CN105818143B - Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder - Google Patents
Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder Download PDFInfo
- Publication number
- CN105818143B CN105818143B CN201610355213.5A CN201610355213A CN105818143B CN 105818143 B CN105818143 B CN 105818143B CN 201610355213 A CN201610355213 A CN 201610355213A CN 105818143 B CN105818143 B CN 105818143B
- Authority
- CN
- China
- Prior art keywords
- moulding
- arm
- plate
- flexible arm
- connector
- 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
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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, including symmetrical N number of software tentacle unit and a driving pedestal that can be arbitrarily unfolded within a certain angle, N >=3.Holding action has following features：One, the air cavity of compartment can be unfolded and collapse after filling pumping inside flexible arm, active envelope object when gathering；Two, it is passively bonded body surface after moulding bag inflation relaxation, forms reliable constraint after vacuum solidification with object.Three, moulding sensing device feedback signal can adjust active envelope parameters.Have benefited from These characteristics, the clamper can quickly be clamped and discharge the incompetent object of traditional clamper.Present invention application high-air-tightness specific rubber and compressed air, be beneficial to environmental protection with it is energy saving, be clamped in food and the fields such as packaging, medical care precess, service type robot end clamper, the clamping of mix flow various shapes part, e-commerce warehouse, sea floor exploration have a good application prospect.
Description
Technical field
The present invention relates to Pneumatic Transmission fields, more particularly to a kind of based on active envelope and passive moulding flexible multi-arm
Pneumatic clamps holder.
Background technology
Clamper is widely used in automatic production line, to realize the clipping operation of workpiece.With every profession and trade Automated water
Flat raising, clamper is not only widely used in traditional industrial circle, while being also gradually embedded in medical treatment, food, server
Device people, the seabed fields Kai Tandeng, the needs of to meet multi items and varying environment, design and performance to clamper propose newly
Requirement.And currently, most of clampers can only execute single task under particular circumstances, multi items clamping can not be adapted to
Demand, while this kind of clamper needs detailed parameter information, such as the position of target, shape, weight and surface condition, with
Just it can correctly move its each joint.This kind of clamper there are poor universality, contact surface is few, control is complicated, hold
The problems such as easy damaged object.As manufacturer constantly updates, new production line handles more and more things, these companies are not
Dedicated workholder is not renewed to different applications more and upgrade new control algolithm, these generally require to put into a large amount of cost and
Time.Therefore how to realize that dexterous, effective, soft and reliable clipping operation is the major issue that clamper is faced.For
The above problem and demand, scholar and technical staff both domestic and external propose new holder designs scheme, this is a kind of with shape
The shaping clamper of shape matching feature.
In anthropomorphic robot field, Dextrous Hand has the personification of height, can imitate all kinds of postures of human hand and move
Make, such as Chinese patent application 201010594219.0 discloses a kind of anthropomorphic motor machine Dextrous Hand, including an electronic thumb
Finger, four electronic fingers and mechanical palms, possess 16 active degree of freedom and 4 passive freedom degrees, have considerable flexibility,
But its structure is mainly made of rigid member, and each active degree of freedom is required for independent driving unit to realize, therefore this kind of
Clamper need specific programming, stringent control condition and for movement continuous Real-time Feedback so that they can be accurate
When and how guidance goes to drive their each joint.And once exceed except programmed range, these clampers will run
When there is serious failure, while they are same it can also happen that failure in unpredictable environment.
Compared to the Dextrous Hand for needing largely to calculate and accurately control, underactuated manipulator is also grinding for current robot field
Study carefully hot topic.Such as the United States Patent (USP) US8231158B2 of Aaron M. Dollar discloses a kind of submissive adaptive paw, he adopts
With drive lacking mode, the multimember execution of clamper is realized with the combination of single motor and rope, this clamper can one
Determine to grip variously-shaped object in degree, it is similar to also have 200910092411.7 He of Chinese patent application
201510596473.7.Such clamper requires control relatively low, but the degree of freedom of clamper is less, equally exists contact form
Not enough soft problem.The above clamper mainly uses motor-driven mode, United States Patent (USP) US8011708B2 to disclose one kind
By air bag drive clamper, this clamper can by the size of control pressure power realize finger expansion and gathering and
The adjusting of clamping force, but finger structure still uses rigid structure completely.
To keep the contact form of clamper and object softer, the Chinese patent of Cornell University's application
201180029673.4 disclose a kind of contact ball software chucking device, and designer uses a kind of obstruction skill that rigidity is controllable
Art, when capturing object, the class sand particle in clamp contact ball is in the state flowed freely, it is ensured that when applying stressed
Waiting contact ball can deform along body surface.Then, by the air inside vacuum extraction, internal particle is made firmly to squeeze
Rigid constraint is formed with object at one piece.But this clamper can only pick up the object being placed on supporting surface, and more difficult generation
Reliable containment surfaces cannot be satisfied the application for needing multi-faceted clamping.Similar research also has Chinese patent application
201410111083.1, technical staff realizes the submissive clamping and just of similar block techniques using the phase transition property of magnetorheological fluid
Property constraint, but the presence of electromagnet makes clamper integrally and seems very heavy.More wound structures of finger ring can be good at meeting more
The demand of orientation clamping, such as the European patent EP 2735409A1 of Festo companies disclose a kind of multifunctional bionic clamper,
Expansion and the gathering action of finger are realized by cylinder driving.Finger part is gathered around there are two types of optional type, the first finger is adopted
With bowed metal rigidity skeleton, packaging type crawl is realized by the flexible deformation of the rubber strip between skeleton；Second of finger is then
Using the triangular structure of full elastic material, inside has lateral elastic truss-like structure, passes through elastic material and object
It mutually squeezes and realizes packaging type crawl.Such clamper can be good at envelope object, eliminate complicated controlling unit, however
The compliance on such clamp contact surface depends greatly on the hardness of elastic material, and softer material will lead to clamper
It is easy to be interfered by the external world, and finger itself does not apply load, therefore not enough clamping forces are larger to grip quality
Object and form reliable constraint, need to be improved in the selection of material and the research and development of new technology.
Currently, rigid holder still has absolute advantage in terms of needing high intensity, high-precision, high speed task.But
For more and more applications for having close contact with the mankind or it is unpredictable in the case of, software clamper in this respect will tool
There is a good application prospect, be combineding with each other for the two will be following Main Trends of The Development.
Invention content
The purpose of the present invention is to provide a kind of based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, folder
The software flexible arm of holder is capable of the envelope held object of active, and while envelope, moulding bag on flexible arm is passive
Squeeze fitting body surface simultaneously form reliable constraint with held object surface, solve clamper rigidity and compliance without
The problem of method ensures simultaneously.
Realize that the technical solution of the object of the invention is：It is a kind of based on active envelope and passive moulding flexible multi-arm gas
Dynamic clamper, including N number of software tentacle unit and a driving pedestal being arbitrarily unfolded in certain angle, N number of software tentacle list
Member is symmetrically distributed in the bottom of driving pedestal.
The software tentacle unit includes that flexible arm, moulding bag, connector, flexible arm quick-release connector and flexible arm are fixed
Piece, the setting of flexible arm fixinig plate are arranged in connector bottom, flexible arm and moulding bag in flexible arm fixinig plate both sides, and flexible arm
Top connect with connector bottom, flexible arm quick-release connector be arranged at the top of connector, communicated with flexible arm, pass through flexible arm
Inflated hose fills pumping to flexible arm；Moulding bag carries out filling pumping, moulding bag inflated hose bottom by moulding bag inflated hose
Equipped with filter screen.
For the flexible arm using the air cavity for the compartment being connected, rectangle, semicircle, arch, ellipse are selected in air cavity section
And semiellipse；Flexible arm selects high-air-tightness specific rubber, moulding bag that high-air-tightness specific rubber, flexible arm fixinig plate is selected to adopt
With high-air-tightness specific rubber.
The high-air-tightness specific rubber that the flexible arm uses is nitrile rubber, silicon rubber, polyurethane rubber or latex；It is soft
The high-air-tightness specific rubber that property arm fixinig plate uses is nitrile rubber, silicon rubber, polyurethane rubber or latex.
The high-air-tightness specific rubber that the moulding bag uses is nitrile rubber, silicon rubber, polyurethane rubber, latex, second
Alkenyl or coating cloth.
Filler particles substance in the moulding bag.
Above-mentioned particulate matter is quartz sand, cereal-granules, ground coffee, broken rice husk, polystyrene foam plastics, plastics, gathers
One kind or combinations thereof in polymer beads, glass powder, shell bits, seed.
The driving pedestal includes upper mounted plate, float plate, bottom plate, balloon-type cylinder, cushion, the fast changing-over of cylinder
Head, M roots screw rod, P first connecting rod group and Q second connecting rod group, wherein M=3,4 ... 10, P=Q=N, float plate are arranged upper
Between fixed plate and bottom plate, M root screw rods are evenly distributed between upper mounted plate and bottom plate, by nut respectively with it is upper
Fixed plate and bottom plate are connected, and screw rod passes through float plate；Balloon-type cylinder bottom is fixed on bottom plate, top with it is floating
Movable plate connects, and upper mounted plate and float plate center are equipped with the through-hole communicated, are connect at the top of cylinder quick-release connector and balloon-type cylinder,
Cylinder charge hose is connect across above-mentioned through-hole with cylinder quick-release connector.Screw rod is equipped with two pairs of stop nuts, and a pair is located at floating
Below movable plate, another pair is located above float plate, and for being limited to float plate, cushion is arranged below bottom plate；The
One connection rod set includes 2 first connecting rods disposed in parallel, and two first connecting rods are connected through a screw thread part connection, and first connecting rod is by erecting
Bar and brace are constituted, and montant bottom is connected by right-angle connecting plate and connector, are connected with brace bottom at the top of montant, brace top
Portion is rotatablely connected with float plate；Second connecting rod group includes 2 second connecting rods disposed in parallel, and two second connecting rods are connected by screw thread
Fitting connects, and second connecting rod one end is rotatablely connected with bottom plate, and the other end is rotatablely connected with brace.
The connector includes connector upper cover and connector bottom cover, and connector bottom cover is fixed on the bottom of connector upper cover
Portion, forms cavity between the two, and connector bottom cover bottom centre is equipped with through-hole, is fixed in the cavity at the top of flexible arm.
Compared with prior art, the present invention its remarkable advantage is：
（1）The present invention uses the software Pneumatic flexible arm of air cavity compartment, can passively obtain enough degree of freedom
It is bonded envelope target object, and what this flexible arm can be in two directions be bent, realizes clamper software tentacle unit
Opening and closing action.
（2）The present invention is introduced for software flexible arm rigidity deficiency and for the insufficient contact problem of complex-shaped object
Rigid controllable moulding bag module.The surface of moulding bag softness squeezes and fits the outer surface of object when contacting object,
Make moulding bag be formed with object adequately to contact, while extracting out in bag after moulding bag contact surface fully deformed and being showed after air
The rigidity gone out greatly enhances the geometrical constraint of clamper and object, and moulding bag is solid with flexible arm free bend and pumping
The characteristic of change solves the problems, such as that the rigidity of the clamper flexible arm is insufficient well.
（3）The present invention is using moulding bag sensing device feedback signal adjustment active envelope parameters-flexible arm air pressure inside
Power solves the problems, such as the gripper state recognition.
（4）The driving pedestal that the present invention designs drives bottom using the expansion and gathering of balloon-type cylinder driving tentacle unit
Seat tool have easy care, without creep, high dynamic response the characteristics of, and can by adjust air pressure easily realize interfix and clamping force
Adjusting.
（5）Modules of the present invention use compressed air-driven, are beneficial to environmentally friendly and energy saving, and have very to varying environment
Good patience and adaptability, in food clamping and packaging, medical care precess, service type robot end clamper, mixed flow life
The clamping of producing line various shapes part, e-commerce warehouse, sea floor exploration have good application value.
Description of the drawings
Fig. 1 is the overall structure signal the present invention is based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder
Figure.
Fig. 2 is that the present invention is based on the software tentacle units of active envelope and passive moulding flexible multi-arm pneumatic clamps holder to show
It is intended to, wherein（a）For software tentacle unit overall structure diagram,（b）For software tentacle unit sectional view.
Fig. 3 is the stereogram based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder of the present invention.
Fig. 4 opens shape for the present invention based on active envelope and passively before the clamping of moulding flexible multi-arm pneumatic clamps holder
State schematic diagram.
Fig. 5 is the clamping rounding state based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder of the present invention
Schematic diagram.
Specific implementation mode
Present invention is further described in detail below in conjunction with the accompanying drawings.
In conjunction with Fig. 1 to Fig. 5, basic thought of the invention is by the way of compressed air-driven, using balloon-type cylinder 3
It drives the folding of clamper, and utilizes the active envelope of the superior flexible arm of submissive performance 13 and the controllable moulding bag 15 of rigidity
Passive fitting ability realizes submissive reliable clamping and carrying.Holding action of the present invention has following features：One, inside flexible arm
The air cavity of compartment can be unfolded and collapse after filling pumping, active envelope object when gathering；Two, quilt after moulding bag inflation relaxation
Dynamic fitting body surface, forms reliable constraint with object after vacuum solidification.Three, moulding sensing device feedback signal is adjustable actively
Envelope parameters.Have benefited from These characteristics, the clamper can quickly be clamped and discharge the incompetent object of traditional clamper
Body.
It is a kind of based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, including N number of software tentacle unit and
One bottom that driving pedestal can be symmetrically distributed in the driving pedestal that certain angle is arbitrarily unfolded, N number of software tentacle unit.
Software tentacle unit includes flexible arm 13, moulding bag 15, connector 11, flexible arm quick-release connector 16 and flexible arm
Fixinig plate 14, the setting of flexible arm fixinig plate 14 are fixed in 11 bottom of connector, flexible arm 13 and the setting of moulding bag 15 in flexible arm
14 both sides of piece, the two bottom and side edge alignment, and the top of flexible arm 13 is connect with 11 bottom of connector, flexible arm quick change
The setting of connector 16 communicates with flexible arm 13 at 11 top of connector, fills pumping to flexible arm 13 by flexible arm inflated hose 21.
Moulding bag 15 carries out filling pumping by inflated hose 23, and moulding 20 bottom of bag inflated hose is equipped with filter screen 19.Flexible arm 13 is adopted
With the air cavity for the compartment being connected, rectangle, semicircle, arch, ellipse and semiellipse can be selected in air cavity section.
Connector 11 includes connector upper cover 17 and connector bottom cover 18, and connector bottom cover 18 is fixed on connector upper cover 17
Bottom, form cavity between the two, 18 bottom centre of connector bottom cover is equipped with through-hole, and 13 top of flexible arm is fixed on the sky
Intracavitary.
Flexible arm 13 selects high-air-tightness specific rubber, preferably nitrile rubber, silicon rubber, polyurethane rubber, latex.
Flexible arm fixinig plate 14 uses high-air-tightness specific rubber, preferably nitrile rubber, silicon rubber, polyurethane rubber, breast
Glue can be bent.
Moulding bag 15 selects high-air-tightness specific rubber, preferably nitrile rubber, silicon rubber, polyurethane rubber, latex, ethylene
Base, coating cloth.Filler particles substance in moulding bag 15, particulate matter optional quartz sand, ground coffee, broken rice husk, gather cereal-granules
Any or arbitrary combination of styrofoam, plastics, polymer beads, glass powder, shell bits, seed kind.Pass through
Filter screen 19 prevents filler particles object in moulding bag 15 to be sucked out.
The hardness of flexible arm fixinig plate 14 is higher than the hardness of flexible arm 13, when being filled with or detaching air, 13 energy of flexible arm
Enough realize the flexure operation of both direction（Outwardly or inwardly it is bent as described in Fig. 4 and Fig. 5）.
It includes upper mounted plate 1, float plate 2, bottom plate 4, balloon-type cylinder 3, cushion 12, the fast changing-over of cylinder to drive pedestal
First 26, M roots screw rod 22, P first connecting rod group 5 and Q second connecting rod group 6, wherein M=3,4 ... 10, P=Q=N, float plate 2 is set
It sets between upper mounted plate 1 and bottom plate 4, M roots screw rod 22 is evenly distributed between upper mounted plate 1 and bottom plate 4, is passed through
Nut is connected with upper mounted plate 1 and bottom plate 4, and passes through float plate 2, and 3 bottom of balloon-type cylinder is fixed on bottom plate 4
On, top is connect with float plate 2, and upper mounted plate 1 and 2 center of float plate are equipped with the through-hole communicated, cylinder quick-release connector 26 and gas
The 3 top connection of bellows cylinder, cylinder charge hose 27 are connect across above-mentioned through-hole with cylinder quick-release connector 26.Screw rod 22 is equipped with
Two pairs of stop nuts 22, a pair are located at 2 lower section of float plate, and another pair is located at 2 top of float plate, for limiting float plate 2
Position, cushion 12 are arranged in 4 bottom of bottom plate.First connecting rod group 5 includes 2 first connecting rods disposed in parallel, two first companies
Bar is connected through a screw thread part connection, and first connecting rod is made of montant and brace, and montant bottom passes through right-angle connecting plate 9 and connector
11 are connected, and are connected with brace bottom at the top of montant, are rotatablely connected with float plate 2 at the top of brace.Second connecting rod group 6 includes 2 flat
The second connecting rod of row setting, two second connecting rods are connected through a screw thread part connection, and second connecting rod one end connects with the rotation of bottom plate 4
It connects, the other end is rotatablely connected with brace.
Embodiment 1
It is a kind of based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder in conjunction with Fig. 1 to Fig. 5, including 3 soft
Body tentacle unit and one can be symmetrically distributed in driving in the driving pedestal that certain angle is arbitrarily unfolded, 3 software tentacle units
The bottom of pedestal.
Software tentacle unit includes that flexible arm 13, moulding bag 15, connector 11, flexible arm quick-release connector 16 and flexible arm are solid
Stator 14.The setting of flexible arm fixinig plate 14 is arranged in 11 bottom of connector, flexible arm 13 and moulding bag 15 in flexible arm fixinig plate
14 both sides, are realized by the way of gluing connected between any two, and are aligned with the bottom of flexible arm fixinig plate 14 and side edge.
Flexible arm fixinig plate 14 and flexible arm 13 use human body silica gel material, and when being filled with or detaching air, flexible arm 13 can be realized
The flexure operation of both direction（Outwardly or inwardly it is bent as described in Fig. 4 and Fig. 5）.The material hardness of flexible arm fixinig plate 14 is high
In the hardness of flexible arm 13, to limit pulling action of 13 inside of flexible arm in inflation.And top and the connection of flexible arm 13
The bottom of part 11 connects, and the setting of flexible arm quick-release connector 16 is communicated with flexible arm 13, filled by flexible arm at 11 top of connector
Gas hose 21 fills pumping to flexible arm 13.Connector 11 includes connector upper cover 17 and connector bottom cover 18, connector bottom cover 18
The mode being connected by screw is fixed on the bottom of connector upper cover 17, forms cavity, 18 bottom of connector bottom cover between the two
Center is equipped with through-hole, and 13 top of flexible arm is fixed in the cavity, and 13 top of flexible arm and the cavity of connector 11 exist
Short transverse interference volume enables flexible arm 13 to be tightly fixed to the inside of connector 11, while 17 downside of connector upper cover
There are the interference volumes of diametric(al) and short transverse, the two mutually to squeeze realization between the seal groove at 13 top of boss and flexible arm
The sealing of flexible arm 13 and connector 11.
Moulding bag 15 selects latex material, and inside is filled with quartz sand particle, and ensures that there are certain inside moulding bag 15
Gap, so that quartz sand particle is flowed freely in the moulding bag 15.Moulding bag 15 is carried out by moulding bag inflated hose 23
Pumping is filled, moulding bag inflated hose 23 is connect with 15 upper surface of moulding bag, and is sealed by gluing, and moulding bag inflated hose 20
Bottom is equipped with filter screen 19, for preventing filler particles object in moulding bag 15 to be sucked out.
It includes upper mounted plate 1, float plate 2, bottom plate 4, balloon-type cylinder 3, cushion 12, the fast changing-over of cylinder to drive pedestal
22,3 first connecting rod groups 5 of first 26,6 screw rods and 3 second connecting rod groups 6.Float plate 2 is arranged in upper mounted plate 1 and lower fixation
Between plate 4,6 screw rods 22 are evenly distributed between upper mounted plate 1 and bottom plate 4, by nut and upper mounted plate 1 and lower solid
Fixed board 4 is connected, and passes through float plate 2.3 bottom of balloon-type cylinder is fixed on bottom plate 4, and top is connect with float plate 2, is adopted
The mode connected with screw.Upper mounted plate 1 and 2 center of float plate are equipped with the through-hole communicated, cylinder quick-release connector 26 and gasbag-type
3 top connection of cylinder, cylinder charge hose 27 are connect across above-mentioned through-hole with cylinder quick-release connector 26.It is being filled with or is detaching air
When, balloon-type cylinder 3 drives float plate 2 to pump, and then realizes the opening and closing movement of first connecting rod group 5.Screw rod 22
Two pairs of stop nuts 22 are equipped with, a pair is located at 2 lower section of float plate, and another pair is located at 2 top of float plate, for float plate 2
It is limited, to ensure that balloon-type cylinder 3 can act in safe range.The setting of cushion 12 in 4 bottom of bottom plate, with to prevent
Only object is in direct contact with rigidity driving pedestal, and material is the softer human body silica gel of hardness.First connecting rod group 5 includes 2 flat
The first connecting rod of row setting limits the two relative distance by long sleeve 7, and 2 first connecting rods are connected using threaded connector,
First connecting rod is made of montant and brace, and the two, which is integral, to be manufactured.Montant bottom by two pieces of right-angle connecting plates 9 with
Connector 11 is connected, by the way of screw connection；Cylindrical pin shape at the top of brace between a pair of of angled seat 10 at rotation connection,
The mode that the angled seat 10 is connected by screw is fixed on the downside of float plate.Second connecting rod group 6 includes 2 disposed in parallel the
Two connecting rods limit the two relative distance by short sleeve 7, and 2 second connecting rods are connected through a screw thread part connection, second connecting rod one
At rotation connection, the mode that the angled seat 10 is connected by screw is fixed on lower solid cylindrical pin shape between end and a pair of of angled seat 10
The upside of fixed board 4, the other end of second connecting rod, which is realized with brace by slot pin and E type clamp springs, to be rotatablely connected.Float plate 2 with it is lower solid
Three pairs of connection rod sets and other attachment components are symmetrically installed with around fixed board 4.
There are six rodding eye 24 and six extending bores 25 for the distribution of 1 bottom of upper mounted plate, are used for the cloth of inflated hose 20 and 21
It sets, and connection with miscellaneous equipment, such as cylinder, mechanical arm etc..
Action process is described as follows：
With reference to Fig. 4, Fig. 5, flexible arm 13 and moulding bag 15 are supplied using different positive pressure sources, i.e., flexible arm 13 has first just
Potential source supplies, and moulding bag 15 is supplied by the second positive pressure source, but both the first negative pressure source is used to be evacuated, and passes through a series of inflation/deflations
The moulding and solidification of the opening closure and 13 contact surface of moulding bag of software tentacle unit is realized in action.Balloon-type cylinder is by third
Positive pressure source supplies, and is evacuated using second of negative pressure source, and driving pedestal is controlled by adjusting the pressure inside balloon-type cylinder 3
The expanded angle of upper first connecting rod group 5 and the size of clamping force.Clamper includes mainly following two states in clamping process：
（1）Open configuration before clamping
In clamper drives pedestal control mode, the second negative pressure source is connected with balloon-type cylinder 3, drives balloon-type cylinder
3 shrink and first connecting rod group 5 are driven to be unfolded, and the size of vacuum degree can be determined according to the size of objectives object.At the same time,
In software tentacle unit control mode, the first negative pressure source is connected with flexible arm 13, and 13 interior design of flexible arm has compartment
Air cavity, after connecting the first negative pressure source, 13 inner air of flexible arm is detached rapidly, and air cavity inner wall, which is bonded to each other, makes flexible arm 13
The length in outside is shunk compared with flexible arm 13 close to 14 side of flexible arm fixinig plate more, drives 13 outside lateral bend of flexible arm real
The opening action of existing clamper software tentacle unit.Meanwhile first positive pressure source connected with moulding bag 15, the compression of certain volume is empty
Gas moment is filled with inside moulding bag 15, the quartz sand particle for impacting and mutually being squeezed inside loose moulding bag 15；Then turn off
One positive pressure source keeps 15 inside of moulding bag to be communicated with outside atmosphere, the pressure in clamper is balanced with air（Make moulding bag 15
It is vented into air）, to simplify pressure control problems.I.e. for moulding bag 15 when squeezing object to atmospheric exhaust, it can be with
Air is passively received or repels, this is for realizing that the flowing of quartz sand is necessary for moulding.
（2）Rounding state is clamped
In clamper drives pedestal control mode, the second positive pressure source and balloon-type cylinder 3 are connected, drive gasbag-type gas
Cylinder 3, which increases, simultaneously drives software tentacle unit to collapse, and the pressure size of the second positive pressure source can according to the shape of objectives object and again
It measures to determine.In software tentacle unit control mode, third positive pressure source is connected with flexible arm 13, and flexible arm 13 is being filled with compression
After air, the air cavity of compartment is by compression swelling, since 13 outside of flexible arm expanded is fixed compared with flexible arm 13 close to flexible arm
14 side of piece extends more, and flexible arm 13 is driven to be curved to the inside, and moves closer to simultaneously envelope target bead 28,15 mould of moulding bag
Block is contacted with target bead 28, and with the lasting bending of flexible arm 13, and 15 soft-surface of moulding bag is mutual with target bead 28
The outer profile of target bead 28 is squeezed and fits, while the adjustment of internal sensor device feedback signal is flexible after the compression of moulding bag 15
13 air pressure inside power of arm, for identification current fit-state.After molding to be fit, the first negative pressure source is connected with moulding bag 15
And 15 inner air of moulding bag is detached rapidly, at this time 15 surface of moulding bag under the action of external atmosphere pressure tightly compacting inside
Quartz sand particle makes moulding bag 15 mold the rigidity fitting contact surface of similar solid, to reliable constrained objective bead 28.
Promotion and carrying of the clamper realization to target bead 28 are moved in this case.After device to be held is moved to designated position,
Sequence of movement, that is, off-loadable the held object for repeating open configuration before being clamped, completes entire clamping process.It is soft during carrying
Property arm 13 and balloon-type cylinder 3 need to keep inflated condition with compensate extrusion process and disturbance caused by the pressure loss.Pass through control
Filling for flexible arm 13 and balloon-type cylinder 3 processed and fills extraction flow at suction pressure, can control the folding angle of clamper and open
The size of sum velocity and clamping force.
Claims (8)
1. a kind of based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, it is characterised in that：It is touched including N number of software
Hand unit and a driving pedestal being arbitrarily unfolded in certain angle, N number of software tentacle unit are symmetrically distributed in driving pedestal
Bottom；
The software tentacle unit includes flexible arm（13）, moulding bag（15）, connector（11）, flexible arm quick-release connector（16）
With flexible arm fixinig plate（14）, flexible arm fixinig plate（14）It is arranged in connector（11）Bottom, flexible arm（13）With moulding bag
（15）It is arranged in flexible arm fixinig plate（14）Both sides, and flexible arm（13）Top and connector（11）Bottom connects, flexible arm
Quick-release connector（16）It is arranged in connector（11）Top, with flexible arm（13）It communicates, passes through flexible arm inflated hose（21）To soft
Property arm（13）Fill pumping；Moulding bag（15）Pass through moulding bag inflated hose（20）It carries out filling pumping, moulding bag inflated hose（20）
Bottom is equipped with filter screen（19）.
2. according to claim 1 based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, feature exists
In：The flexible arm（13）Using the air cavity for the compartment being connected, air cavity section select rectangle, semicircle, arch, ellipse or
Semiellipse；Flexible arm（13）Select high-air-tightness specific rubber, moulding bag（15）Select high-air-tightness specific rubber, flexible arm solid
Stator（14）Using high-air-tightness specific rubber.
3. according to claim 2 based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, feature exists
In：The flexible arm（13）The high-air-tightness specific rubber used is nitrile rubber, silicon rubber, polyurethane rubber or latex；It is soft
Property arm fixinig plate（14）The high-air-tightness specific rubber used is nitrile rubber, silicon rubber, polyurethane rubber or latex.
4. according to claim 2 based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, feature exists
In：The moulding bag（15）The high-air-tightness specific rubber used is nitrile rubber, silicon rubber, polyurethane rubber or latex.
5. according to claim 1 or 2 based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, feature
It is：The moulding bag（15）Interior filler particles substance.
6. according to claim 5 based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, feature exists
In：Above-mentioned particulate matter be quartz sand, cereal-granules, ground coffee, polymer beads, glass powder, shell bits, in one kind or its
Combination.
7. according to claim 1 based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, feature exists
In：The driving pedestal includes upper mounted plate（1）, float plate（2）, bottom plate（4）, balloon-type cylinder（3）, cushion（12）,
Cylinder quick-release connector（26）, M root screw rods（22）, P first connecting rod group（5）With Q second connecting rod group（6）, wherein M=3,4 ...
10, P=Q=N, float plate（2）It is arranged in upper mounted plate（1）And bottom plate（4）Between, M root screw rods（22）It is evenly distributed on
Fixed plate（1）And bottom plate（4）Between, by nut respectively with upper mounted plate（1）And bottom plate（4）It is connected, and screw rod
（22）Across float plate（2）；Balloon-type cylinder（3）Bottom is fixed on bottom plate（4）On, top and float plate（2）Connection, on
Fixed plate（1）And float plate（2）Center is equipped with the through-hole communicated, cylinder quick-release connector（26）With balloon-type cylinder（3）Top connects
It connects, cylinder charge hose（27）Across above-mentioned through-hole and cylinder quick-release connector（26）Connection；Screw rod（22）It is equipped with two pairs of limits
Nut（23）, a pair is positioned at float plate（2）Lower section, another pair are located at float plate（2）Top, for float plate（2）It is limited
Position, cushion（12）It is arranged in bottom plate（4）Lower section；First connecting rod group（5）Including 2 first connecting rods disposed in parallel, two
First connecting rod is connected through a screw thread part connection, and first connecting rod is made of montant and brace, and montant bottom passes through right-angle connecting plate（9）
With connector（11）It is connected, is connected with brace bottom at the top of montant, brace top and float plate（2）Rotation connection；Second connecting rod
Group（6）Including 2 second connecting rods disposed in parallel, two second connecting rods be connected through a screw thread part connection, second connecting rod one end with
Bottom plate（4）Rotation connection, the other end are rotatablely connected with brace.
8. according to claim 7 based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder, feature exists
In：The connector（11）Including connector upper cover（17）With connector bottom cover（18）, connector bottom cover（18）It is fixed on connection
Part upper cover（17）Bottom, form cavity, connector bottom cover between the two（18）Bottom centre is equipped with through-hole, flexible arm（13）Top
Portion is fixed in the cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610355213.5A CN105818143B (en) | 2016-05-26 | 2016-05-26 | Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610355213.5A CN105818143B (en) | 2016-05-26 | 2016-05-26 | Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105818143A CN105818143A (en) | 2016-08-03 |
| CN105818143B true CN105818143B (en) | 2018-11-13 |
Family
ID=56531276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610355213.5A Active CN105818143B (en) | 2016-05-26 | 2016-05-26 | Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105818143B (en) |
Families Citing this family (56)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
| US10406676B2 (en) | 2014-05-06 | 2019-09-10 | Sarcos Lc | Energy recovering legged robotic device |
| US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
| CN106426234A (en) * | 2016-10-25 | 2017-02-22 | 上海交通大学 | Clamping device for fragile part |
| US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
| US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
| US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
| US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
| CN106425939A (en) * | 2016-12-16 | 2017-02-22 | 广州中国科学院先进技术研究所 | Modular heterogeneous differential motion high-flexibility pneumatic clamp |
| CN106826879B (en) * | 2017-02-14 | 2019-05-07 | 清华大学 | A kind of manipulator that rigid and flexible is changeable |
| CN106829470A (en) * | 2017-04-05 | 2017-06-13 | 李良杰 | Flexible grabbing device |
| CN107020629B (en) * | 2017-04-24 | 2020-08-28 | 哈尔滨工业大学（威海） | Soft robot and system for solar automatic tracking |
| CN111148608A (en) * | 2017-05-01 | 2020-05-12 | 软机器人公司 | Structure for robot end effector |
| CN107088884B (en) * | 2017-05-19 | 2024-02-13 | 南京理工大学 | Wearable hooped pneumatic inflatable bending flexible driver |
| WO2019019092A1 (en) * | 2017-07-27 | 2019-01-31 | 深圳蓝胖子机器人有限公司 | Cargo protection system, method and robotic device in cargo hold |
| KR102017984B1 (en) * | 2017-11-08 | 2019-09-04 | 주식회사 다우에프에이 | Shape compliant electroadhesive gripper |
| US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
| US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
| CN110014446A (en) * | 2018-01-09 | 2019-07-16 | 中石化石油工程技术服务有限公司 | A kind of rig floor manipulator clamping mechanism |
| CN108169118B (en) * | 2018-01-10 | 2024-03-01 | 安徽农业大学 | Portable fruit handle biomechanics characteristic testing device |
| CN108483037B (en) * | 2018-03-28 | 2019-09-27 | 南京理工大学 | A kind of vacuum chuck based on particulate matter moulding |
| CN108501007B (en) * | 2018-03-30 | 2021-02-09 | 宁波高新区神台德机械设备有限公司 | Industrial robot holder and industrial robot |
| CN108527409A (en) * | 2018-04-02 | 2018-09-14 | 北京科技大学 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
| CN110497439A (en) * | 2018-05-16 | 2019-11-26 | 天津大学 | A kind of doublejointed variable cross-section software hand with wedge-shaped band structure |
| CN108715308A (en) * | 2018-07-03 | 2018-10-30 | 芜湖新世纪净化器材有限责任公司 | A kind of PP cotton filter element transport fixture |
| CN109108956A (en) * | 2018-08-02 | 2019-01-01 | 浙江大学 | A kind of rotatable Grazing condition mechanical arm |
| CN108994865A (en) | 2018-09-03 | 2018-12-14 | 苏州迪天机器人自动化有限公司 | A kind of grabbing device |
| US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
| US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
| US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
| CN109941439B (en) * | 2019-04-19 | 2019-12-13 | 浙江保时特机械有限公司 | A intelligent mechanism that snatchs for unmanned aerial vehicle |
| CN110202597A (en) * | 2019-05-13 | 2019-09-06 | 上海大学 | A kind of pneumatic software tentacle of non-newtonian fluid and its forming method |
| CN110497579B (en) * | 2019-07-25 | 2021-11-26 | 广东轻工职业技术学院 | Investment casting method of pneumatic soft machine gripper |
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| CN110340922A (en) * | 2019-09-09 | 2019-10-18 | 征图新视(江苏)科技股份有限公司 | A kind of flexible manipulator point is mechanism |
| CN110506499B (en) * | 2019-09-26 | 2024-05-24 | 滁州职业技术学院 | Flexible pneumatic clamp holder based on initiative envelope |
| CN110625641B (en) * | 2019-10-08 | 2020-12-04 | 湖州达立智能设备制造有限公司 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN111168605B (en) * | 2020-03-17 | 2022-09-02 | 北京汽车集团越野车有限公司 | Pneumatic clamping device |
| CN111360866B (en) * | 2020-03-31 | 2022-07-22 | 上海交通大学 | Pneumatic soft gripper with automatically adjustable working space, mechanical arm and gripping method |
| CN111267138A (en) * | 2020-04-01 | 2020-06-12 | 北京化工大学 | Variable rigidity soft body tongs based on elasticity bobble |
| CN111872971A (en) * | 2020-08-04 | 2020-11-03 | 张家港江苏科技大学产业技术研究院 | Negative pressure blocking micro soft paw |
| CN112298703B (en) * | 2020-10-22 | 2022-05-27 | 永州市中塑包装科技有限公司 | Utilize goods weight to realize intelligent goods equipment for packing of different packings |
| CN112224879B (en) * | 2020-10-22 | 2023-01-13 | 东莞理工学院 | Lamp bead assembly conveying and transferring mechanism capable of achieving visual detection |
| US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
| CN112589828B (en) * | 2020-12-08 | 2022-03-15 | 上海交通大学 | V-shaped quick rigidity-variable flexible gripper |
| CN113146629B (en) * | 2021-04-14 | 2023-07-07 | 杭州职业技术学院 | Accurate control system and control device of manipulator |
| CN113199501A (en) * | 2021-05-27 | 2021-08-03 | 新疆大学 | Adjustable flexible grabbing manipulator |
| CN113500616A (en) * | 2021-07-23 | 2021-10-15 | 赵凯 | Mechanical clamping jaw mechanism for cosmetic production |
| CN113733133B (en) * | 2021-09-14 | 2022-09-13 | 清华大学深圳国际研究生院 | Bionic flexible manipulator |
| CN113650695B (en) * | 2021-09-25 | 2024-05-07 | 重庆大学 | Rigid-flexible coupled climbing robot |
| CN114505843A (en) * | 2022-02-16 | 2022-05-17 | 深圳市顺安土石方工程有限公司 | Be applied to miniature manipulator that dysmorphism and yielding thing were transported |
| US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
| US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
| CN115592650B (en) * | 2022-10-26 | 2023-05-23 | 东莞市群安塑胶实业有限公司 | Transport transfer manipulator for ionic intermediate film production |
| US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
| US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011108869A1 (en) * | 2011-07-28 | 2013-01-31 | Festo Ag & Co. Kg | Gripping device has support body, which has one interface unit for detachable fastening of support body to positioning unit and another interface unit for fastening multiple equipped extension arms with gripping unit |
| CN103180107A (en) * | 2010-10-22 | 2013-06-26 | 丰田自动车株式会社 | Gripping device |
| CN203665546U (en) * | 2014-01-18 | 2014-06-25 | 黑龙江工程学院 | Passive general manipulator based on vacuum state conversion of small particulate matter |
| CN204248898U (en) * | 2014-11-26 | 2015-04-08 | 聊城大学 | A kind of retractable mechanical system design mobile phone structure |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
| JP2016508455A (en) * | 2013-02-27 | 2016-03-22 | マテリアライズ・ナムローゼ・フエンノートシャップＭａｔｅｒｉａｌｉｓｅ Ｎｖ | Gripping device, gripping system, and method of manufacturing a gripping device |
| WO2016044654A1 (en) * | 2014-09-17 | 2016-03-24 | Soft Robotics, Inc. | Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators |
-
2016
- 2016-05-26 CN CN201610355213.5A patent/CN105818143B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103180107A (en) * | 2010-10-22 | 2013-06-26 | 丰田自动车株式会社 | Gripping device |
| DE102011108869A1 (en) * | 2011-07-28 | 2013-01-31 | Festo Ag & Co. Kg | Gripping device has support body, which has one interface unit for detachable fastening of support body to positioning unit and another interface unit for fastening multiple equipped extension arms with gripping unit |
| JP2016508455A (en) * | 2013-02-27 | 2016-03-22 | マテリアライズ・ナムローゼ・フエンノートシャップＭａｔｅｒｉａｌｉｓｅ Ｎｖ | Gripping device, gripping system, and method of manufacturing a gripping device |
| CN203665546U (en) * | 2014-01-18 | 2014-06-25 | 黑龙江工程学院 | Passive general manipulator based on vacuum state conversion of small particulate matter |
| WO2016044654A1 (en) * | 2014-09-17 | 2016-03-24 | Soft Robotics, Inc. | Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators |
| CN204248898U (en) * | 2014-11-26 | 2015-04-08 | 聊城大学 | A kind of retractable mechanical system design mobile phone structure |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105818143A (en) | 2016-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105818143B (en) | Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder | |
| CN205928689U (en) | Pneumatic multijaw holder based on particulate matter is moulding | |
| CN105856264B (en) | Software drives radial direction open-close type pneumatic gripping device | |
| CN204487583U (en) | Software drives radial open-close type pneumatic gripping device | |
| CN108527409A (en) | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape | |
| CN107457797A (en) | Porous twolayer fluid adaptive robot arm device | |
| CN107756385A (en) | Variation rigidity software driver, software arm and software platform based on blocking mechanism | |
| CN110315567B (en) | Rigid-flexible coupling joint egg picking soft manipulator | |
| CN207155799U (en) | Software driver, software arm and software platform | |
| CN104015197A (en) | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system | |
| CN206643944U (en) | A kind of paw and handgrip for being used to clamp material | |
| CN107081744A (en) | Bellows fluid drive lacking articulated robot finger apparatus | |
| CN109129448B (en) | A kind of modular Grazing condition mechanical arm | |
| CN109048856A (en) | A kind of soft robot actuator that rigidity is individually controllable | |
| CN111906811A (en) | Full-flexible pneumatic actuator | |
| CN111452066A (en) | Full-flexible bionic pneumatic manipulator | |
| CN110253606B (en) | Soft tongs of imitative paper folding structure | |
| CN113771069B (en) | Soft gripping device with adjustable gripping range and controllable rigidity and manufacturing method | |
| CN105643649A (en) | Six-joint three-finger manipulator for grabbing apples | |
| CN113232035A (en) | Multi-joint rigid-flexible coupling bionic soft finger | |
| CN202592389U (en) | Single-curvature flexible joint device for limbs of bionic machines and robots | |
| CN106425939A (en) | Modular heterogeneous differential motion high-flexibility pneumatic clamp | |
| CN204610745U (en) | For the action driver that action is bionical | |
| CN206869879U (en) | Bellows fluid drive lacking articulated robot finger apparatus | |
| CN110640770A (en) | Multifunctional robot hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |