CN109605362A - A kind of self-rotation mechanical arm mechanism for picking - Google Patents
A kind of self-rotation mechanical arm mechanism for picking Download PDFInfo
- Publication number
- CN109605362A CN109605362A CN201811652279.6A CN201811652279A CN109605362A CN 109605362 A CN109605362 A CN 109605362A CN 201811652279 A CN201811652279 A CN 201811652279A CN 109605362 A CN109605362 A CN 109605362A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- spinning
- picking
- pickup
- driving motor
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of self-rotation mechanical arm mechanism for picking, including picking up mechanical cantilever crane, carry hitch, telescopic mechanical arm frame, pick up driving motor, spinning driving motor, overturn connection seat, flexible air pump rod piece, described one end for picking up mechanical cantilever crane, one end of the telescopic mechanical arm frame matches connection with the telescopic mechanical arm frame respectively, the carrying hitch couples with overturning connection seat rotation, the output end for picking up driving motor couples with the mechanical cantilever crane cooperation of the pickup, the output end of the spinning driving motor couples with overturning connection seat cooperation, the both ends of the flexible air pump rod piece are respectively cooperating with the connection telescopic mechanical arm frame, the carrying hitch.The present invention solves existing robot grasping mechanism on the whole and is absorbed in direct crawl more, is easy to treat the technological deficiency that crawl object causes scratch, the telescopic locking for realizing spatial spin rotating function picks up purpose.
Description
Technical field
The present invention relates to a kind of self-rotation mechanical arm mechanism for picking, belong to robot hand design field.
Background technique
With the continuous development of robot application scale, existing robot grasping mechanism is absorbed in direct crawl more, suddenly
Depending on grasping mechanism and wait grab the flexible cooperation between object, cause existing robot grasping mechanism whole design more thick
Rough, intelligent pick-up operation is weaker, is easy to treat the technological deficiency that crawl object causes scratch.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of self-rotation mechanical arm is provided and is picked up
Take mechanism.
In order to solve the above technical problems, the present invention adopts the following technical scheme: a kind of self-rotation mechanical arm mechanism for picking,
It is characterised in that it includes picking up mechanical cantilever crane, carrying hitch, telescopic mechanical arm frame, picking up driving motor, spinning driving electricity
Machine, overturning connection seat, flexible air pump rod piece, one end of the mechanical cantilever crane of pickup, one end of the telescopic mechanical arm frame are distinguished
Connection is matched with the telescopic mechanical arm frame, the carrying hitch couples with overturning connection seat rotation, the pickup
The output end of driving motor couples with the mechanical cantilever crane cooperation of the pickup, and the output end of the spinning driving motor is turned over described
Turn connection seat cooperation connection, the both ends of the flexible air pump rod piece are respectively cooperating with the connection telescopic mechanical arm frame, the carrying
Hitch.
As a kind of preferred embodiment, picks up to be provided on mechanical cantilever crane and pick up driven sprocket, pick up chain, pick up actively
Sprocket wheel, the input terminal for picking up drive sprocket couple with the output end cooperation for picking up driving motor, pick up drive sprocket and pass through pickup
Chain couples with driven sprocket cooperation is picked up, and picks up drive sprocket and is articulated and connected by the first hinged nut with mechanical cantilever crane is picked up.
As a kind of preferred embodiment, the two sides for picking up driven sprocket are equipped with symmetrical coaxial pickup
Pulley, the center for picking up pulley are connect by hinged fastening cap with the center fastener for picking up pulley.
As a kind of preferred embodiment, picks up drive sprocket and pick up to be equipped with to pick up between driving motor and slow down
Device, the output end for picking up driving motor are coupled by picking up retarder with the input terminal cooperation for picking up drive sprocket.
As a kind of preferred embodiment, one end of one end, telescopic mechanical arm frame for picking up mechanical cantilever crane passes through the respectively
Two hinged nuts match hinge-coupled with telescopic mechanical arm frame.
As a kind of preferred embodiment, telescopic mechanical arm frame passes through one end of expansion articulated nut and flexible air pump rod piece
Articulated connection, carrying hitch are fastenedly connected by the other end of stretch fastening cap and flexible air pump rod piece.
As a kind of preferred embodiment, overturns and is provided with symmetrical rotary drive motor seat on the outside of connection seat,
Spinning driving motor is fixedly installed on rotary drive motor seat.
As a kind of preferred embodiment, rotary drive motor seat is connected and fixed bar and overturning connection seat fastening by several
Connection.
As a kind of preferred embodiment, be provided on rotary drive motor seat spinning driving wheel, spinning driven wheel,
Spin shaft, and spin shaft is fixedly connected with overturning connection seat, the output end cooperation connection spinning driving of spinning driving motor
The output end of the input terminal of wheel, spinning driving wheel couples with the cooperation of the input terminal of spinning driven wheel, spinning driven wheel
Output end couples with spin shaft cooperation.
As a kind of preferred embodiment, spinning is additionally provided between spinning driving motor and spinning driving wheel and is subtracted
The output end of fast device, spinning driving motor is coupled by spinning retarder with the cooperation of the input terminal of spinning driving wheel.
It is directly grabbed advantageous effects of the invention: the present invention is absorbed in more for existing robot grasping mechanism
Take, ignore grasping mechanism and wait grab between object it is flexible cooperate, cause existing robot grasping mechanism whole design compared with
To be coarse, intelligent pick-up operation is weaker, is easy to treat the technological deficiency that crawl object causes scratch, by carrying hitch
Mechanical cantilever crane, telescopic mechanical arm frame, overturning connection seat and rotary drive motor seat are picked up in configuration, pass through spinning driving motor
Successively drive spinning retarder, spinning driving wheel, spinning driven wheel and spin shaft drive overturning connection seat together with
The carrying hitch of one is rotated, and is successively driven pickup retarder by picking up driving motor, is picked up drive sprocket, pickup
Chain, pickup driven sprocket drive symmetrical pickup machinery cantilever crane around the second hinged cap rotation, sliding by smooth pickup
Wheel picks up object, and separately flexible air pump rod piece drives telescopic mechanical arm frame to pick up mechanical cantilever crane around the second hinged cap rotation cooperation
On the locking of pickup pulley pick up object, solve existing robot grasping mechanism on the whole and more be absorbed in and directly grab
Take, ignore grasping mechanism and wait grab between object it is flexible cooperate, cause existing robot grasping mechanism whole design compared with
To be coarse, intelligent pick-up operation is weaker, is easy to treat the technological deficiency that crawl object causes scratch, realizes spatial spin and turn function
The telescopic locking of energy picks up purpose.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the present invention.
Fig. 2 is the structural schematic diagram that the preferred embodiment of the present invention rotates by a certain angle.
Fig. 3 is the structural schematic diagram that the preferred embodiment of the present invention rotates another angle.
Fig. 4 is the schematic perspective view of the vertical view of the preferred embodiment of the present invention.
Fig. 5 is the schematic perspective view looked up of the preferred embodiment of the present invention.
Meaning marked in the figure: 101- picks up mechanical cantilever crane, and 102- carries hitch, 103- telescopic mechanical arm frame, 104-
Driving motor, 105- spinning driving motor are picked up, 106- overturns connection seat, and 107- stretch air pump rod piece, 108- pickup pulley,
The hinged fastening cap of 109-, 110- pickup driven sprocket, 111- pickup chain, 112- pickup drive sprocket, the hinged nut of 113- first,
The hinged nut of 114- second, 115- expansion articulated nut, 116- stretch fastening cap, 117- spinning driving wheel, 118- spinning
Driven wheel, 119- spin shaft, 120- rotary drive motor seat, 121- pick up retarder, 122- spinning retarder, and 123- connects
Connect fixed link.Meaning marked in the figure: 101- picks up mechanical cantilever crane, and 102- carries hitch, 103- telescopic mechanical arm frame, 104-
Driving motor, 105- spinning driving motor are picked up, 106- overturns connection seat, and 107- stretch air pump rod piece, 108- pickup pulley,
The hinged fastening cap of 109-, 110- pickup driven sprocket, 111- pickup chain, 112- pickup drive sprocket, the hinged nut of 113- first,
The hinged nut of 114- second, 115- expansion articulated nut, 116- stretch fastening cap, 117- spinning driving wheel, 118- spinning
Driven wheel, 119- spin shaft, 120- rotary drive motor seat, 121- pick up retarder, 122- spinning retarder, and 123- connects
Connect fixed link.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, the present invention proposes a kind of self-rotation mechanical arm mechanism for picking, including
It picks up mechanical cantilever crane 101, carrying hitch 102, telescopic mechanical arm frame 103, pick up driving motor 104, spinning driving motor
105, connection seat 106, flexible air pump rod piece 107 are overturn, one end of mechanical cantilever crane 101, one end of telescopic mechanical arm frame 103 are picked up
Connection is matched with telescopic mechanical arm frame 103 respectively, carrying hitch 102 couples with the overturning rotation of connection seat 106, picks up driving
The output end of motor 104 couples with the mechanical cooperation of cantilever crane 101 is picked up, and the output end of spinning driving motor 105 couples with overturning
106 cooperation connection of seat, the both ends of flexible air pump rod piece 107 are respectively cooperating with connection telescopic mechanical arm frame 103, carrying hitch 102.
As a kind of preferred embodiment, picks up to be provided on mechanical cantilever crane 101 and pick up driven sprocket 110, pick up chain
111, drive sprocket 112 is picked up, the input terminal for picking up drive sprocket 112 couples with the output end cooperation for picking up driving motor 104,
It picks up drive sprocket 112 to couple by picking up chain 111 with the cooperation of driven sprocket 110 is picked up, picks up drive sprocket 112 and pass through first
Hinged nut 113 is articulated and connected with mechanical cantilever crane 101 is picked up.
As a kind of preferred embodiment, pick up driven sprocket 110 two sides be equipped with it is symmetrical coaxial
Pulley 108 is picked up, the center for picking up pulley 108 is connect by hinged fastening cap 109 with the center fastener for picking up pulley 108.
As a kind of preferred embodiment, picks up drive sprocket 112 and pick up to be equipped between driving motor 104 and pick up
Retarder 121 is taken, picks up the output end of driving motor 104 by picking up retarder 121 and picking up the input terminal of drive sprocket 112
Cooperation connection.
As a kind of preferred embodiment, one end of mechanical cantilever crane 101, one end difference of telescopic mechanical arm frame 103 are picked up
Hinge-coupled is matched with telescopic mechanical arm frame 103 by the second hinged nut 114.
As a kind of preferred embodiment, telescopic mechanical arm frame 103 passes through expansion articulated nut 115 and flexible air pump rod piece
107 one end articulated connection, the other end fastening that carrying hitch 102 passes through stretch fastening cap 116 and flexible air pump rod piece 107
Connection.
As a kind of preferred embodiment, the outside for overturning connection seat 106 is provided with symmetrical rotary drive motor
Seat 120, spinning driving motor 105 is fixedly installed on rotary drive motor seat 120.
As a kind of preferred embodiment, rotary drive motor seat 120 passes through several bars 123 that are connected and fixed and couples with overturning
Seat 106 is fastenedly connected.
As a kind of preferred embodiment, spinning driving wheel 117, spinning are provided on rotary drive motor seat 120
Driven wheel 118, spin shaft 119, spin shaft 119 be fixedly connected overturning connection seat 106, spinning driving motor 105 it is defeated
The input terminal of outlet cooperation connection spinning driving wheel 117, the output end and spinning driven wheel 118 of spinning driving wheel 117
Input terminal cooperate connection, the output end of spinning driven wheel 118 cooperates with spin shaft 119 and couples.
As a kind of preferred embodiment, it is additionally provided between spinning driving motor 105 and spinning driving wheel 117 certainly
The output end of rotary decelerator 122, spinning driving motor 105 passes through spinning retarder 122 and spinning driving wheel 117
Input terminal cooperation connection.
Specific work process of the invention is as follows: the present invention is absorbed in more for existing robot grasping mechanism directly to be grabbed
Take, ignore grasping mechanism and wait grab between object it is flexible cooperate, cause existing robot grasping mechanism whole design compared with
To be coarse, intelligent pick-up operation is weaker, is easy to treat the technological deficiency that crawl object causes scratch, by carrying hitch
Mechanical cantilever crane 101, telescopic mechanical arm frame 103, overturning connection seat 106 and rotary drive motor seat 120 are picked up in configuration on 102,
Spinning retarder 122, spinning driving wheel 117, spinning driven wheel 118 are successively driven by spinning driving motor 105
And spin shaft 119 drives overturning connection seat 106 to be rotated together with the carrying hitch 102 of one, is driven by picking up
Motor 104, which successively drives, to be picked up retarder 121, picks up drive sprocket 112, pick up chain 111, pick up the drive pair of driven sprocket 110
Claim the pickup machinery cantilever crane 101 of distribution to rotate around the second hinged nut 114, object picked up by smooth pickup pulley 108,
Separately flexible air pump rod piece 107 drives telescopic mechanical arm frame 103 to be rotatably assorted around the second hinged nut 114 and picks up mechanical cantilever crane 101
On pickup pulley 108 locking pick up object, solve on the whole existing robot grasping mechanism more be absorbed in directly
Crawl ignores grasping mechanism and wait grab the flexible cooperation between object, leads to existing robot grasping mechanism whole design
More coarse, intelligent pick-up operation is weaker, is easy to treat the technological deficiency that crawl object causes scratch.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of self-rotation mechanical arm mechanism for picking, which is characterized in that including picking up mechanical cantilever crane (101), carrying hitch
(102), telescopic mechanical arm frame (103), pickup driving motor (104), spinning driving motor (105), overturning connection seat
(106), stretch air pump rod piece (107), described one end for picking up mechanical cantilever crane (101), the telescopic mechanical arm frame (103) one
End matches connection, the carrying hitch (102) and the overturning connection seat with the telescopic mechanical arm frame (103) respectively
(106) rotation connection, the output end for picking up driving motor (104) cooperate with the mechanical cantilever crane (101) of the pickup and couple, institute
The output end for stating spinning driving motor (105) couples with the overturning connection seat (106) cooperation, the flexible air pump rod piece
(107) both ends are respectively cooperating with the connection telescopic mechanical arm frame (103), the carrying hitch (102).
2. a kind of self-rotation mechanical arm mechanism for picking according to claim 1, which is characterized in that the pickup mechanical arm
It is provided on frame (101) and picks up driven sprocket (110), pick up chain (111), pick up drive sprocket (112), the pickup drive chain
The input terminal for taking turns (112) couples with the output end cooperation for picking up driving motor (104), the pickup drive sprocket (112)
Coupled by the pickup chain (111) with the pickup driven sprocket (110) cooperation, the pickup drive sprocket (112) passes through
First hinged nut (113) and the mechanical cantilever crane (101) of the pickup are articulated and connected.
3. a kind of self-rotation mechanical arm mechanism for picking according to claim 2, which is characterized in that the pickup driven chain
The two sides of wheel (110) are equipped with symmetrical coaxial pickup pulley (108), the center for picking up pulley (108)
It is connect by hinged fastening cap (109) with the center fastener for picking up pulley (108).
4. a kind of self-rotation mechanical arm mechanism for picking according to claim 2, which is characterized in that the pickup drive chain
It is equipped between wheel (112) and the pickup driving motor (104) and picks up retarder (121), the pickup driving motor
(104) output end is coupled by pickup retarder (121) with the input terminal cooperation for picking up drive sprocket (112).
5. a kind of self-rotation mechanical arm mechanism for picking according to claim 1, which is characterized in that the pickup mechanical arm
One end of frame (101), the telescopic mechanical arm frame (103) one end pass through the second hinged nut (114) and described flexible respectively
Mechanical cantilever crane (103) matches hinge-coupled.
6. a kind of self-rotation mechanical arm mechanism for picking according to claim 1, which is characterized in that the telescopic mechanical arm
Frame (103) is articulated and connected by expansion articulated nut (115) and one end of the flexible air pump rod piece (107), the carrying connection
Frame (102) is connect to be fastenedly connected by flexible fastening cap (116) and the other end of the flexible air pump rod piece (107).
7. a kind of self-rotation mechanical arm mechanism for picking according to claim 1, which is characterized in that the overturning connection seat
(106) symmetrical rotary drive motor seat (120) is provided on the outside of, spinning driving motor (105) fixation is set
It is placed on the rotary drive motor seat (120).
8. a kind of self-rotation mechanical arm mechanism for picking according to claim 7, which is characterized in that the rotation driving electricity
Base (120) is fastenedly connected by several bars (123) that are connected and fixed with the overturning connection seat (106).
9. a kind of self-rotation mechanical arm mechanism for picking according to claim 7, which is characterized in that the rotation driving electricity
Spinning driving wheel (117), spinning driven wheel (118), spin shaft (119), the spinning are provided on base (120)
Axis (119) is fixedly connected with the overturning connection seat (106), the output end cooperation connection institute of the spinning driving motor (105)
State the input terminal of spinning driving wheel (117), the output end and the spinning driven wheel of the spinning driving wheel (117)
(118) input terminal cooperates connection, and the output end of the spinning driven wheel (118) and the spin shaft (119) cooperation join
It connects.
10. a kind of self-rotation mechanical arm mechanism for picking according to claim 9, which is characterized in that the spinning is driven
It is additionally provided with spinning retarder (122) between dynamic motor (105) and the spinning driving wheel (117), the spinning is driven
The output end of dynamic motor (105) is matched by the input terminal of the spinning retarder (122) and the spinning driving wheel (117)
Close connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811652279.6A CN109605362B (en) | 2018-12-31 | 2018-12-31 | Self-rotating mechanical arm pickup mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811652279.6A CN109605362B (en) | 2018-12-31 | 2018-12-31 | Self-rotating mechanical arm pickup mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109605362A true CN109605362A (en) | 2019-04-12 |
| CN109605362B CN109605362B (en) | 2023-09-22 |
Family
ID=66016630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811652279.6A Active CN109605362B (en) | 2018-12-31 | 2018-12-31 | Self-rotating mechanical arm pickup mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605362B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4398863A (en) * | 1981-05-15 | 1983-08-16 | Westinghouse Electric Corp. | Pick and place robot |
| CN107892172A (en) * | 2017-12-15 | 2018-04-10 | 镇江高等职业技术学校 | A kind of pickup transfer robot for part handling |
| CN107901024A (en) * | 2017-10-19 | 2018-04-13 | 镇江镇宇金属制品有限公司 | A kind of various dimensions adjustable space clamping device |
| CN207415406U (en) * | 2017-11-08 | 2018-05-29 | 郑淑琴 | A kind of mechanical arm convenient for being captured on auto production line |
-
2018
- 2018-12-31 CN CN201811652279.6A patent/CN109605362B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4398863A (en) * | 1981-05-15 | 1983-08-16 | Westinghouse Electric Corp. | Pick and place robot |
| CN107901024A (en) * | 2017-10-19 | 2018-04-13 | 镇江镇宇金属制品有限公司 | A kind of various dimensions adjustable space clamping device |
| CN207415406U (en) * | 2017-11-08 | 2018-05-29 | 郑淑琴 | A kind of mechanical arm convenient for being captured on auto production line |
| CN107892172A (en) * | 2017-12-15 | 2018-04-10 | 镇江高等职业技术学校 | A kind of pickup transfer robot for part handling |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109605362B (en) | 2023-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201058767Y (en) | Metal drum extracting piling machine | |
| CN107750638B (en) | Semi-automatic three-jaw picking device | |
| CN110002221A (en) | Grasping mechanism applied to manipulator | |
| WO2022148012A1 (en) | Mechanical arm for gripping workpiece requiring reinforced grinding | |
| CN210525082U (en) | Single-arm autonomous mobile transfer robot | |
| CN109986527A (en) | A kind of self-travel type space pickup crawl robot | |
| CN106628902A (en) | Logistics delivery robot | |
| CN113460677A (en) | Six-elbow telescopic gripper mechanism for tire | |
| CN109605362A (en) | A kind of self-rotation mechanical arm mechanism for picking | |
| CN209615523U (en) | A kind of self-rotation mechanical arm mechanism for picking | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN114194767B (en) | Carton tilting mechanism | |
| CN113213051B (en) | Large-scale storage cabinet body with electronic mechanism that snatchs | |
| CN203332983U (en) | Novel ceramic tile overturning structure of tile picker | |
| CN209112992U (en) | Rotate the multi-faceted conveying mechanism of roller steel plate | |
| CN209615489U (en) | A kind of spinning pickup formula hoisting machine robot mechanism | |
| CN209185087U (en) | A fruit picking robot | |
| CN210132497U (en) | Self-walking space picking and grabbing robot | |
| CN213890022U (en) | Intelligent mechanical manufacturing gripping device | |
| CN213623073U (en) | Lifting operation device | |
| CN209957256U (en) | Crane for electromechanical installation | |
| CN213569220U (en) | Dust-free clean room crane | |
| CN221719743U (en) | Turnover reversing machine applied to transfer of bagged materials | |
| CN208675819U (en) | An all-round remote control apple picking machine | |
| CN209583097U (en) | A kind of live fish conveying device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |