CN106428289B - Bionical passive rebound pedipulator - Google Patents
Bionical passive rebound pedipulator Download PDFInfo
- Publication number
- CN106428289B CN106428289B CN201611119136.XA CN201611119136A CN106428289B CN 106428289 B CN106428289 B CN 106428289B CN 201611119136 A CN201611119136 A CN 201611119136A CN 106428289 B CN106428289 B CN 106428289B
- Authority
- CN
- China
- Prior art keywords
- spring
- shin bone
- fixed
- passive
- pressure spring
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of bionical passive rebound pedipulators, including fuselage, toggle, passive rebounding mechanism and sufficient end；Toggle includes crank, femur and rocking bar；Passive rebounding mechanism includes fixed slider, shin bone, upper outer spring, pulley, movable slider, fibula, lower outer spring, block, metatarsal, axis pin and internal spring mechanism, and wherein internal spring mechanism includes pedestal, inner shaft, pressure spring plate, pressure spring plate pedestal, baffle, little spring, little spring guide rod, brake cable；Sufficient end includes torsional spring and toes, and toes are made by flexible energy storage material；The present invention is based on the dimensional parameters of ostrich hind leg and the passive rebound characteristics of ostrich intertarsal joint, the passive rebound function of bionical ostrich hind leg intertarsal joint is realized using passive rebounding mechanism, energy consumption can be reduced, it can achieve the effect that buffer shock-absorbing in the phase of contacting to earth using the impact force on elastic element absorption ground again.
Description
Technical field
The invention belongs to robot fields, are related to a kind of bionical passive rebound pedipulator.
Background technology
The hind leg of ostrich is strong and strong, has steady, lasting and high speed ability to run.Ostrich running speed is reachable
50-60Km/h, and persistently run 30 minutes, it is that most fast biped is run to obtain in land.Studies have shown that in ostrich hind leg from curved
Song discharges metatarsal when intertarsal joint angle is more than 125 ° to during upholding, and metatarsal is rapid under the action of not by external force
Swing to 168 ° of position.This passive extension process can reduce the energy expenditure of ostrich movement.The section moved according to ostrich
Energy and high speed characteristics are based on engineering bionics principle, the superior function of ostrich hind leg can be applied to leg-legged type robot leg
In the design of structure.Since 2000, a large amount of bionical legged type robot, including BISAM, HyQ, KOLT have been emerged in large numbers both at home and abroad,
BigDog, Aibo, Scout II, TITAN, LittleDog, Tekken etc..Although both at home and abroad to the research of bionical legged type robot
Comparative maturity, but there is also the low problems of energy utilization rate in the design of bionical legged type robot leg structure.And and ground
Generate greater impact power, be easy to cause robot and generate vibration, make its can not normal operation, even damage machine portion when serious
Part.
The present invention, for bionical prototype, is run hind limb motor Parameter analysis with efficient, energy-efficient ostrich hind leg by ostrich, knot
Close biotomy, it is determined that ostrich hind leg structure size, and according to the passive rebound characteristics of ostrich intertarsal joint, optimization design
Go out energy saving, vibration damping Form of Bionics Mechanical Legs.
Invention content
The present invention discloses a kind of bionical passive rebound pedipulator.The present invention imitates the passive rebound of ostrich hind leg intertarsal joint
Function realizes that Form of Bionics Mechanical Legs can be automatically performed " stretching one's legs " action in the liftoff phase using passive rebounding mechanism.The strength of inner spring
It spends coefficient and is more than lower outer spring, in the phase of contacting to earth, inner spring, lower outer spring work at the same time, and play support, energy saving and vibration damping work
With.In the liftoff phase, inner spring does not work, and realizes that intertarsal joint passively springs back function by the rebound of lower outer spring.The present invention
With the ostrich hind leg that efficiently moves for bionical prototype, run hind limb motor Parameter analysis by ostrich, in conjunction with biotomy, really
Ostrich hind leg structure size is determined, and according to the passive rebound characteristics of ostrich intertarsal joint, optimization design goes out energy saving, vibration damping imitative
Raw pedipulator.
The present invention includes fuselage, toggle, passive rebounding mechanism and sufficient end；Toggle include crank,
Femur and rocking bar；Passive rebounding mechanism include fixed slider, shin bone, upper outer spring, pulley, movable slider, fibula, lower outer spring,
Block, metatarsal, axis pin and internal spring mechanism, wherein internal spring mechanism include pedestal, inner shaft, pressure spring plate, pressure spring plate pedestal, gear
Plate, little spring, little spring guide rod, brake cable；Sufficient end includes torsional spring and toes, and toes are made by flexible energy storage material.
As shown in Figures 1 to 4, the fixed slider in passive rebounding mechanism is fixed on fuselage, and shin bone is slided with fixed slider composition
Dynamic pair；Pulley is fixed on shin bone；Upper and lower outer spring is fixed on shin bone, and upper outer spring is located at movable slider top, when compression,
Upper outer spring upper end is contacted with fixed slider, and upper outer spring lower end is contacted with movable slider.Lower outer spring is located at movable slider lower end, lower outer
Spring bottom end is contacted with block, and block is fixed on shin bone, and when compression, lower outer spring upper end is contacted with movable slider, and movable slider can
To be slided on shin bone；Movable slider is connected by fibula with metatarsal；Metatarsal is hinged with shin bone by axis pin；Internal spring mechanism
Inside shin bone, wherein pedestal is fixed on block on shin bone；Inner shaft is fixed on the base, and inner spring is sleeved in inner shaft,
Inner spring one end and base contacts, the inner spring other end and pressure spring plate base into contact；Pressure spring plate can along pressure spring plate pedestal and
Little spring guide rod skids off or slides into shin bone, when pressure spring plate skids off shin bone, is contacted with movable slider；Pass through little spring between pressure spring plate
It is connected, little spring is sleeved on little spring guide rod, and when installation, pressure spring plate is located at the maximum displacement for skidding off shin bone, and little spring has one
Determine precompression；When pressure spring plate skids off under little spring rebound effect at shin bone to maximum displacement, baffle is contacted with pressure spring plate, gear
Plate blocking pressure spring plate continues to skid off outside shin bone；Brake cable one end is connected to by shin bone top pulley on fixed slider, and brake cable is another
Two pressure spring plates of end connection；Metatarsal bottom end is hinged by torsional spring and toes, not by outer force effect when, angle that metatarsal is folded with toes
Degree is 120 °；Femur is articulated with the first hinge joint with shin bone, and fixed slider is articulated with the second hinge joint with fuselage；Rocking bar is cut with scissors with femur
It connects.
Beneficial effects of the present invention：
1, integrated model converts the swing of leg to motor only with a power source, and using toggle
Continuous rotation is conducive to improve working efficiency, reduces energy loss.
2, whole to use member structure, large carrying capacity, the operation is stable, manufacture easy to process, and it is at low cost.
3, inner spring and lower outer spring are discharged in the compressed storage elastic property of liftoff phase front half section in liftoff second half section phase
Elastic potential energy makes metatarsal stretch automatically, completes " stretching one's legs " action, realizes that ostrich hind leg intertarsal joint passively springs back the imitative of function
It is raw, it is not necessarily to added force, advantageously reduces energy loss.
4, in the phase of contacting to earth, inner spring, lower outer spring work at the same time.It contacts to earth phase front half section, sufficient end is generated with ground compared with favourable opposition
Power, inner spring, lower outer spring effectively absorb the impact force on ground, and are translated into elastic potential energy；It is interior in second half section phase of contacting to earth
Spring, lower outer spring discharge elastic potential energy, are converted into the kinetic energy of pedipulator.In the phase of contacting to earth, inner spring, lower outer spring effectively play
Buffer shock-absorbing, reduces the effect of energy consumption.
5, the stiffness factor of inner spring is more than lower outer spring, and in the liftoff phase, inner spring does not work, in liftoff phase front half section
Movable slider need to only compress lower outer spring, reduce the torque of motor, be conducive to save energy.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram at a certain moment phase of the invention of contacting to earth.
Fig. 2 is the stereoscopic schematic diagram at the present invention liftoff phase at a certain moment.
Fig. 3 is the stereoscopic schematic diagram of internal spring mechanism of the present invention.
Fig. 4 is the side view of internal spring mechanism of the present invention.
Wherein：1- fuselages；2- cranks；3- fixed sliders；The upper outer springs of 4-；5- movable sliders；6- internal spring mechanisms；Outer bullet under 7-
Spring；8- blocks；9- metatarsals；10- toes；11- axis pins；12- fibulas；The second hinge joints of 13-；14- shin bones；The first hinge joints of 15-；
16- femurs；17- rocking bars；18- inner shafts；19- pressure spring plate pedestals；20- brake cables；21- pressure spring plates；22- little spring guide rods；The small bullets of 23-
Spring；24- inner springs；25- pedestals；26- pulleys；27- baffles.
Specific implementation mode
It please refers to Fig.1, shown in Fig. 2, Fig. 3 and Fig. 4, the present invention includes fuselage 1, toggle, passive rebounding mechanism
With sufficient end；Toggle includes crank 2, femur 16 and rocking bar 17；Passive rebounding mechanism include fixed slider 3, shin bone 14,
Upper outer spring 4, pulley 26, movable slider 5, fibula 12, lower outer spring 7, block 8, metatarsal 9, axis pin 11 and internal spring mechanism 6,
Middle internal spring mechanism 6 is led including pedestal 25, inner shaft 18, pressure spring plate 21, pressure spring plate pedestal 19, baffle 27, little spring 23, little spring
Bar 22, brake cable 20；Sufficient end includes torsional spring and toes 10, and toes 10 are made of flexible energy storage material.
Fixed slider 3 in passive rebounding mechanism is fixed on the fuselage 1, and shin bone 14 forms sliding pair with fixed slider 3；Pulley 26
It is fixed on shin bone 14；Upper outer spring 4, lower outer spring 7 are fixed on shin bone 14, and upper outer spring 4 is located at 5 top of movable slider, by
When pressure, 4 upper end of upper outer spring is contacted with fixed slider 3, and 4 lower end of upper outer spring is contacted with movable slider 5；Lower outer spring 7 is located at dynamic slide
5 lower end of block, lower 7 bottom end of outer spring are contacted with block 8, and block 8 is fixed on shin bone 14, when compression, lower 7 top of outer spring with it is dynamic
Sliding block 5 contacts, and movable slider 5 can slide on shin bone；Movable slider 5 is connected by fibula 12 with metatarsal 9；Metatarsal 9 is logical with shin bone 14
Axis pin 11 is crossed to be hinged；Internal spring mechanism 6 is mounted on inside shin bone 14, and wherein pedestal 25 is fixed on block 8 on shin bone 14；
Inner shaft 18 is fixed on pedestal 25, and inner spring 24 is sleeved in inner shaft 18, and 24 one end of inner spring is contacted with pedestal 25, and inner spring 24 is another
One end is contacted with pressure spring plate pedestal 19；Pressure spring plate 21 can skid off or slide into shin along pressure spring plate pedestal 19 and little spring guide rod 22
Bone 14 is contacted when pressure spring plate 21 skids off shin bone 14 with movable slider 5；It is connected by little spring 23 between pressure spring plate 21, little spring
23 are sleeved on little spring guide rod 22, and when installation, pressure spring plate 21 is located at the maximum displacement for skidding off shin bone 14, and little spring 23 has centainly
Precompression；When pressure spring plate 21 skids off under 23 rebound effect of little spring at shin bone 14 to maximum displacement, baffle 27 and pressure spring plate
21 contacts, baffle 27 stop that pressure spring plate 21 continues to skid off outside shin bone 14；20 one end of brake cable is connected by 14 top pulley 26 of shin bone
It is connected on fixed slider 3,20 other end of brake cable connects two pressure spring plates 21；9 bottom end of metatarsal is hinged by torsional spring and toes 10, not by
When outer force effect, metatarsal 9 is 120 ° with the angle that toes 10 fold；Femur 16 is articulated with the first hinge joint 15 with shin bone 14, fixed
Sliding block 3 is articulated with the second hinge joint 13 with fuselage 1.Rocking bar 17 is hinged with femur 16.
The course of work of the present invention：
By taking Form of Bionics Mechanical Legs moves a cycle as an example：
Using toes 10 will be liftoff position as starting point, crank 2 counterclockwise rotate.In liftoff phase front half section, crank 2 drives
Femur 16 moves, and femur 16 is articulated with the first hinge joint 15 with shin bone 14.Fixed slider 3 is articulated with the second hinge joint 13 with fuselage 1,
The first hinge joint 15 drives shin bone 14 to be moved upwards relative to fixed slider 3 at this time, and the movement of shin bone 14 can be decomposed into around first
The rotation of hinge joint 15 and the upward movement of opposite fixed slider 3.It is fixed that 20 one end of brake cable is connected to by 14 top pulley 26 of shin bone
On sliding block 3,20 other end of brake cable connects two pressure spring plates 21.It is moved upwards at this time relative to fixed slider 3 due to shin bone 14, from calmly
Sliding block 3 arrives the brake cable 20 between pulley 26 apart from elongated, shortens from 20 distance of brake cable between 26 to two pressure spring plates of pulley 21,
To pull two pressure spring plates 21 to be moved towards inner shaft 18, while compressing little spring 23.In the entire liftoff phase, due to pressure spring plate 21
It is retracted in shin bone 14, is not contacted with movable slider 5, inner spring 24 does not work.As shin bone 14 is moved upwards relative to fixed slider 3,
The upper outer spring 4 of the compression of fixed slider 3, outer spring 7 under movable slider 5 compresses under 4 rebound effect of upper outer spring, while passing through fibula 12
Metatarsal 9 is acted on, metatarsal 9 is made to be rotated around axis pin 11, completes " lift leg " action；In liftoff second half section phase, as crank 2 continues to turn
Dynamic, the first hinge joint 15 drives shin bone 14 to move downward, and movement can be decomposed into around the rotation of the first hinge joint 15 and opposite
The downward movement of fixed slider 3.Movable slider 5 moves upwards under 7 rebound effect of lower outer spring relative to shin bone 14 at this time, leads to simultaneously
It crosses fibula 12 and acts on metatarsal 9, make its stretching, extension, complete " stretching one's legs " action.As shin bone 14 moves downward, fixed slider 3 arrives pulley
Apart from gradually shortening, pressure spring plate 21 is done under 23 rebound effect of little spring backwards to moving, in phase pressure of contacting to earth brake cable 20 between 26
Spring plank 21 act on end pop up shin bone 14, for toes 10 contact to earth the phase work prepare.
In phase front half section of contacting to earth, crank 2 is rotated further, and toes 10 first contact ground, larger by the impact on ground, one
Divide energy due to collision loss, a remaining energy part is absorbed by 10 own material of toes and torsional spring, and is converted into elastic potential
Can, another part energy acts on movable slider 5 by metatarsal 9 and fibula 12, and movable slider 5 is by compressing inner spring 24, lower outer bullet
Spring 7 converts part energy to elastic potential energy and is stored in inner spring 24, lower outer spring 7 into row buffering；After the phase of contacting to earth
Half section, inner spring 24 and lower outer spring 7 discharge elastic potential energy, and rebound effect acts on metatarsal in movable slider 5, and by fibula 12
9, it is eventually converted into the mechanical energy of Form of Bionics Mechanical Legs movement, meanwhile, torsional spring and toes 10 discharge elastic potential energy, further decrease imitative
The energy consumption of raw pedipulator.
Claims (2)
1. a kind of bionical passive rebound pedipulator, it is characterised in that：Including fuselage (1), toggle, passive rebounding mechanism
With sufficient end；Toggle includes crank (2), femur (16) and rocking bar (17)；Passive rebounding mechanism includes fixed slider
(3), shin bone (14), upper outer spring (4), pulley (26), movable slider (5), fibula (12), lower outer spring (7), block (8), metatarsal
(9), axis pin (11) and internal spring mechanism (6), wherein internal spring mechanism (6) include pedestal (25), inner shaft (18), pressure spring plate
(21), pressure spring plate pedestal (19), baffle (27), little spring (23), little spring guide rod (22), brake cable (20)；Sufficient end includes torsional spring
With toes (10)；
Fixed slider (3) in passive rebounding mechanism is fixed on fuselage (1), and shin bone (14) forms sliding pair with fixed slider (3)；It is sliding
Wheel (26) is fixed on shin bone (14)；Upper outer spring (4), lower outer spring (7) are fixed on shin bone (14), upper outer spring (4) position
Above the movable slider (5), when compression, upper outer spring (4) upper end is contacted with fixed slider (3), upper outer spring (4) lower end and movable slider
(5) it contacts；Lower outer spring (7) is located at movable slider (5) lower end, and lower outer spring (7) bottom end is contacted with block (8), and block (8) is fixed
On shin bone (14), when compression, lower outer spring (7) top is contacted with movable slider (5), and movable slider (5) can slide on shin bone；It is dynamic
Sliding block (5) is connected by fibula (12) with metatarsal (9)；Metatarsal (9) is hinged with shin bone (14) by axis pin (11)；Inner spring
Mechanism (6) is mounted on shin bone (14) inside, and pedestal (25) is fixed on block (8) on shin bone (14)；Inner shaft (18) is fixed on bottom
On seat (25), inner spring (24) is sleeved in inner shaft (18), and inner spring (24) one end is contacted with pedestal (25), and inner spring (24) is another
End is contacted with pressure spring plate pedestal (19)；Pressure spring plate (21) can be skidded off along pressure spring plate pedestal (19) and little spring guide rod (22) or
Shin bone (14) is slided into, when pressure spring plate (21) skids off shin bone (14), is contacted with movable slider (5)；By small between pressure spring plate (21)
Spring (23) is connected, and little spring (23) is sleeved on little spring guide rod (22), and pressure spring plate (21) is located at the maximum for skidding off shin bone (14)
At displacement, little spring (23) has precompression；When pressure spring plate (21) skids off shin bone (14) to most under little spring (23) rebound effect
When at big displacement, baffle (27) is contacted with pressure spring plate (21), and baffle (27) blocking pressure spring plate (21) continues to slide outside to shin bone (14)
Go out；Brake cable (20) one end is connected to by shin bone (14) top pulley (26) on fixed slider (3), brake cable (20) other end connection two
A pressure spring plate (21)；Metatarsal (9) bottom end is hinged by torsional spring and toes (10), not by outer force effect when, metatarsal (9) and toes
(10) angle folded is 120 °；Femur (16) is articulated with the first hinge joint (15), fixed slider (3) and fuselage with shin bone (14)
(1) it is articulated with the second hinge joint (13)；Rocking bar (17) is hinged with femur (16).
2. the bionical passive rebound pedipulator of one kind according to claim 1, it is characterised in that：The toes (10) are by soft
Property energy storage material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611119136.XA CN106428289B (en) | 2016-12-08 | 2016-12-08 | Bionical passive rebound pedipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611119136.XA CN106428289B (en) | 2016-12-08 | 2016-12-08 | Bionical passive rebound pedipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106428289A CN106428289A (en) | 2017-02-22 |
| CN106428289B true CN106428289B (en) | 2018-07-13 |
Family
ID=58217872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611119136.XA Active CN106428289B (en) | 2016-12-08 | 2016-12-08 | Bionical passive rebound pedipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106428289B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438083B (en) * | 2018-03-21 | 2021-08-24 | 吉林大学 | Biped robot with bionic tension-compression joint |
| CN112278105B (en) * | 2020-11-02 | 2022-04-08 | 之江实验室 | Six-rod mechanism for foot type robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PT1005886E (en) * | 1998-12-04 | 2004-04-30 | Giochi Preziosi Lussemburgo Sa | MECHANISM FOR MOVING THE LOWER MEMBERS OF A TOY FIGURE |
| CN1319800C (en) * | 2004-04-08 | 2007-06-06 | 辽宁工程技术大学 | Cam transition type mechanical legs having three joints |
| CN201424067Y (en) * | 2009-06-24 | 2010-03-17 | 吴玉禄 | Walking mechanism using crank rocker |
| US9283673B2 (en) * | 2012-01-31 | 2016-03-15 | Florida Institute For Human And Machine Cognition, Inc. | Fast runner limb articulation system |
| CN104490498B (en) * | 2014-12-16 | 2016-08-24 | 郑州大学 | Knee joint ankle joint coordinated type lower artificial limb device |
| CN105346620B (en) * | 2015-12-11 | 2017-11-07 | 吉林大学 | The energy-conservation walking leg mechanism of imitative ostrich hind limb motor functional characteristic |
| CN106109181B (en) * | 2016-05-03 | 2020-04-14 | 重庆市牛迪科技发展有限公司 | Reduction exoskeleton joint and exoskeleton power assisting device thereof |
| CN106184461B (en) * | 2016-07-28 | 2018-07-24 | 吉林大学 | A kind of imitative ostrich hind leg pedipulator |
-
2016
- 2016-12-08 CN CN201611119136.XA patent/CN106428289B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106428289A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102285390B (en) | Elastically driven walking leg in hybrid connection for walking robot | |
| CN106184461B (en) | A kind of imitative ostrich hind leg pedipulator | |
| CN103448828B (en) | A kind of Four-foot bio-robot leg mechanism | |
| CN201424067Y (en) | Walking mechanism using crank rocker | |
| CN106428289B (en) | Bionical passive rebound pedipulator | |
| CN104309717B (en) | There is the change body modularization four feet walking robot of energy-storage function | |
| CN105346620B (en) | The energy-conservation walking leg mechanism of imitative ostrich hind limb motor functional characteristic | |
| CN107794739A (en) | A kind of Scissoring device of textile | |
| CN205686501U (en) | A kind of walking robot foot foot structure | |
| CN103991489B (en) | The 3DOF leg mechanism that a kind of Pneumatic artificial muscle drives | |
| CN111071365A (en) | High-energy-efficiency walking biped robot leg-foot structure | |
| CN107933735A (en) | A kind of biped robot's foot mechanism with main passive compliance | |
| CN103963867B (en) | Biomimetic mechanical dinosaur | |
| CN112109819A (en) | Hydraulic control cheetah bionic quadruped robot | |
| CN210732447U (en) | Bionic robot with double-drive parallel buffer legs and parallel flexible trunk | |
| CN206678932U (en) | A kind of lever aids in buffering type automobile bumper | |
| CN203996535U (en) | A kind of bionical quadruped robot with storage effect | |
| CN110480608A (en) | A kind of bio-robot with the parallel buffering leg and parallel flexible trunk of double drives | |
| CN103831828B (en) | Robot and neck mechanism thereof | |
| CN112874816A (en) | Landing buffering leg structure | |
| CN103318290A (en) | Similar dual-A-arm suspended robot crotch lateral-deviation damping system | |
| CN208682210U (en) | A kind of carton cutting die of adjustable angle | |
| CN109362361B (en) | Multifunctional corn threshing and air drying device | |
| CN111891250B (en) | Humanoid robot leg with advancing function | |
| CN209093880U (en) | A kind of construction high-efficiency sieve sand equipment |
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 |