CN102706910B - Multi-dimensional adjustment platform - Google Patents
Multi-dimensional adjustment platform Download PDFInfo
- Publication number
- CN102706910B CN102706910B CN201210174581.1A CN201210174581A CN102706910B CN 102706910 B CN102706910 B CN 102706910B CN 201210174581 A CN201210174581 A CN 201210174581A CN 102706910 B CN102706910 B CN 102706910B
- Authority
- CN
- China
- Prior art keywords
- platform
- multidimensional
- table top
- fixedly connected
- adjusted
- 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.)
- Active
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The invention discloses a multi-dimensional adjustment platform. The multi-dimensional adjustment platform comprises a platform surface, three lifting and descending transmission devices, a supporting bottom plate and at least two horizontal movement devices, wherein the three lifting and descending transmission devices are angularly distributed below the platform surface and used for driving the platform surface to lift and descend; the supporting bottom plate is fixedly connected to a part below the three lifting and descending transmission devices; and at least two horizontal movement devices are connected to parts below the supporting bottom plate and used for driving the platform surface to horizontally move. The multi-dimensional adjustment platform provided by the invention has the advantages that adjustment of three degrees of freedom of vertical direction, horizontal direction and pitch angle can be realized, so the height and attitude of an experimental instrument on the platform can be adjusted, and experimental requirements are met.
Description
Technical field
The present invention relates to a kind of macrotype platform equipment of adjusting instrument position, relate in particular to a kind of multidimensional and adjust platform.
Background technology
X ray Absorption Fine Structure spectrum (XAFS) is the broad-spectrum experimental technique of growing up along with the development of Synchrotron Radiation, is one of very important method of the research structure of matter.The principal feature of this technology is under the multiple condition such as solid-state, liquid, to study Near-neighbor Structure and the electronic structure of atom (or ion), has the irreplaceable advantage of other X-ray analysis technology (as crystal diffraction and scattering technology).For example, with XAFS, study monocrystalline, can obtain with crystal diffraction method the not getable geometry and electronic structure information relevant with chemical bond, as oxidation state, spin state, covalent bond etc.Owing to having These characteristics, XAFS analytical technology is widely used in the numerous areas such as material science, biology, chemistry, environment and geology, and the various aspects such as contains from fundamental research to commercial Application.At present, in XAFS light beam line Zhan Shi world Synchrotron Radiation, relate to subject face the widest, the light beam line station that user is maximum.
Focused beam is the basic method of operation of light beam line, in to the test process of the different samples at XAFS light beam line station, because hot spot different between the energy range covering and that need exists difference in size, optical instrument need to switch between focusing and non-focusing pattern through being everlasting.As long as collimating mirror is shifted out to light path downwards, suitably regulate the height (about 17mm declines) of monochromator simultaneously, just can make light beam line run on non-focusing pattern.Switching for the ease of optical instrument between focusing and non-focusing pattern, the experimental apparatuss such as ionization chamber, lytle detector, solid probe are all placed on same experiment porch, by experiment porch adjustment being adjusted to height and the angle of pitch of the experimental apparatus on platform, to light path is collimated.Therefore, need to provide a kind of multidimensional to adjust platform and meet experiment demand, so that multidimensional adjustment is carried out in the locus of experimental apparatus on platform, this adjustment need to relate to lifting, translation and luffing angle conventionally.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of multidimensional and adjusts platform, and to realize the multidimensional adjustment to the experimental apparatus on platform, this adjustment relates to the adjustment of vertical direction, horizontal direction and 3 degree of freedom of luffing angle.
The present invention solves above-mentioned technical matters by the following technical programs:
Multidimensional is adjusted a platform, and wherein, described platform comprises:
Table top;
Below three described table tops that are triangularly arranged and are connected to, for driving the lifting actuator of described table top elevating movement;
Be fixedly connected on the support baseboard of described three lifting actuators below;
At least two are connected to described support baseboard below, the translating device for driving described table-surface level to move.
Aforementioned a kind of multidimensional is adjusted platform, described lifting actuator comprises motor, the worm screw being fixedly connected with the output shaft of described motor, worm gear with described worm mesh, the ball screw being fixedly connected with described worm gear, and being set in load-bearing nut on described ball screw and its threaded engagement, described load-bearing nut is fixedly connected with table top.
Further, described lifting actuator also comprises the control system being connected with described motor.
Further, described platform also comprises the protective cover for accommodating described lifting actuator.
Further, described platform also comprises and is arranged in described protective cover, for measuring the grating scale of the lifting displacement of described table top.
Further, on the outside surface of described protective cover, be provided with limit switch.
Aforementioned a kind of multidimensional is adjusted platform, and described translating device comprises supporting track, and the sliding seat being slidably matched with described supporting track, and described sliding seat is fixedly connected on described support baseboard below.
Further, described translating device also comprises the latch segment that is fixed on described supporting track two ends.
Aforementioned a kind of multidimensional is adjusted platform, and described platform also comprises the rack and rinion adjustment that is fixedly connected on described translating device below.
Further, described rack and rinion adjustment comprises the upper and lower two-layered steel plates being bolted.
Aforementioned a kind of multidimensional is adjusted platform, and described platform also comprises the hunting gear being connected between described table top and described support baseboard.
Further, described hunting gear comprises:
The ball being connected with described table top flange connects end;
Connect with described ball the guide rod of holding pivot joint;
Be sleeved on the guide pin bushing on described guide rod; And
With the cushion block that described guide pin bushing solid is connected, it is fixedly connected with described support baseboard.
Further, described guide pin bushing is copper base bearing.
Aforementioned a kind of multidimensional is adjusted platform, and described table top has the threaded hole that matrix is arranged.
In sum, multidimensional of the present invention is adjusted platform can realize the adjustment of vertical direction, horizontal direction and 3 degree of freedom of luffing angle by the lifting actuator of three rounded projections arranged, thereby the height of the experimental apparatus on adjustment platform and attitude, to meet the demand of different experiments, and this platform can also, by the control system Long-distance Control being connected with motor, make more convenient operation.Meanwhile, the protective cover that the present invention adopts and the design of limit switch can prevent from surprisingly tilting and slippage generation effectively, for the stability of platform provides favourable technical support, can guarantee the safety of the experimental apparatus on platform.In addition, it is wide that multidimensional of the present invention is adjusted platform usable range, can be widely used in height and the attitude adjustment of multiple optical experiment instrument, is applicable to very much large-scale instrument, is particularly useful for the light source large-scale instrument separated with detector system.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram that multidimensional of the present invention is adjusted platform;
Fig. 2 is the structural representation that multidimensional of the present invention is adjusted the table top of platform;
Fig. 3 is the structural representation that multidimensional of the present invention is adjusted the lifting actuator of platform;
Fig. 4 is the structural representation that multidimensional of the present invention is adjusted the hunting gear of platform;
Fig. 5 is the structural representation that multidimensional of the present invention is adjusted the support baseboard of platform;
Fig. 6 is that multidimensional of the present invention is adjusted the translating device of platform and the structural representation of rack and rinion adjustment.
Embodiment
Below with reference to the accompanying drawings, provide preferred embodiment of the present invention, and be described in detail, enable to understand better function of the present invention, feature.
As shown in Figure 1, the invention provides a kind of multidimensional and adjust platform, this platform comprises table top 1, three lifting actuators 2, support baseboard 3, two translating devices 4, two rack and rinion adjustments 5 and hunting gears 6.Wherein, three lifting actuators 2 are triangularly arranged and are vertically connected to the below of table top 1, for driving table top 1 to do elevating movement; Support baseboard 3 is fixedly connected on the below of three lifting actuators 2; Two translating devices 4 are connected to the below of support baseboard 3, for driving table top 1 to move horizontally; Two rack and rinion adjustments 5 are fixedly connected on respectively the below of two translating devices 4, for adjusting roughly the upper-lower position of table top 1; Hunting gear 6 is connected between table top 1 and support baseboard 3, and its upper end is connected by flange hole with table top 1, and lower end is fixedly mounted on support baseboard 3.
As shown in Figure 2, table top 1 has the M6 threaded hole 101 that matrix is arranged, so that the plugging into of different experiments instrument.Wherein, table top 1 is of a size of 1.2m * 2.4m * 0.25m, and pitch-row is 25mm, and the load-bearing of table top 1 is 450kg.
Fig. 3 shows the structure of lifting actuator 2, the worm screw 201 that each lifting actuator 2 includes motor (not shown), is fixedly connected with the output shaft of motor, the worm gear 202 being connected with a joggle with worm screw 201, the ball screw 203 being fixedly connected with worm gear 202, and load-bearing nut 204 sheathed and its threaded engagement on ball screw 203, load-bearing nut 204 is fixedly connected with table top 1.
In the course of the work, by motor, drive worm screw 201 to rotate, worm screw 201 drives worm gear 202 to rotate, worm gear 202 drives again ball screw 203 to rotate, the rotation of ball screw 203 can drive load-bearing nut 204 to do elevating movement along ball screw 203, because table top 1 is fixedly connected with load-bearing nut 204, so table top 1 can be done elevating movement along with load-bearing nut 204.Wherein, three motors can for example, be controlled by same control system (computing machine), can control three motors and move to drive table top 1 level promote or reduce simultaneously; And when table top 1 needs to tilt or needs correct tilt, can control again three motors and separately move to realize the elevating movement of single lifting actuator 2.
Because the transmission scheme of lifting actuator 2 has adopted Worm Wheel System, so it is with auto-lock function, and can realize larger ratio of gear, and carrying is large.Simultaneously, lifting actuator 2 adopted ball screw 203 as active body, load-bearing nut 204 as load-carrying members, load-bearing nut 204 is along with the rotational angle of ball screw 203 changes into rectilinear motion to realize the elevating movement along ball screw 203 according to the helical pitch of corresponding specification.Such structure has two advantages: (1) does not do elevating movement because 203 of elongated ball screws rotate, and it is moving to allow relatively short load-bearing nut 204 do lifting, thereby saved stroke space, can realize larger stroke with less space; (2) take load-bearing nut 204 as load-carrying members, be difficult for producing distortion, make lifting actuator 2 more safe and reliable.
Again consult accompanying drawing 1; lifting actuator 2 is contained in a protective cover 205; and on the outer wall of protective cover 205, be provided with limit switch 206; when table top 1 moves to upper limit or lower limit, limit switch 206 works, and makes motor out of service; thereby lifting actuator 2 is quit work; table top 1 is remained on to current location, spacing thereby the motion that effectively prevents table top 1 exceeds, the safety of protecting platform up hill and dale.
Further, grating scale (not shown) is installed in protective cover 205.Grating scale, also referred to as grating scale displacement transducer (or grating scale sensor), is the displacement measurement feedback assembly that utilizes the optical principle work of grating, is often applied in closed loop servo system.Grating scale is comprised of scale grating and grating reading head two parts.Scale grating is generally fixed on movable part, and what for example on protective cover 205 inwalls, arrange synchronizes the sliding sleeve (not shown) moving up and down with load-bearing nut 204; And grating reading head is arranged on fixed part, protective cover 205 inwalls for example, and obtain the positional information of movable part and send data to control system (not shown) by scale grating.
The grating scale that the present invention adopts is linear grating chi, for detection of the lifting position information with feedback lifting actuator 2, thereby realizes the closed-loop control to lifting actuator 2 motions.Closed-loop control need to have been fed back by the motion control and the measurement that repeatedly circulate, for motion command each time, first by control system, send target location order, motor drives the load-bearing nut 204 of lifting actuator 2 to do elevating movement after receiving order, optical grating ruler measurement goes out the position of load-bearing nut 204 actual motions arrival and this actual position information is fed back to control system, control system is sent motion command again according to the physical location receiving and the difference of target location, until this difference is less than a predefined permissible value, this command execution finishes.Thereby realized the accurate control to lifting actuator 2 motions, made it have the high precision of 10um.
Fig. 4 shows the structure of support baseboard 3, and its Main Function is the installation of easy of rise gearing 2.Its specification is 2000mm * 1200mm * 130mm, has adopted the square steel of 100mm * 100mm and the thick iron plate of 20mm to be welded, and its surface processes by mechanical grinding, has guaranteed good plane precision, can meet the installation requirement of lifting actuator 2.
Fig. 5 shows the structure of translating device 4 and rack and rinion adjustment 5, and wherein translating device 4 comprises supporting track 401, and two sliding seats 402 that are slidably matched with supporting track 401; Also comprise the latch segment 403 that is fixed on supporting track 401 two ends, in order to the motion of anti-skidding seat 402, exceed the scope of supporting track 401.Wherein sliding seat 402 is fixedly connected with support baseboard 3, to drive support baseboard 3 along supporting track 401 synchronous slides, thereby drives table top 1 to move horizontally along supporting track 401.Spacing between two sliding seats 402 is fixed, and the length of supporting track 401 is 1m.
Rack and rinion adjustment 5 is fixedly connected on the below of supporting track 401, and it comprises upper and lower two-layered steel plates 501, between two-layered steel plates 501, by outer six square bolts 502, is fixedly connected with.Steel plate 501 is through bakingout process, and its surface has larger hardness and good rigidity and intensity.On steel plate 501, have 10 screw (not shown), bolt 502 and screw threaded engagement, to connect upper and lower two-layered steel plates 501, can realize the rough adjustment to table top 1 by adjusting bolt 502, plays the effect of auxiliary positioning platform.
Fig. 6 shows the structure for the protection of the hunting gear 6 of lifting actuator 2, and it comprises that the ball being connected with table top 1 flange connects end 601; Connect with ball the guide rod 602 of holding 601 pivot joints; Be sleeved on the guide pin bushing 603 on guide rod 602; With the cushion block 604 that guide pin bushing 603 solids are connected, it is fixedly connected with support baseboard 3.Wherein to connect end 601 rotation sphere diameter be 130mm to ball; slewing area is ± 15 °; mean that ball connects end 601 slewing area and surpasses 15 while spending; ball connects the resistance approach infinity of the junction of end 601 and guide rod 602; become locking state; thereby cause lifting actuator 2 cannot do elevating movement, can play the effect of protection lifting actuator 2.Meanwhile, the guide rod 602 of the diameter 100mm that the present invention adopts, after bakingout process and surface treatment, has enough rigidity and intensity, when table top 1 tilts, can bear a part of pressure by guide rod 602, has played the effect of sharing shearing force.Because guide pin bushing 603 adopts copper base bearings, can self-lubricating, so can bear larger radial force.
Above-described, be only preferred embodiment of the present invention, not in order to limit scope of the present invention, the above embodiment of the present invention can also make a variety of changes, and for example motor drives and can change handwheel driving into.Be that simple, the equivalence that every claims according to the present patent application and description are done changes and modify, all fall into the claim protection domain of patent of the present invention.
Claims (12)
1. multidimensional is adjusted a platform, it is characterized in that, described platform comprises:
Table top;
Below three described table tops that are triangularly arranged and are connected to, for driving the lifting actuator of described table top elevating movement;
Be fixedly connected on the support baseboard of described three lifting actuators below;
At least two are connected to described support baseboard below, the translating device for driving described table-surface level to move; And
Be connected to the hunting gear between described table top and described support baseboard;
Wherein, described hunting gear comprises:
The ball being connected with described table top flange connects end;
Connect with described ball the guide rod of holding pivot joint;
Be sleeved on the guide pin bushing on described guide rod; And
With the cushion block that described guide pin bushing solid is connected, it is fixedly connected with described support baseboard.
2. multidimensional according to claim 1 is adjusted platform, it is characterized in that, described lifting actuator comprises motor, the worm screw being fixedly connected with the output shaft of described motor, worm gear with described worm mesh, the ball screw being fixedly connected with described worm gear, and being set in load-bearing nut on described ball screw and its threaded engagement, described load-bearing nut is fixedly connected with table top.
3. multidimensional according to claim 2 is adjusted platform, it is characterized in that, described lifting actuator also comprises the control system being connected with described motor.
4. according to the multidimensional described in claim 1,2 or 3, adjust platform, it is characterized in that, described platform also comprises the protective cover for accommodating described lifting actuator.
5. multidimensional according to claim 4 is adjusted platform, it is characterized in that, described platform also comprises and being arranged in described protective cover, for measuring the grating scale of the lifting displacement of described table top.
6. multidimensional according to claim 4 is adjusted platform, it is characterized in that, on the outside surface of described protective cover, is provided with limit switch.
7. according to multidimensional described in claim 1,2 or 3, adjust platform, it is characterized in that, described translating device comprises supporting track, and the sliding seat being slidably matched with described supporting track, and described sliding seat is fixedly connected on described support baseboard below.
8. multidimensional according to claim 7 is adjusted platform, it is characterized in that, described translating device also comprises the latch segment that is fixed on described supporting track two ends.
9. according to the multidimensional described in claim 1,2 or 3, adjust platform, it is characterized in that, described platform also comprises the rack and rinion adjustment that is fixedly connected on described translating device below.
10. multidimensional according to claim 9 is adjusted platform, it is characterized in that, described rack and rinion adjustment comprises the upper and lower two-layered steel plates being bolted.
11. multidimensional according to claim 1 are adjusted platform, it is characterized in that, described guide pin bushing is copper base bearing.
12. adjust platform according to the multidimensional described in claim 1,2 or 3, it is characterized in that, described table top has the threaded hole that matrix is arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210174581.1A CN102706910B (en) | 2012-05-30 | 2012-05-30 | Multi-dimensional adjustment platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210174581.1A CN102706910B (en) | 2012-05-30 | 2012-05-30 | Multi-dimensional adjustment platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102706910A CN102706910A (en) | 2012-10-03 |
| CN102706910B true CN102706910B (en) | 2014-07-16 |
Family
ID=46899850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210174581.1A Active CN102706910B (en) | 2012-05-30 | 2012-05-30 | Multi-dimensional adjustment platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102706910B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323178B (en) * | 2013-05-29 | 2015-07-08 | 哈尔滨工业大学 | Attitude motion simulation device with two degrees of freedom |
| CN103487227B (en) * | 2013-07-15 | 2016-05-18 | 中国商用飞机有限责任公司 | The carrying of sprayer unit and mobile device |
| CN104091748B (en) * | 2014-07-09 | 2016-08-17 | 中国计量科学研究院 | Ionization chamber adjusting means |
| CN104932538B (en) * | 2015-07-03 | 2018-02-23 | 中国计量科学研究院 | Ray machine rotating device |
| CN106548919B (en) * | 2016-10-28 | 2018-02-09 | 中国计量科学研究院 | Ionisation chamber detecting system |
| CN107976763B (en) * | 2017-12-28 | 2023-06-20 | 中国工程物理研究院激光聚变研究中心 | Five-dimensional grating adjusting frame |
| CN108534992B (en) * | 2018-03-15 | 2019-06-07 | 华中科技大学 | A kind of parallel light tube multi-dimensional regulation device and dress tune up adjusting method |
| CN111579566B (en) * | 2020-05-09 | 2023-01-24 | 中国建材检验认证集团安徽有限公司 | X-ray protective material attenuation performance detection device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2288434Y (en) * | 1997-07-08 | 1998-08-19 | 云南大学 | Rectangular coordinate type liquid sampling mechanism |
| US7138050B2 (en) * | 2003-05-29 | 2006-11-21 | Shimadzu Corporation | Fractionating/collecting device of liquid chromatograph |
| CN201096795Y (en) * | 2007-07-20 | 2008-08-06 | 广州华工百川科技股份有限公司 | A 3-D motion device for tyre no-damage detection |
| JP2009162671A (en) * | 2008-01-09 | 2009-07-23 | Hitachi Giken Co Ltd | Visual inspection support device for industrial products |
| CN101750417B (en) * | 2008-12-12 | 2012-03-14 | 鸿富锦精密工业（深圳）有限公司 | Detecting device |
| CN201438181U (en) * | 2009-08-03 | 2010-04-14 | 东莞市科隆威自动化设备有限公司 | Platform carrier for X-ray inspection machines |
| CN202126417U (en) * | 2011-06-17 | 2012-01-25 | 上海现代科技发展有限公司 | X-ray fluoroscopy imaging four-axis moving platform of measured object |
| CN202204724U (en) * | 2011-08-30 | 2012-04-25 | 昆山市创新科技检测仪器有限公司 | Reverse frame control device |
-
2012
- 2012-05-30 CN CN201210174581.1A patent/CN102706910B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN102706910A (en) | 2012-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102706910B (en) | Multi-dimensional adjustment platform | |
| Pirling et al. | SALSA—A new instrument for strain imaging in engineering materials and components | |
| AU2012266982B2 (en) | Operating table with multiple degrees of freedom | |
| CN104308767B (en) | The co-located device of large thin-wall Cylinder shape constructional element automatic butt assembling | |
| CN100448627C (en) | Six degree of freedom buttjunction platform | |
| CN110666752B (en) | Combined deflection turntable with multiple working postures and combined mode | |
| US6839970B2 (en) | Method and system for ultra-precision positioning | |
| CN103196629A (en) | Six-dimensional sensor calibration device | |
| CN102253405B (en) | Multi-axis neutron monochromator attitude adjusting device | |
| CN102841265B (en) | Three-dimensional high-precision fully-automatic ultra-high frequency band radar antenna near-field testing system | |
| CN204649645U (en) | Synchronous radiation microfocus sample parametric controller | |
| US20130112118A1 (en) | Six degrees of freedom optical table | |
| CN102756334A (en) | Cutting device | |
| CN101987413B (en) | Three-dimensional precision control supporting platform | |
| CN102519361B (en) | Special worktable for laser tracker and laser tracking measurement method | |
| CN111421497A (en) | Ultrahigh-precision five-dimensional movement adjusting device with high bearing capacity | |
| CN103149227B (en) | Precise main body movement device for high-resolution powder diffractometer | |
| CN110280789A (en) | Double swing head device and its control method with normal direction shifting axle | |
| CN202126503U (en) | Multi-axis neutron monochromator posture adjusting device | |
| CN210506458U (en) | Quenching equipment for slewing bearing raceway without soft belt | |
| CN102735698B (en) | Adjusting mechanism for neutron optical paths of neutron reflectometer-horizontal sample geometry | |
| CN104723214B (en) | Grinding wheel spindle assembly | |
| CN110450112B (en) | Five-freedom-degree mechanical micro-motion platform | |
| CN209623645U (en) | Optical centering device for the prepackage of civilian nuclear facilities | |
| JP2018122013A (en) | Treatment table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Jiang Zheng Inventor after: Wang Jianqiang Inventor after: Huang Yuying Inventor after: Li Lina Inventor after: Wei Xiangjun Inventor after: Zou Yang Inventor after: Gao Qian Inventor after: Gu Songqi Inventor after: Zhang Shuo Inventor after: Li Jiong Inventor before: Jiang Zheng Inventor before: Li Lina Inventor before: Huang Yuying Inventor before: Wei Xiangjun Inventor before: Zhang Shuo Inventor before: Gao Qian |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: JIANG ZHENG LI LINA HUANG YUYING WEI XIANGJUN ZHANG SHUO GAO QIAN TO: JIANG ZHENG HUANG YUYING LI LINA WEI XIANGJUN ZOU YANG GAO QIAN GU SONGQI ZHANG SHUO LI JIONG WANG JIANQIANG |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |