CN104794767B - The intelligent express delivery mailbag processing terminal of adaptive stacking - Google Patents
The intelligent express delivery mailbag processing terminal of adaptive stacking Download PDFInfo
- Publication number
- CN104794767B CN104794767B CN201510151960.2A CN201510151960A CN104794767B CN 104794767 B CN104794767 B CN 104794767B CN 201510151960 A CN201510151960 A CN 201510151960A CN 104794767 B CN104794767 B CN 104794767B
- Authority
- CN
- China
- Prior art keywords
- express delivery
- ball screw
- guide rail
- manipulator
- screw guide
- 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
- 238000012545 processing Methods 0.000 title claims abstract description 17
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 12
- 230000002452 interceptive effect Effects 0.000 claims abstract description 12
- 230000003993 interaction Effects 0.000 claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000004080 punching Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 238000013473 artificial intelligence Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Sorting Of Articles (AREA)
Abstract
A kind of intelligent express delivery mailbag processing terminal of adaptive stacking, including shell, chamber resettling is provided with shell, intelligent express delivery mailbag processing terminal also includes control system, control system includes machine control modules and human-computer interaction module, machine control modules include Mechanical course main control chip, power conversion unit, for realizing the manipulator control unit of manipulator crawl express delivery control, for being arrived to user's transmission information reminding express delivery and receiving the information transmit-receive unit of the identifying code of user's reply, for realizing identification for keeper and user card punching and scanning the module of swiping the card of the electronic tag of courier packages；Human-computer interaction module includes human-computer interactive control chip, display screen, function selection key and intelligence sensor, and control chip is connected with display screen, function selection key and intelligence sensor, and Mechanical course main control chip is connected with human-computer interactive control chip.Cost of labor of the present invention is relatively low, labor intensity is smaller, access goods is convenient.
Description
Technical field
The present invention relates to logistics field of express delivery, especially a kind of mailbag processing equipment of express delivery terminal.
Background technology
Express Logistics industry while competition, is also deposited as the rising industry in the rapid growth of China's economy
In the industry development problem that can not avoid.The logistic industry of China is labour intensive profession, and the professional quality of attendant is owed
Lack；And e-commerce venture often focuses on big city, and increasing order come from it is small in Midwest or three or four lines
City, also express delivery industry is caused to face more complicated situation.So really the problem of, is to connect the two of logistics company and user
End, the development quagmires of Express Logistics solve send the sending on part of part and last 100 meters in one kilometer of beginning.As commodity pass through
Helping, growing, industry competition day is fiercer, circulation flattening is increasingly apparent.Receive and dispatching link is as logistics supply
The whole story end of chain, the features such as service area is scattered, demand is random, Incremental Value is small is showed, this can be successfully solved and ask
Topic turns into the key factor for influenceing express delivery development.
Existing the defects of sending part generally use courier manually to send part mode, exist is：Cost of labor is higher, work is strong
Spend larger, access goods inconvenience.
The content of the invention
In order to overcome existing express delivery terminal to send, the cost of labor of part mode is higher, labor intensity is larger, access goods is not square
Just deficiency, the present invention provide that a kind of cost of labor is relatively low, labor intensity is smaller, the intelligence of access goods easily adaptive stacking
Express delivery mailbag processing terminal can be changed.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of intelligent express delivery mailbag processing terminal of adaptive stacking, including shell, it is provided with the shell accommodating
Chamber, it is provided with to place the shelf of courier packages and to capture the manipulator of courier packages, institute in the chamber resettling
State housing exterior to be provided with to access the access port of courier packages, the access port connects with the chamber resettling；
The intelligent express delivery mailbag processing terminal also includes control system, and the control system includes machine control modules
And human-computer interaction module, the machine control modules include Mechanical course main control chip, power conversion unit, for realizing machinery
Hand captures the manipulator control unit of express delivery control, for being arrived to user's transmission information reminding express delivery and receiving user
The information transmit-receive unit of the identifying code of reply, realize identification for confession keeper and user card punching and scan courier packages'
The module of swiping the card of electronic tag；
The human-computer interaction module includes human-computer interactive control chip, display device, function selection key and intelligent sensing
Device, the control chip are connected with display device, function selection key and intelligence sensor, and the intelligence sensor includes using
To detect the external form detection sensor of courier packages' external form, detecting the height sensor of courier packages' height and to weigh
The weighing sensor of courier packages' weight, the Mechanical course main control chip are connected with the human-computer interactive control chip.
Further, the manipulator is four-degree-of-freedom manipulator, and the four-degree-of-freedom manipulator is included to pick-and-place express delivery
The gripper of part, gripper controlled motor, X are to stepper motor, X to ball screw guide rail, Y-direction stepping motor, Y-direction ball screw
Guide rail, Z-direction stepping motor, Z-direction ball screw guide rail, electric rotating machine and manipulator controller, the gripper controlled motor
Clutch end be connected with the gripper, the lower end of the Z-direction ball screw guide rail is led installed in the Y-direction ball screw
On rail and formed sliding pair, the Y-direction ball screw guide rail is arranged on the X on ball screw guide rail and formed
Sliding pair, the gripper is arranged on the Y-direction ball screw guide rail and formed sliding pair, the electric rotating machine installation
In the bottom of the lower end of the Z-direction ball screw guide rail；
The X walks to ball screw guide rail, the gripper controlled motor, X to stepper motor, Y-direction stepping motor, Z-direction
Stepper motor and electric rotating machine are connected with the manipulator control unit.
Further, the intelligence sensor is also included to detect the temperature sensor of environment temperature and to detect ring
The humidity sensor of border humidity.
The shell includes the exterior skin and upper cover plate of surrounding, and the upper cover plate is arranged on the top of the exterior skin, institute
State and the chamber resettling is formed between exterior skin and the upper cover plate and ground.
Beneficial effects of the present invention are mainly manifested in：Cost of labor is relatively low, labor intensity is smaller, access goods is convenient.
Brief description of the drawings
Fig. 1 is the structural representation of the intelligent express delivery mailbag processing terminal of adaptive stacking.
Fig. 2 is the theory diagram of the intelligent express delivery mailbag processing terminal of adaptive stacking.
Fig. 3 is Fig. 1 front view.
Fig. 4 is Fig. 1 internal structure schematic diagram.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
1~Fig. 4 of reference picture, a kind of intelligent express delivery mailbag processing terminal of adaptive stacking, including shell 1, it is described outer
Chamber resettling is provided with shell, is provided with to place the shelf 4 of courier packages and to capture express delivery in the chamber resettling
The manipulator 3 of parcel, the housing exterior are provided with to access the access port of courier packages, the access port and the accommodating cavity
Room connects；
The intelligent express delivery mailbag processing terminal also includes control system, and the control system includes machine control modules
And human-computer interaction module, the machine control modules include Mechanical course main control chip, power conversion unit, for realizing machinery
Hand captures the manipulator control unit of express delivery control, for being arrived to user's transmission information reminding express delivery and receiving user
The information transmit-receive unit of the identifying code of reply, realize identification for confession keeper and user card punching and scan courier packages'
The module of swiping the card of electronic tag；
The human-computer interaction module includes human-computer interactive control chip, display device, function selection key and intelligent sensing
Device, the control chip are connected with display device, function selection key and intelligence sensor, and the intelligence sensor includes using
To detect the external form detection sensor of courier packages' external form, detecting the height sensor of courier packages' height and to weigh
The weighing sensor of courier packages' weight, the Mechanical course main control chip are connected with the human-computer interactive control chip.
The manipulator 3 is four-degree-of-freedom manipulator, and the four-degree-of-freedom manipulator includes the machine to pick-and-place quick despatch
Machinery claw 308, gripper controlled motor 307, X are to stepper motor 304, X to ball screw guide rail 303, Y-direction stepping motor 301, Y
Filled to ball screw guide rail 302, Z-direction stepping motor 309, Z-direction ball screw guide rail 306, electric rotating machine 305 and manipulator control
Put, the clutch end of the gripper controlled motor is connected with the gripper, under the Z-direction ball screw guide rail 306
End is arranged on the Y-direction ball screw guide rail 302 and formed sliding pair, the Y-direction ball screw guide rail 302 are arranged on
The X is on ball screw guide rail 303 and formed sliding pair, the gripper 308 are led installed in the Y-direction ball screw
On rail 302 and formed sliding pair, the electric rotating machine 305 are arranged on the lower end of the Z-direction ball screw guide rail 306
Bottom；
The X is electric to ball screw guide rail 303, the gripper controlled motor 307, X to stepper motor 304, Y-direction stepping
Machine 301, Z-direction stepping motor 309 and electric rotating machine 305 are connected with manipulator control unit.
The shell 1 includes the exterior skin 102 and upper cover plate 103 of surrounding, and the upper cover plate 103 is arranged on the exterior skin
102 top, the chamber resettling is formed between the exterior skin 102 and the upper cover plate 103 and ground.
The intelligence sensor is also included to detect the temperature sensor of environment temperature and to detect ambient humidity
Humidity sensor.
It is provided with more than two to deposit the goods yard of courier packages on the shelf 4, the goods yard is included to put
Put the goods plate 401 of courier packages.
The control system of the present embodiment includes machine control modules and human-computer interaction module, this two parts be respectively with
MSP430 and STM32 single-chip microcomputers are the control system of core, and machine control modules are by Mechanical course main control chip MSP430, power supply
Converting unit, manipulator control unit, short message receiving-transmitting unit, module of swiping the card, loudspeaker and 12864 display screens composition；Man-machine interaction
Module is by human-computer interactive control chip STM32, chromatic liquid crystal screen, the function selection key of 8 keys and intelligence sensor group
Into.
The Mechanical course main control chip, for MSP430 single-chip microcomputers mainly using low-power consumption as characteristic, price is relatively cheap, and by
Enriched in inside sources, the present embodiment selection MSP430 is Mechanical course main control chip.
Power conversion unit：Due to there is the module such as single-chip microcomputer, motor driving to need to power in circuit, so we integrate respectively
The factor of aspect, 12V voltage is provided to us with Switching Power Supply, then supplied 12V voltage step-downs, steady volt with power transfer module
Give other modules.
Manipulator control unit：The mailbag of intelligent express delivery terminal is that the axles of Z tri- composition, is by electricity in the motion of three axles by X, Y
Machine control, use two 12V/3A DC MOTOR CONTROL X, Y-axis, with the step motor control Z axis of four phase eight beat, so
Employ two kinds of drive modules.
Information transmit-receive unit is used to send information to user, reminds user's express delivery to have arrived at destination, user receives short
Identifying code is replied after letter, this module can receive identifying code so as to take express mail to prepare for user, the module we used
The GTM900-B communication modules of Huawei Company's production.
Module of swiping the card has both of which, is administrator mode and user model, in the process keeper and user respectively
It is required for swiping the card, so module of swiping the card there are two effects.
Administrator mode, manage and use in general magnetic card, keeper is used for opening manipulator in system design, by express delivery thing
Part is put into fixed shelf or chest, is at the same time also required to swipe the card module to scan the electronic tag of express mail.
User model, after management mode exits user can brush subscriber card carry out taking express mail.
Loudspeaker are used for voice message, the running status of screen display machine control modules.
In the human-computer interaction module, because the part of man-machine interaction needs to use more sensor, it is contemplated that level
The problem of compatible, in addition, the power consumption of color screen, are larger, can not just embody its feature using MSP430 single-chip microcomputers, and STM32 is mono-
Piece machine can solve completely, and therefore, human-computer interactive control chip uses STM32 single-chip microcomputers.
Display device has used 320480 color screens, and visualization interface is designed on screen, facilitates user and keeper to operate.
The function selection key of 8 keys：The function selection key of 8 keys is installed beside 320480 color screens, selected with user
Pattern, operation etc..
Intelligence sensor：The intelligence of intelligent express delivery terminal needs sensor to realize, so we use within the system
More sensor, it is as follows in detail：1. the width of express mail is surveyed, highly using ultrasonic sensor.2. surveying the weight of express mail, use is thin
Membrane pressure sensor.3. the operating temperature of detecting system, temperature in use passes device.
In the present embodiment, the gripper 308 is used to courier packages taking access port 101 from shelf 4, will can also deposit
The courier packages at mouth 101 are taken to be put on shelf 4；The controlled motor of four frees degree, to realize accurate positioning and operation
Security, wireless senser is housed on gripper 308, come carry out the confirmation of motor running position and terminal device operation
Safety monitoring, the signal that wireless senser is perceived are passed to control system by digital I/O mouths, and motor operating is then logical
The signal for crossing control system reading is controlled；
The control button 201 is located at the lower section of the touch display screen 202, and the access port 101 is located at the control
The lower section of button 201, the control button 201 is used for express delivery odd numbers, operates the information input control systems such as intention, described to touch
Touching display screen 202 prompts user to deposit part and pickup, and the control button 201 includes numeric keypad, acknowledgement key, delete key, emptied
Key and some other services button, such as：Emergency call button, opinion button etc.；The touch display screen 202 is then using man-machine
The mode of input, can real-time display voluntarily occur in operator's operating process or artificial intelligence access machine in operation process it is some
Failure, so that staff is handled in time and the maintenance of terminal device, it can also show other information, such as room in real time certainly
The relevant information such as interior temperature, humidity and the volume of courier packages, weight, to guide operator correctly to be completed according to flow
Operation, at the same courier packages from access port enter terminal device when, control panel can to artificial intelligence access machine gather data
It is collected and shows, such as date, goods yard and other courier packages' relevant information；In addition, one of touch display screen is important
Function is to realize controlling alarm, to the progress such as sensor fault, robotic failure timely locating and displaying.
After courier packages are complete by brush card module barcode scanning, center service is passed through by the information transmit-receive unit of control system
The information sending module of device sends short message to user, to notify the information of user's express mail and identifying code etc.；After pickup is complete,
The information of courier packages will be uploaded to database.
The intelligent express delivery mailbag processing terminal of adaptive stacking is placed on to the place of user's concentration, such user just can root
Deposit courier packages according to the time of oneself or collect courier packages, and can guarantee that the security and integrality of courier packages.
User is according to the prompting of display screen, and correspondingly operational control button, control system receive the button operation letter of user
Number.And control system is provided such signal to, so as to which Driving Stepping Motor rotates, pass through the linkage of four stepper motors, control
Gripper 308 accurately moves in space, the accurate crawl and storage of object is realized, so that courier packages deposit in artificial intelligence
Take the disengaging on machine.
Claims (3)
1. a kind of intelligent express delivery mailbag processing terminal of adaptive stacking, including shell, accommodating cavity is provided with the shell
Room, it is characterised in that：It is provided with to place the shelf of courier packages and to capture courier packages' in the chamber resettling
Manipulator, the housing exterior are provided with to access the access port of courier packages, and the access port connects with the chamber resettling；
The intelligent express delivery mailbag processing terminal also includes control system, and the control system includes machine control modules and people
Machine interactive module, the machine control modules include Mechanical course main control chip, power conversion unit, for realizing that manipulator is grabbed
Take the manipulator control unit of express delivery control, replied for arriving to user's transmission information reminding express delivery and receiving user
Identifying code information transmit-receive unit, for realizing identification for keeper and user card punching and scanning the electronics of courier packages
The module of swiping the card of label；
The human-computer interaction module includes human-computer interactive control chip, display device, function selection key and intelligence sensor, institute
State human-computer interactive control chip to be connected with display device, function selection key and intelligence sensor, the intelligence sensor bag
Include to detect courier packages' external form external form detection sensor, to detect the height sensor of courier packages' height and to
The weighing sensor of courier packages' weight is weighed, the Mechanical course main control chip is connected with the human-computer interactive control chip；
The manipulator is four-degree-of-freedom manipulator, the four-degree-of-freedom manipulator include the gripper to pick-and-place quick despatch,
Gripper controlled motor, X walk to stepper motor, X to ball screw guide rail, Y-direction stepping motor, Y-direction ball screw guide rail, Z-direction
Stepper motor, Z-direction ball screw guide rail, electric rotating machine and manipulator control unit, the power output of the gripper controlled motor
End be connected with the gripper, the lower end of the Z-direction ball screw guide rail on the Y-direction ball screw guide rail simultaneously and its
Form sliding pair, the Y-direction ball screw guide rail is arranged on the X on ball screw guide rail and formed sliding pair, institute
Gripper is stated on the Y-direction ball screw guide rail and formed sliding pair, the electric rotating machine are arranged on the Z-direction
The bottom of the lower end of ball screw guide rail；
The X is electric to ball screw guide rail, the gripper controlled motor, X to stepper motor, Y-direction stepping motor, Z-direction stepping
Machine and electric rotating machine are connected with the manipulator control unit.
2. the intelligent express delivery mailbag processing terminal of adaptive stacking as claimed in claim 1, it is characterised in that：The intelligence
Sensor is also included to detect the temperature sensor of environment temperature and to detect the humidity sensor of ambient humidity.
3. the intelligent express delivery mailbag processing terminal of adaptive stacking as claimed in claim 1, it is characterised in that：The shell
Exterior skin and upper cover plate including surrounding, the upper cover plate be arranged on the exterior skin top, the exterior skin with it is described on
The chamber resettling is formed between cover plate and ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510151960.2A CN104794767B (en) | 2015-04-01 | 2015-04-01 | The intelligent express delivery mailbag processing terminal of adaptive stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510151960.2A CN104794767B (en) | 2015-04-01 | 2015-04-01 | The intelligent express delivery mailbag processing terminal of adaptive stacking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104794767A CN104794767A (en) | 2015-07-22 |
| CN104794767B true CN104794767B (en) | 2017-12-05 |
Family
ID=53559544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510151960.2A Active CN104794767B (en) | 2015-04-01 | 2015-04-01 | The intelligent express delivery mailbag processing terminal of adaptive stacking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104794767B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105118185A (en) * | 2015-09-23 | 2015-12-02 | 桂林电子科技大学 | Intelligent express item fixed-point self-fetching system |
| CN105549493B (en) * | 2016-02-04 | 2018-07-06 | 安徽理工大学 | Intelligent express delivery accesses cabinet |
| CN106743037A (en) * | 2016-11-28 | 2017-05-31 | 宁夏向量信息技术有限公司 | The control system of Intelligent storage device |
| CN107067575A (en) * | 2017-04-06 | 2017-08-18 | 邢维轩 | Express delivery addressee system |
| CN110142217A (en) * | 2019-04-28 | 2019-08-20 | 扬州市职业大学(扬州市广播电视大学) | A kind of express delivery based on Internet of Things distributes system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201060515Y (en) * | 2007-03-22 | 2008-05-14 | 深圳市证通电子股份有限公司 | Self-help mailbag machine terminal |
| CN203025773U (en) * | 2013-01-14 | 2013-06-26 | 谢雄杰 | Self-service register machine |
| CN103280008A (en) * | 2013-05-17 | 2013-09-04 | 浙江工业大学之江学院工业研究院 | Residential quarter parcel delivery system |
| CN204557588U (en) * | 2015-04-01 | 2015-08-12 | 浙江工业大学 | The intelligent express delivery mailbag processing terminal of self-adaptation stacking |
-
2015
- 2015-04-01 CN CN201510151960.2A patent/CN104794767B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201060515Y (en) * | 2007-03-22 | 2008-05-14 | 深圳市证通电子股份有限公司 | Self-help mailbag machine terminal |
| CN203025773U (en) * | 2013-01-14 | 2013-06-26 | 谢雄杰 | Self-service register machine |
| CN103280008A (en) * | 2013-05-17 | 2013-09-04 | 浙江工业大学之江学院工业研究院 | Residential quarter parcel delivery system |
| CN204557588U (en) * | 2015-04-01 | 2015-08-12 | 浙江工业大学 | The intelligent express delivery mailbag processing terminal of self-adaptation stacking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104794767A (en) | 2015-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104794767B (en) | The intelligent express delivery mailbag processing terminal of adaptive stacking | |
| CN204416544U (en) | A kind of artificial intelligence access machine of express delivery terminal | |
| CN205594403U (en) | Rural sewage treatment station remote management monitored control system based on cloud platform | |
| CN110116947A (en) | Robot remote elevator interactive system and method | |
| CN109658631B (en) | Intelligent express box, control system and control method thereof | |
| CN106976668A (en) | A kind of Intelligent refuse classification processing system | |
| CN208384658U (en) | A kind of digital intelligent medical cupboard based on Internet of Things | |
| CN102009816B (en) | Electronic tag-driving numerical control rotary library and application method thereof | |
| CN108985714A (en) | A kind of construction site wisdom control integrated system | |
| CN206363381U (en) | A kind of courier packages' delivery system based on robot | |
| CN207293240U (en) | A kind of intelligent material allocation cabinet weighing unit for preventing outer force-disturbance | |
| CN104978648A (en) | Equipment and method for realizing automatic weighing, transferring and conveying | |
| CN104090549A (en) | Remote water supply control system | |
| CN208150225U (en) | Intelligent garbage bin and management system | |
| CN111806914A (en) | Intelligent garbage classification and recovery system for community | |
| CN206862475U (en) | The intelligent sensor-type medical counting shelf of weight | |
| WO2014172949A1 (en) | Electronic kanban system for production management and display method therefor | |
| CN110386377A (en) | A kind of Intelligent refuse classification system | |
| CN204557588U (en) | The intelligent express delivery mailbag processing terminal of self-adaptation stacking | |
| CN207895289U (en) | A kind of oil smoke monitoring device based on NB-IoT | |
| CN109492977A (en) | A kind of gravity sensing unmanned plane pick-up platform | |
| CN205924376U (en) | Stool and urine sample censorship warning system | |
| CN210116866U (en) | Intelligent garbage classification throwing system | |
| CN206863551U (en) | A kind of data acquisition device based on LORA wireless technologys | |
| CN111169937A (en) | Intelligent feeding system for traditional Chinese medicine raw materials |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |