CN104022679A - Clamp type longitudinal-bending compound ultrasonic motor vibrator - Google Patents
Clamp type longitudinal-bending compound ultrasonic motor vibrator Download PDFInfo
- Publication number
- CN104022679A CN104022679A CN201410293184.5A CN201410293184A CN104022679A CN 104022679 A CN104022679 A CN 104022679A CN 201410293184 A CN201410293184 A CN 201410293184A CN 104022679 A CN104022679 A CN 104022679A
- Authority
- CN
- China
- Prior art keywords
- piezoelectric ceramic
- ceramic piece
- ultrasonic motor
- ceramic substrate
- hardboard
- 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
Abstract
The invention belongs to the technical field of piezoelectric ultrasonic motors, and particularly relates to a clamp type longitudinal-bending compound ultrasonic motor vibrator which solves problems that the strength and the fatigue life of a glue layer, and amplitude rise of the vibrator are limited in the existing paster type ultrasonic motor vibrator. Four piezoelectric substrates of the clamp type longitudinal-bending compound ultrasonic motor vibrator are in parallel arranged and clamped between two hard plates, wherein polarization direction of the first piezoelectric substrate is opposite to that of the second piezoelectric substrate; the polarization direction of the third piezoelectric substrate is opposite to that of the fourth piezoelectric substrate; five electrode sheets are respectively clamped between the first hard plate and the adjacent piezoelectric substrate, and between the adjacent two piezoelectric substrates, and between the second hard plate and the adjacent piezoelectric substrate. The clamp type longitudinal-bending compound ultrasonic motor vibrator disclosed by the invention is applicable to the longitudinal-bending compound ultrasonic motor vibrator.
Description
Technical field
The invention belongs to piezoelectric ultrasonic motor technical field, be specifically related to a kind of clipping vertical curved composite ultrasonic motor oscillator.
Background technology
Piezoelectric ultrasonic motor is a kind of inverse piezoelectric effect of utilizing piezoelectric ceramic, in elastomer, motivate the vibration in supersonic range, at surface of elastomer specified point or specific region, form the particle movement with particular track, and then the microscopic motion of particle is converted to the macroscopic motion of rotor by the friction coupling between stator, rotor, there is low speed high torque, without gear, without electromagnetic interference, fast response time and the advantage such as cut off self-lock, as a kind of piezoelectric actuator, have application very widely.
For the simplicity of exiting principle and the simplicity of theoretical analysis method, the mode that piezoelectric ultrasonic motor adopts metal elastic gonosome to paste piezoelectric ceramic thin sheet mostly at present encourages, owing to being subject to, the tensile strength of piezoceramic material is low, and the restriction of the intensity of glue-line and fatigue life etc., such energisation mode makes the mechanical fan-out capability of ultrasound electric machine be subject to serious restriction.
Summary of the invention
The present invention is that the ceramic material tensile strength existing in existing SMD ultrasonic motor oscillator is low in order to solve, the intensity of glue-line and fatigue life and oscillator amplitude improve limited problem, and a kind of clipping vertical curved composite ultrasonic motor oscillator is provided.
Clipping vertical curved composite ultrasonic motor oscillator of the present invention, it comprises four piezoelectric ceramic substrates, two hardboards and five plate electrode sheets;
Four piezoelectric ceramic substrate parallel arrange, and be all clipped in the middle of two hardboards, the polarised direction of first piezoelectric ceramic substrate and second piezoelectric ceramic substrate is contrary, the polarised direction of the 3rd piezoelectric ceramic substrate and the 4th piezoelectric ceramic substrate is contrary, between the piezoelectric ceramic substrate that five plate electrode sheets are clamped in respectively between the piezoelectric ceramic substrate that first hardboard be adjacent, between adjacent two piezoelectric ceramic substrates and second hardboard is adjacent.
When clipping vertical curved composite ultrasonic motor oscillator of the present invention adopts five electrode slices, between first piezoelectric ceramic piece and second piezoelectric ceramic piece, electrode slice and the 3rd piezoelectric ceramic piece are connected respectively two-phase alternating current pressure signal with the electrode slice between the 4th piezoelectric ceramic piece, electrode slice between second piezoelectric ceramic piece and the 3rd piezoelectric ceramic piece, first piezoelectric ceramic piece is all connected with excitation power supply common port with the electrode slice between hardboard with electrode slice and the 4th piezoelectric ceramic piece between hardboard, realize the complex incentive of the longitudinal vibration of oscillator odd-order and odd-order bending vibration modes.
When clipping vertical curved composite ultrasonic motor oscillator of the present invention adopts seven electrode slices, the two-phase alternating current that between electrode slice between first piezoelectric ceramic substrate and second piezoelectric ceramic substrate and the 3rd piezoelectric ceramic substrate and the 4th piezoelectric ceramic substrate, electrode slice is connected respectively driving power is pressed signal end, electrode slice between second piezoelectric ceramic piece and the 3rd piezoelectric ceramic piece, first piezoelectric ceramic piece is all connected with the common port of excitation power supply with the electrode slice between hardboard with electrode slice and the 4th piezoelectric ceramic piece between hardboard, realized the excitation of the mode of oscillation longitudinal vibration of oscillator even-order or bending vibration.Further, if when the polarised direction of second piezoelectric ceramic piece and the 3rd piezoelectric ceramic piece is identical in described oscillator, can realize the complex incentive of the longitudinal vibration of oscillator even-order and odd-order bending vibration modes.Now, the D31 operation mode of applying piezoelectric ceramic motivates corresponding vertical curved complex vibration in oscillator, and then drive sufficient region to generate elliptical orbit vibration at hardboard end, by adopting suitable vertical curved nominal modes combination can realize straight line or rotary-actuated output.When if two-phase alternating current presses signal phase difference to be+90 °, oscillator forward drive,, when the phase difference of adjustment two-phase pumping signal is-90 °, can realize reverse drive.
That clipping vertical curved composite ultrasonic motor oscillator of the present invention has advantages of is simple in structure, flexible design, can realize high voltage excitation, stable performance, be easy to control, can producing in serial form.In the middle of being clamped in two hardboards, solved the low problem of ceramic material tensile strength intensity low, glue-line simultaneously, increased the fatigue life of clipping vertical curved composite ultrasonic motor oscillator and improved oscillator amplitude.
Accompanying drawing explanation
Structural representation when Fig. 1 clipping vertical curved composite ultrasonic motor oscillator of the present invention adopts five plate electrode sheets;
Structural representation when Fig. 2 adopts seven plate electrode sheets for the described clipping vertical curved composite ultrasonic motor oscillator of invention;
Fig. 3 is clipping vertical curved composite ultrasonic motor oscillator single order longitudinal vibration Mode Shape schematic diagram of the present invention;
Fig. 4 is clipping vertical curved composite ultrasonic motor oscillator second order longitudinal vibration Mode Shape schematic diagram of the present invention;
Fig. 5 is clipping vertical curved composite ultrasonic motor oscillator single order bending vibration modes vibration shape schematic diagram of the present invention;
Fig. 6 is clipping vertical curved composite ultrasonic motor oscillator second order bending vibration modes vibration shape schematic diagram of the present invention.
Embodiment
Embodiment one, in conjunction with Fig. 1, present embodiment is described, clipping vertical curved composite ultrasonic motor oscillator described in present embodiment, it comprises four piezoelectric ceramic substrates 1, two hardboards 2 and five plate electrode sheets 3;
Four piezoelectric ceramic substrates 1 be arranged in parallel, and be all clipped in the middle of two hardboards 2, the polarised direction of first piezoelectric ceramic substrate 1 and second piezoelectric ceramic substrate 1 is contrary, the polarised direction of the 3rd piezoelectric ceramic substrate 1 and the 4th piezoelectric ceramic substrate 1 is contrary, between the piezoelectric ceramic substrate 1 that five plate electrode sheets 3 are clamped in respectively between the piezoelectric ceramic substrate 1 that first hardboard 2 be adjacent, between adjacent two piezoelectric ceramic substrates 1 and second hardboard 2 is adjacent.
Embodiment two, present embodiment are further illustrating the clipping vertical curved composite ultrasonic motor oscillator described in embodiment one, by order from left to right, the phase difference that electrode slice 3 between first piezoelectric ceramic substrate 1 and second piezoelectric ceramic substrate 1 and the 3rd piezoelectric ceramic substrate 1 and electrode slice 3 between the 4th piezoelectric ceramic substrate 1 are connected respectively excitation power supply is that the two-phase alternating current of 90 degree is pressed signal
Second piezoelectric ceramic piece 1 is all connected with excitation power supply common port with the electrode slice 3 between second hardboard 2 with electrode slice 3 and the 4th piezoelectric ceramic piece 1 between first hardboard 2 with electrode slice 3, first piezoelectric ceramic piece 1 between the 3rd piezoelectric ceramic piece 1.
Embodiment three, in conjunction with Fig. 2, the clipping vertical curved composite ultrasonic motor oscillator described in present embodiment is described, it comprises four piezoelectric ceramic substrates 1, two hardboards 2 and seven plate electrode sheets 3;
Four piezoelectric ceramic substrates 1 be arranged in parallel, and are all clipped in the middle of two hardboards 2, and the polarised direction of first piezoelectric ceramic substrate 1 and second piezoelectric ceramic substrate 1 is contrary, and the polarised direction of the 3rd piezoelectric ceramic substrate 1 and the 4th piezoelectric ceramic substrate 1 is contrary,
Between first piezoelectric ceramic piece 1 and second piezoelectric ceramic piece 1, be provided with two plate electrode sheets 3, and this two plate electrodes sheet 3 be arranged in parallel and is positioned at same plane, between described two plate electrode sheets 3, leave gap, between the 3rd piezoelectric ceramic piece 1 and the 4th piezoelectric ceramic piece 1, be also provided with two plate electrode sheets 3, and this two plate electrodes sheet 3 be arranged in parallel and is positioned at same plane, between described two plate electrode sheets 3, leave gap; Its excess-three plate electrode sheet 3 is clipped in respectively between hardboard first piezoelectric ceramic piece 1 and first hardboard 2, between second piezoelectric ceramic piece 1 and the 3rd piezoelectric ceramic piece 1 and between the 4th piezoelectric ceramic piece 1 and second hardboard 2.
When the polarised direction of second piezoelectric ceramic piece and the 3rd piezoelectric ceramic piece is contrary in clipping vertical curved composite ultrasonic motor oscillator of the present invention, realize the complex incentive of the longitudinal vibration of oscillator odd-order and even-order bending vibration modes.When the polarised direction of the second piezoelectric ceramic piece and the 3rd piezoelectric ceramic piece is identical in the vertical curved composite ultrasonic motor oscillator of the formula of holding, realize the complex incentive of the longitudinal vibration of oscillator even-order and odd-order bending vibration modes.
Embodiment four, present embodiment is further illustrating the clipping vertical curved composite ultrasonic motor oscillator described in embodiment three, by order from left to right, two plate electrode sheet 3 interconnections between two plate electrode sheets 3 between first piezoelectric ceramic piece 1 and second piezoelectric ceramic piece 1 and the 3rd piezoelectric ceramic piece 1 and the 4th piezoelectric ceramic piece 1 are combined as two arrays of electrodes, the phase difference that this two arrays of electrodes connects respectively excitation power supply is the two-phase alternating current pressure signal of 90 degree, electrode slice 3 between second piezoelectric ceramic piece 1 and the 3rd piezoelectric ceramic piece, first piezoelectric ceramic piece 1 is all connected with excitation power supply common port with the electrode slice 3 between hardboard with electrode slice 3 and the 4th piezoelectric ceramic piece 1 between hardboard.
Embodiment five, present embodiment are that two hardboards 2 are bolted or are fixed by clamping device to the further illustrating of the clipping vertical curved composite ultrasonic motor oscillator described in embodiment one or three.
The length of hardboard is greater than the length of piezoelectric ceramic substrate, and four ends of two hardboards are as driving foot to use.
Embodiment six, present embodiment are that the length of hardboard 2 is greater than the length of piezoelectric ceramic substrate 1 to the further illustrating of the clipping vertical curved composite ultrasonic motor oscillator described in embodiment one or three.
Embodiment seven, present embodiment are that four equal through-thickness of piezoelectric ceramic substrate 1 polarize to the further illustrating of the clipping vertical curved composite ultrasonic motor oscillator described in embodiment one or three.
Claims (7)
1. clipping vertical curved composite ultrasonic motor oscillator, is characterized in that, it comprises four piezoelectric ceramic substrates (1), two hardboards (2) and five plate electrode sheets (3);
Four piezoelectric ceramic substrates (1) be arranged in parallel, and be all clipped in the middle of two hardboards (2), the polarised direction of first piezoelectric ceramic substrate (1) and second piezoelectric ceramic substrate (1) is contrary, the polarised direction of the 3rd piezoelectric ceramic substrate (1) and the 4th piezoelectric ceramic substrate (1) is contrary, between the piezoelectric ceramic substrate (1) that five plate electrode sheets (3) are clamped in respectively between the piezoelectric ceramic substrate (1) that first hardboard (2) be adjacent, between adjacent two piezoelectric ceramic substrates (1) and second hardboard (2) is adjacent.
2. clipping vertical curved composite ultrasonic motor oscillator according to claim 1, it is characterized in that, by order from left to right, the phase difference that electrode slice (3) between first piezoelectric ceramic substrate (1) and second piezoelectric ceramic substrate (1) and the 3rd piezoelectric ceramic substrate (1) and electrode slice (3) between the 4th piezoelectric ceramic substrate (1) are connected respectively excitation power supply is that the two-phase alternating current of 90 degree is pressed signal
Second piezoelectric ceramic piece (1) is all connected with excitation power supply common port with the electrode slice (3) between second hardboard (2) with electrode slice (3) and the 4th piezoelectric ceramic piece (1) between first hardboard (2) with electrode slice (3), first piezoelectric ceramic piece (1) between the 3rd piezoelectric ceramic piece (1).
3. clipping vertical curved composite ultrasonic motor oscillator, is characterized in that, it comprises four piezoelectric ceramic substrates (1), two hardboards (2) and seven plate electrode sheets (3);
Four piezoelectric ceramic substrates (1) be arranged in parallel, and be all clipped in the middle of two hardboards (2), the polarised direction of first piezoelectric ceramic substrate (1) and second piezoelectric ceramic substrate (1) is contrary, the polarised direction of the 3rd piezoelectric ceramic substrate (1) and the 4th piezoelectric ceramic substrate (1) is contrary
Between first piezoelectric ceramic piece (1) and second piezoelectric ceramic piece (1), be provided with two plate electrode sheets (3), and this two plate electrodes sheet (3) be arranged in parallel and is positioned at same plane, between described two plate electrode sheets (3), leave gap, between the 3rd piezoelectric ceramic piece (1) and the 4th piezoelectric ceramic piece (1), be also provided with two plate electrode sheets (3), and this two plate electrodes sheet (3) be arranged in parallel and is positioned at same plane, between described two plate electrode sheets (3), leave gap; Its excess-three plate electrode sheet (3) is clipped in respectively between hardboard first piezoelectric ceramic piece (1) and first hardboard (2), between second piezoelectric ceramic piece (1) and the 3rd piezoelectric ceramic piece (1) and between the 4th piezoelectric ceramic piece (1) and second hardboard (2).
4. clipping vertical curved composite ultrasonic motor oscillator according to claim 3, it is characterized in that, by order from left to right, two plate electrode sheet (3) interconnections between two plate electrode sheets (3) between first piezoelectric ceramic piece (1) and second piezoelectric ceramic piece (1) and the 3rd piezoelectric ceramic piece (1) and the 4th piezoelectric ceramic piece (1) are combined as two arrays of electrodes, the phase difference that this two arrays of electrodes connects respectively excitation power supply is the two-phase alternating current pressure signal of 90 degree, electrode slice (3) between second piezoelectric ceramic piece (1) and the 3rd piezoelectric ceramic piece, first piezoelectric ceramic piece (1) is all connected with excitation power supply common port with the electrode slice (3) between hardboard with electrode slice (3) and the 4th piezoelectric ceramic piece (1) between hardboard.
5. according to the clipping vertical curved composite ultrasonic motor oscillator described in claim 1 or 3, it is characterized in that, two hardboards (2) are bolted or are fixed by clamping device.
6. according to the clipping vertical curved composite ultrasonic motor oscillator described in claim 1 or 3, it is characterized in that, the length of hardboard (2) is greater than the length of piezoelectric ceramic substrate (1).
7. according to the clipping vertical curved composite ultrasonic motor oscillator described in claim 1 or 3, it is characterized in that all through-thickness polarization of four piezoelectric ceramic substrates (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293184.5A CN104022679B (en) | 2014-06-25 | 2014-06-25 | Clipping vertical curved composite ultrasonic motor oscillator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293184.5A CN104022679B (en) | 2014-06-25 | 2014-06-25 | Clipping vertical curved composite ultrasonic motor oscillator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104022679A true CN104022679A (en) | 2014-09-03 |
| CN104022679B CN104022679B (en) | 2016-09-07 |
Family
ID=51439290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410293184.5A Active CN104022679B (en) | 2014-06-25 | 2014-06-25 | Clipping vertical curved composite ultrasonic motor oscillator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104022679B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104923469A (en) * | 2015-05-16 | 2015-09-23 | 哈尔滨工业大学 | Two-dimensional vibration device based on different placing directions of piezoelectric ceramic shorn pieces |
| CN106849741A (en) * | 2015-11-13 | 2017-06-13 | 精工爱普生株式会社 | Piezo-activator, laminated actuator, piezo-electric motor, robot and manipulator |
| CN107070297A (en) * | 2017-04-14 | 2017-08-18 | 哈尔滨工业大学 | Laminated type flexure type piezoelectric ceramic actuator |
| CN115561874A (en) * | 2018-08-13 | 2023-01-03 | 米尼斯怀斯股份公司 | Ultrasonic motor, lens driving device, camera module, and camera mounting device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070236106A1 (en) * | 2006-04-06 | 2007-10-11 | Samsung Electro-Mechanics Co., Ltd. | Piezoelectric vibrator |
| CN102185096A (en) * | 2011-04-02 | 2011-09-14 | 北京大学 | Piezoelectric actuator and linear piezoelectric motor |
| CN102882422A (en) * | 2012-10-19 | 2013-01-16 | 哈尔滨工业大学 | Sandwich type piezoelectric metal composite beam and method for driving longitudinal and torsional combined oscillation of sandwich type piezoelectric metal composite beam |
| CN202997967U (en) * | 2012-11-02 | 2013-06-12 | 南京航空航天大学 | Fan-shaped linear ultrasonic electromotor based on continuous amplitude-change pole principle |
| CN103354431A (en) * | 2013-06-28 | 2013-10-16 | 南京航空航天大学 | Longitudinal and bending composite mode sandwich-type ultrasonic motor oscillator |
-
2014
- 2014-06-25 CN CN201410293184.5A patent/CN104022679B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070236106A1 (en) * | 2006-04-06 | 2007-10-11 | Samsung Electro-Mechanics Co., Ltd. | Piezoelectric vibrator |
| CN102185096A (en) * | 2011-04-02 | 2011-09-14 | 北京大学 | Piezoelectric actuator and linear piezoelectric motor |
| CN102882422A (en) * | 2012-10-19 | 2013-01-16 | 哈尔滨工业大学 | Sandwich type piezoelectric metal composite beam and method for driving longitudinal and torsional combined oscillation of sandwich type piezoelectric metal composite beam |
| CN202997967U (en) * | 2012-11-02 | 2013-06-12 | 南京航空航天大学 | Fan-shaped linear ultrasonic electromotor based on continuous amplitude-change pole principle |
| CN103354431A (en) * | 2013-06-28 | 2013-10-16 | 南京航空航天大学 | Longitudinal and bending composite mode sandwich-type ultrasonic motor oscillator |
Non-Patent Citations (1)
| Title |
|---|
| 乔木 等: "纵弯模式驻波直线超声波电动机原理与设计", 《微特电机》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104923469A (en) * | 2015-05-16 | 2015-09-23 | 哈尔滨工业大学 | Two-dimensional vibration device based on different placing directions of piezoelectric ceramic shorn pieces |
| CN106849741A (en) * | 2015-11-13 | 2017-06-13 | 精工爱普生株式会社 | Piezo-activator, laminated actuator, piezo-electric motor, robot and manipulator |
| CN106849741B (en) * | 2015-11-13 | 2020-02-21 | 精工爱普生株式会社 | Piezoelectric actuator, laminated actuator, piezoelectric motor, robot, and robot hand |
| CN107070297A (en) * | 2017-04-14 | 2017-08-18 | 哈尔滨工业大学 | Laminated type flexure type piezoelectric ceramic actuator |
| CN107070297B (en) * | 2017-04-14 | 2019-03-29 | 哈尔滨工业大学 | Laminated type flexure type piezoelectric ceramic actuator |
| CN115561874A (en) * | 2018-08-13 | 2023-01-03 | 米尼斯怀斯股份公司 | Ultrasonic motor, lens driving device, camera module, and camera mounting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104022679B (en) | 2016-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101626203B (en) | Vibrator of beam type linear ultrasonic motor using bending vibration modes | |
| CN101630924B (en) | T-shaped linear ultrasonic motor oscillator | |
| CN104022679A (en) | Clamp type longitudinal-bending compound ultrasonic motor vibrator | |
| CN104967355A (en) | Bionic crawling multi-foot linear piezoelectric actuator | |
| CN1633022A (en) | Piezoelectric ceramic metal composite plate in-plane vibration linear ultrasound motor | |
| CN110677073B (en) | Patch type traveling wave type double-sided staggered tooth ultrasonic motor stator | |
| CN102882420A (en) | Surface-mounted piezoelectric ceramic and metal composite beam and method for exciting the composite beam to realize longitudinal and bending compounded vibration | |
| CN103036472B (en) | Screw-type linear ultrasonic motor | |
| CN102882422B (en) | Sandwich piezoelectric metal composite beam and drive this sandwich piezoelectric metal composite beam to indulge the method for curved complex vibration | |
| CN103762886B (en) | Sandwich type T type two-foot straight line piezoelectric ultrasonic motor oscillator | |
| CN104124891A (en) | Piezoelectric vibrator and precise displacement platform comprising same | |
| CN102868316A (en) | Paster-type dual-feet ultrasound motor oscillator | |
| JPS60200776A (en) | Driving device | |
| CN102751900B (en) | Two-freedom supersonic motor | |
| CN101626204A (en) | U-type double-pin linear ultrasonic motor vibrator | |
| CN103746600A (en) | Paster bent vibration composite piezoelectric supersonic motor vibrator | |
| CN103560694A (en) | Longitudinal-bending combined type ultrasonic motor | |
| CN102299663B (en) | Cylindrical traveling-wave ultrasonic motor vibrator pretightened by spring blocks | |
| CN110729919B (en) | Coaxial counter-rotating standing wave type double-sided staggered tooth ultrasonic motor stator | |
| CN102118118A (en) | Linear type ultrasonic micromotor | |
| CN102904480A (en) | Sandwich type square frame ultrasonic motor vibrator | |
| CN202513846U (en) | Thin-plate type rotatable ultrasonic motor | |
| CN102882423B (en) | Composite bending vibration biped rotary ultrasonic motor oscillator | |
| CN105429505A (en) | Buckling ceramic reset type ultrasonic motor oscillator | |
| CN104022681B (en) | Clipping four-footed indulges curved composite ultrasonic motor oscillator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |