and 35 and the other tow linear guide ways 324a and 334a on the supporting columns 31a form projection on the X and Y axes planes perpendicular to each other. At the time the guide hood 4a is separated from the planar roof 31a, the two sliding slots 34a and 35a which being formed on one side of the originally stationary planar roof 31a may couple with the two linear guide ways 34 and 35 on the planar roof 31a. With this structure the guide hood 4a is allowed to make uni-dimensional motion in X axis direction. The above mentioned combination may further modified in an third embodiment as shown in FIG. 6. Here, the planar roof 31a and two columns 32a and 33a of the machine framework 3a are integrally made into one piece to form a ∩ shoped machine framework 3b, while other two linear guide ways 11b are formed on one surface of a pedestal 1b facing to ∩ shaped machine framework 3b. The two linear guide ways 11b and the two linear guide ways 34 and 35 originally formed on the planar roof 31a make projections on X and Y axes planes perpendicular to each other. Therefore, by coupling additional two sliding slots 21b formed at the bottom of the working platform 2b with the two linear guide ways 11b formed on the pedestal 1b, the working platform 2b is able to make uni-dimensional linear motion in X axis direction.

[0028] It emerges from the description of the above embodiments that the invention has several noteworthy advantages, in particular:

[0029] (1)Replacing the shaft head of a gantry type five-axis machine tool with a parallel spatial linkage mechanism does not accumulate errors of all driving shafts as that is experiences in the conventional machine tools, on the contrary, it has the effect of balancing the geometrical errors so as to easily achieve high precision effect and bring up the performability for refining complicated curved surface.

[0030] (2)The longitudinal stress is mostly alleviated by the driving shaft so that the rigidity of the machine is intensified.

[0031] (3)Well designed thermal symmetric structure contributes to minimizing thermal deformation.

[0032] (4)By reason that the parallel mechanism structure is essentially for withstanding most of the longitudinal stress, its loading capability is stronger than a serially constructed machanism with superior rigidity and less errors.

[0033] (5)The production cost of the present invention is less expensive than that of a conventional five-axis machine tool so that the machine tool of the present invention will command a superior competitiveness in the future market.

[0034] It is therefore to be understood that the above and other modifications and changes may be readily made in the construction and arrangement of elements comprising the preferred and modified forms of invention without departing form the spirit and scope of the invention as defined by the appended claims and reasonable equivalents thereof.

Claims

1. A gantry type hybrid parallel linkage five-axis machine tool comprising: a pedestal having at least two parallel linear guide way provided at one surface thereof; a working platform having at least two sliding slots provided at one surface thereof facing to said pedestal such that said working platform being able to make a straight linear motion with respect to said pedestal; a machine framework at least composed of a planar roof and two supporting columns, the end portions of said supporting columns being parallelly fixed to both sides of said pedestal, and the surfaces of the other two end portions each being provided with a linear guide way respectively, besides, a sliding slot is formed at each side of said planar roof such that said planar roof is able to make straight linear motion with respect to said two columns by coupling said two sliding slots with said two linear guide ways on the other two end portions; a parallel spatial linkage mechanism formed of a plurality of straight feeding molding dies parallelly in connection with a base, all of these straight feeding molding dies are rotatable hinged to said base at mutually different positions thereof, by these straight feeding molding dies, said base can be driven to make at least two-dimensional swiveling; a refining molding unit installed on a side surface of said pedestal facing to a side surface of said working platform; a feeding shaft mechanism for driving aforesaid sliding slots so as to couple them with said corresponding linear guide ways thereby making uni-dimensional linear motion; and a controller for controlling and coordinating the operation of said straight feeding molding dies of the parallel spatial linkage mechanism and said feeding shaft mechanism so as to change the spatial azimuth of said base thereby adjusting the relative position between said refining molding unit and said working platform.
2. The machine tool of claim 1, wherein each straight feeding molding die further including a linear guide way, a sliding base, and a connecting rod, said sliding base is able to make a linear motion along said liner guide way, and one end of said connecting rod is hinged to said sliding base, and can perform at least uni-directional swiveling, while the other end of said connecting rod is also rotatably hinged to said base, by connecting each said connecting rod of the plurality of straight feeding molding dies to said base at respectively different position and coupling each said sliding base with its corresponding linear guide way for performing linear motions, said base is able to carry out uni-dimensional linear motion (Z axis direction), and two-dimensional (A and C axes) swiveling, ie. Three-dimensional motion altogether.
3. The machine tool of claim 1, wherein said linear guide ways of the plurality of straight feeding molding dies in said parallel spatial linkage mechanism are fixedly formed in the housing of a guide hood whose one end is secured to one side of said planar roof facing to said pedestal, and the other end is extending towards said pedestal.
4. The machine tool of claim 2, wherein said linear guide ways of the plurality of straight feeding molding dies in said parallel spatial linkage mechanism are fixedly formed in the housing of a guide hood whose one end is secured to one side of said planar roof facing to said pedestal, and the other end is extending towards said pedestal.
5. The machine tool of claim 2, wherein a hinged joint between said connecting rod and said sliding base is made of a hinged pin formed at one end of said rod while a corresponding bearing is formed on said sliding base such that the other end of said connecting rod is able to make at least uni-dimensional revolution about said joint made on said sliding base as a fulcrum.
6. The machine tool of claim 2, wherein a hinged joint between said connecting rod and said sliding base is made of a universal shaft coupling composed of two units of shaft and bearing unit with an intersected center of axes, with this structure, said base is able to make at least two-dimensional swiveling motion with respect to the jointed point of said rod with said base as a fulcrum.
7. The machine tool of claim 2, wherein a hinged joint between said connecting rod and said sliding base is made of a ball joint such that said base is able to make at least two-dimensional swiveling motion with respect to the jointed point of said rod with said base as a fulcrum.
8. The machine tool of claim 1, wherein there are three straight feeding molding units in said parallel spatial linkage mechanism whose linear guide ways are disposed paralled and equally spaced with each other in the housing of said guide hood, and the three connecting rods of said parallel spatial linkage mechanism is fixed to the circumference of said base equally aparted at different positions.
9. The machine tool of claim 1, wherein said refining molding unit is a cutter shaft with cutter tools attached to its one end for cutting and refining a working piece gripped on said working platform.
10. The machine tool of claim 1, wherein said pedestal, said working platform, said machine framework, and said guide hood are assembled in another form when combining with said parallel spatial linkage machanism, ie. said working platform is secured to one surface of said pedestal, each of the end portions of said two supporting columns is parallelly fixed to two sides of said pedestal, while each of the end surfaces of the other two end portions of said two supporting columns is respectively provided with a linear guide way to be coupled with its corresponding sliding slot formed on said planar roof so that said planar roof can make uni-dimensional linear motion in Y axis direction, and on the other surface of said planar roof where said sliding slots being formed, there are provided with two linear guide ways, these two linear guide ways and the other two linear guide ways on said supporting columns form projections on the x and Y axes planes perpendicular to each other, at the time said guide hood 4a is separated from said planar roof, the two sliding slots which being formed on one side of the originally stationary planar roof may couple with said two linear guide ways on said planar roof so that said guide hood is allowed to wake uni-dimensional motion in X axis direction.
11. The machine tool of claim 10, wherein said planar roof and said two supporting columns of said machine framework are integrally made into one piece to form a ∩ shaped machine framework, while other two linear guide ways are formed on one surface of said pedestal facing to said ∩ shaped machine framework, the other two linear guide ways and the two linear guide ways originally formed on said planar roof make projections on X and Y axes planes perpendicular to each other so that by coupling additional two sliding slots formed at the bottom of said working platform with the two linear guide ways formed on said pedestal, said working platform is able to make uni-directional linear motion in X axis direction.
12. The machine tool of claim 1, wherein a ball screw mechanism is employed by said feeding mechanism to drive all said sliding slots to move along the corresponding linear guide ways.
13. The machine tool of claim 1, wherein an oil pressure mechanism is employed by said feeding mechanism to drive all said sliding slots to move along the corresponding linear guide ways.
14. The machine tool of claim 2, wherein a ball screw mechanism is employed by said straight feeding molding die to drive said sliding base to move along the corresponding linear guide way.
15. The machine tool of claim 2, wherein an oil pressure mechanism is employed by said straight feeding molding die to drive said sliding base to move along the corresponding linear guide way.

Priority Claims (1)

Number	Date	Country	Kind
090217777	Oct 2001	TW

Gantry type hybrid parallel linkage five-axis machine tool

Information

Publication Number

Date Filed

Date Published

Inventors

CPC

US Classifications

International Classifications

Abstract

Description

Claims

Priority Claims (1)