CN107351110A - A kind of full-automatic clamping mechanical hand - Google Patents

A kind of full-automatic clamping mechanical hand Download PDF

Info

Publication number
CN107351110A
CN107351110A CN201710779534.2A CN201710779534A CN107351110A CN 107351110 A CN107351110 A CN 107351110A CN 201710779534 A CN201710779534 A CN 201710779534A CN 107351110 A CN107351110 A CN 107351110A
Authority
CN
China
Prior art keywords
seat
clamping
full
mechanical hand
tong
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710779534.2A
Other languages
Chinese (zh)
Other versions
CN107351110B (en
Inventor
肖根福
刘欢
谢世坤
周燕辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jinggangshan University
Original Assignee
Jinggangshan University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jinggangshan University filed Critical Jinggangshan University
Priority to CN201710779534.2A priority Critical patent/CN107351110B/en
Publication of CN107351110A publication Critical patent/CN107351110A/en
Application granted granted Critical
Publication of CN107351110B publication Critical patent/CN107351110B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members

Abstract

The invention discloses a kind of full-automatic clamping mechanical hand, the lower end of connecting seat is fixedly installed in fixed seat, cylinder is provided with fixed seat, the piston rod of cylinder connects the cam pack, the lower end connection runner assembly of cam pack, clamp assembly is provided with runner assembly, clamp assembly realizes the clamping to workpiece under the driving of the cylinder, clamping head and tong are provided with clamp assembly, tong is removably located at clinch ear downside, tong extends downwardly along the central axial direction of clamp assembly, radial direction of the clamping head along the clamp assembly is moved to be clamped workpiece from the circumferencial direction of workpiece.The present invention can not only realize carries out self-centering clamp operation to cylindrical workpiece using clamping head, other shapes of workpiece can also be captured using dismountable tong, improve the applicable effect of the present invention, clamping and positioning precision of the present invention is high, positioning precision is quick and convenient, can quickly realize self-centering operation.

Description

A kind of full-automatic clamping mechanical hand
Technical field
The present invention relates to a kind of full-automatic clamping mechanical hand, belong to mechanical automation equipment technical field.
Background technology
At present, in machining, generally require using manipulator workpiece to be fixed clamping or travelling workpiece, Current manipulator function when clamping is relatively simple, is merely capable of realizing the clamping of single workpiece, and gripping range is smaller, and And manipulator is typically set using connecting rod at present, the manipulator of this structure position inaccurate when clamping, when clamping, Easily loosen, can not even more ensure the same axis clamping of workpiece.
The present invention is directed to problem above, there is provided a kind of full-automatic clamping mechanical hand, to ensure that manipulator is fitted to workpiece With gripping range, while ensure Workpiece clamping positioning precision.
The content of the invention
To achieve the above object, the present invention provides following technical scheme:A kind of full-automatic clamping mechanical hand, it includes connection Seat, fixed seat, cylinder, cam pack, runner assembly and clamp assembly, it is characterised in that the lower end of the connecting seat is fixed and set Put in the fixed seat, cylinder is provided with the fixed seat, the piston rod of the cylinder connects the cam pack, described The lower end of cam pack connects the runner assembly, is provided with clamp assembly on the runner assembly, the clamp assembly is in institute The clamping realized under the driving of cylinder to workpiece is stated, clamping head and tong are provided with the clamp assembly, wherein, the tong Removably it is arranged on the clinch ear downside, central axial direction of the tong along the clamp assembly is to downward Stretch, radial direction of the clamping head along the clamp assembly is moved to be clamped workpiece from the circumferencial direction of workpiece.
Further, preferably, the cam pack includes cam, drive seat and limit assembly, the runner assembly is extremely Include main rotation seat less, wherein, the upper end of the drive seat is fixed on the piston rod of cylinder, and the lower end of the drive seat is at least A drive rod is provided with, the lower end of the drive rod is provided with the connecting shaft of setting normal thereto, the excircle of the cam On be provided with cam path, the end of the connecting shaft, which is stretched into, to be arranged in the cam path, and the excircle of the connecting shaft with The cell wall up and down of the cam path is equipped with, and the lower surface of the cam is fixed with the main rotation seat, the main rotation seat Excircle be provided with limit assembly, the limit assembly limits the active swivel base and moved down along on its center axis direction It is dynamic, and allow the active swivel base to be rotated along its center axis direction.
Further, preferably, the limit assembly includes bearing block and bearing, wherein, it is right on the inwall of the outer seat Answer the position of the main rotation seat to be provided with the bearing block, bearing outer ring, the bearing inner race are provided with the bearing block Insertion is arranged on the excircle of the main rotation seat.
Further, preferably, the clamp assembly is included from rotation seat, auxiliary block, limit base, multiple clamping bars and more Individual eccentric rotary head, wherein, the lower end of the main rotation seat is fixed on from the upper end of rotation seat, the lower surface of the fixed seat is set Be equipped with outer seat, the lower end of the outer seat is provided with lower fixed seat, the upper surface of the lower fixed seat be fixedly installed auxiliary block and Limit base, the outer seat, it is coaxially disposed from outside to inside successively from rotation seat, auxiliary block and limit base, the end of the clamping bar Bar-shaped trough is provided with, described that articulated column is provided with from rotation seat, the clamping bar is be hinged to be arranged in the articulated column, described The inner of clamping bar, which is stretched into, to be arranged in the limit base, and the inner end of the clamping bar is provided with eccentric rotary head, described Eccentric rotary head is rotatably be hinged to be arranged in the stopper slot of limit base, and the inwall of the eccentric rotary head is provided with chuck.
Further, preferably, being additionally provided with auxiliary connecting shaft in the cam path, the auxiliary connecting shaft is positioned at described The bottom of secondary guide, the upper end connection of the secondary guide are arranged on the lower end of spring, and the lower end of the spring, which is fixed, to be set Put in the drive seat.
Further, preferably, described be provided with back-moving spring between rotation seat and the auxiliary block.
Further, preferably, the upper end of the tong is provided with threaded connector, screw thread is provided with the clamping head Hole, the tong are threadedly coupled using the threaded connector with the screwed hole.
Further, preferably, the tong is stretched out by the through hole on the lower fixed seat.
Further, preferably, being provided with stopper slot on the limit base, the eccentric rotary is spacing described spacing In groove.
Further, preferably, the clamping bar is four that circumference array is set.
Compared with prior art, the beneficial effects of the invention are as follows:
The present invention can not only realize carries out self-centering clamp operation to cylindrical workpiece using clamping head, but also can utilize Dismountable tong captures to other shapes of workpiece, improves the applicable effect of the present invention, determines moreover, the present invention clamps Position precision is high, and positioning precision is quick and convenient, can quickly realize self-centering operation.
Brief description of the drawings
Fig. 1 is a kind of structural representation of full-automatic clamping mechanical hand of the present invention;
Fig. 2 is a kind of clamp structure diagram of full-automatic clamping mechanical hand of the present invention;
Fig. 3 is a kind of cross section structure diagram of full-automatic clamping mechanical hand of the present invention
Wherein, 1, connecting seat, 2, fixed seat, 3, outer seat, 4, lower fixed seat, 5, tong, 6, cylinder, 7, drive seat, 8, drive rod, 9th, connecting shaft, 10, cam, 11, cam path, 12, main rotation seat, 13, bearing block, 14, bearing, 15, from rotation seat, 16, auxiliary Seat, 17, limit base, 18, clamping bar, 19, eccentric rotary head, 20, secondary guide, 21, spring, 22, through hole, 23, threaded connection Head, 24, workpiece, 25, clamping head, 26, back-moving spring.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme:A kind of full-automatic clamping mechanical hand, it includes connecting seat 1st, fixed seat 2, cylinder 6, cam pack, runner assembly and clamp assembly, it is characterised in that the lower end of the connecting seat 1 is fixed It is arranged in the fixed seat 2, cylinder 6 is provided with the fixed seat 2, the piston rod of the cylinder 6 connects the cam set Part, the lower end of the cam pack connect the runner assembly, clamp assembly, the clamping group are provided with the runner assembly Part realizes the clamping to workpiece under the driving of the cylinder, and clamping head and tong 5 are provided with the clamp assembly, wherein, The tong 5 is removably arranged on the clinch ear downside, central axis side of the tong along the clamp assembly To extending downwardly, radial direction of the clamping head along the clamp assembly is moved to be pressed from both sides from the circumferencial direction of workpiece Clamping of workpieces.
Such as Fig. 1, the cam pack includes cam 10, drive seat 7 and limit assembly, and the runner assembly comprises at least master Rotation seat 12, wherein, the upper end of the drive seat 7 is fixed on the piston rod of cylinder 6, and the lower end of the drive seat 7 is at least set Be equipped with a drive rod 8, the lower end of the drive rod 8 is provided with the connecting shaft 9 of setting normal thereto, the cam 10 it is cylindrical Cam path 11 is provided with week, the end of the connecting shaft 9, which is stretched into, to be arranged in the cam path 11, and the connecting shaft 9 The cell wall up and down of excircle and the cam path 11 is equipped with, and the lower surface of the cam 10 is fixed with the main rotation seat 12, the excircle of the main rotation seat 12 is provided with limit assembly, and the limit assembly limits the active swivel base along wherein Heart axis direction moves up and down, and allows the active swivel base to be rotated along its center axis direction.
Wherein, the limit assembly includes bearing block 13 and bearing 14, wherein, on the inwall of the outer seat 3 described in correspondence The position of main rotation seat is provided with the bearing block 13, and bearing outer ring is provided with the bearing block 13, and the bearing inner race is embedding Enter and be arranged on the excircle of the main rotation seat.
In the present embodiment, such as Fig. 3, the clamp assembly is included from rotation seat 15, auxiliary block 16, limit base 17, multiple Clamping bar 18 and multiple eccentric rotaries first 19, wherein, the lower end of the main rotation seat is fixed on from the upper end of rotation seat 15, it is described The lower surface of fixed seat is provided with outer seat 3, and the lower end of the outer seat 3 is provided with lower fixed seat 4, the upper end of the lower fixed seat 4 Face is fixedly installed auxiliary block 16 and limit base 17, the outer seat 3, from rotation seat 15, auxiliary block 16 and limit base 17 successively from It is coaxially disposed outside to inside, the end set of the clamping bar 18 has a bar-shaped trough, described to be provided with articulated column from rotation seat, described Clamp, 18 it is be hinged be arranged in the articulated column, the inner of the clamping bar 18, which is stretched into, to be arranged in the limit base, and described The inner end of clamping bar is provided with eccentric rotary first 19, and the eccentric rotary first 19 is rotatably be hinged to be arranged on the spacing of limit base In groove, the inwall of the eccentric rotary first 19 is provided with chuck 25.
Wherein, such as Fig. 1, auxiliary connecting shaft is additionally provided with the cam path, the auxiliary connecting shaft is located at the auxiliary The bottom of guide rod 20, the upper end connection of the secondary guide 20 are arranged on the lower end of spring 21, and the lower end of the spring 21 is consolidated Surely it is arranged in the drive seat.
In addition, such as Fig. 3, described that back-moving spring 26 is provided between rotation seat and the auxiliary block.
Such as Fig. 2, the upper end of the tong is provided with threaded connection, and 23, screwed hole, the folder are provided with the clamping head Hand getting is threadedly coupled with the threaded connector with the screwed hole.The tong is stretched by the through hole on the lower fixed seat Go out.Stopper slot is provided with the limit base, the eccentric rotary is spacing in the stopper slot.The clamping bar is circumference Four of array setting.
The present invention can not only realize carries out self-centering clamp operation to cylindrical workpiece using clamping head, but also can be with Other shapes of workpiece is captured using dismountable tong, improves the applicable effect of the present invention, moreover, present invention folder Tight positioning precision is high, and positioning precision is quick and convenient, can quickly realize self-centering operation.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims (10)

1. a kind of full-automatic clamping mechanical hand, it includes connecting seat, fixed seat, cylinder, cam pack, runner assembly and clamping group Part, it is characterised in that the lower end of the connecting seat is fixedly installed in the fixed seat, and cylinder is provided with the fixed seat, The piston rod of the cylinder connects the cam pack, and the lower end of the cam pack connects the runner assembly, the rotation Clamp assembly is provided with component, the clamp assembly realizes the clamping to workpiece, the clamping under the driving of the cylinder Clamping head and tong are provided with component, wherein, the tong is removably arranged on the clinch ear downside, the tong Extended downwardly along the central axial direction of the clamp assembly, radial direction of the clamping head along the clamp assembly is moved Move to be clamped workpiece from the circumferencial direction of workpiece.
A kind of 2. full-automatic clamping mechanical hand according to claim 1, it is characterised in that:The cam pack includes convex Wheel, drive seat and limit assembly, the runner assembly comprise at least main rotation seat, wherein, the upper end of the drive seat is fixed on On the piston rod of cylinder, the lower end of the drive seat at least provided with a drive rod, the lower end of the drive rod be provided with Vertically disposed connecting shaft, be provided with cam path on the excircle of the cam, the end of the connecting shaft, which is stretched into, to be arranged on In the cam path, and the cell wall up and down of the excircle of the connecting shaft and the cam path is equipped with, under the cam End face is fixed with the main rotation seat, and the excircle of the main rotation seat is provided with limit assembly, and the limit assembly limits institute State active swivel base to move up and down along its center axis direction, and allow the active swivel base to turn along its center axis direction It is dynamic.
A kind of 3. full-automatic clamping mechanical hand according to claim 2, it is characterised in that:The limit assembly includes bearing Seat and bearing, wherein, the position that the main rotation seat is corresponded on the inwall of the outer seat is provided with the bearing block, the bearing Bearing outer ring is provided with seat, the bearing inner race insertion is arranged on the excircle of the main rotation seat.
A kind of 4. full-automatic clamping mechanical hand according to claim 2, it is characterised in that:The clamp assembly include from turn Dynamic seat, auxiliary block, limit base, multiple clamping bars and multiple eccentric rotary heads, wherein, it is fixed on the master from the upper end of rotation seat The lower end of rotation seat, the lower surface of the fixed seat are provided with outer seat, and the lower end of the outer seat is provided with lower fixed seat, under described The upper surface of fixed seat is fixedly installed auxiliary block and limit base, the outer seat, from rotation seat, auxiliary block and limit base successively from It is coaxially disposed outside to inside, the end set of the clamping bar has bar-shaped trough, described that articulated column, the folder are provided with from rotation seat Tight bar is be hinged to be arranged in the articulated column, and the inner of the clamping bar, which is stretched into, to be arranged in the limit base, and the clamping The inner end of bar is provided with eccentric rotary head, and the eccentric rotary head is rotatably be hinged to be arranged in the stopper slot of limit base, institute The inwall for stating eccentric rotary head is provided with chuck.
A kind of 5. full-automatic clamping mechanical hand according to claim 2, it is characterised in that:It is additionally provided with the cam path Connecting shaft is aided in, the auxiliary connecting shaft is located at the bottom of the secondary guide, and the upper end connection of the secondary guide is set In the lower end of spring, the lower end of the spring is fixedly installed in the drive seat.
A kind of 6. full-automatic clamping mechanical hand according to claim 4, it is characterised in that:It is described from rotation seat with it is described auxiliary Help between seat and be provided with back-moving spring.
A kind of 7. full-automatic clamping mechanical hand according to claim 4, it is characterised in that:The upper end of the tong is provided with Threaded connector, screwed hole is provided with the clamping head, the tong is using the threaded connector and the screwed hole spiral shell Line connects.
A kind of 8. full-automatic clamping mechanical hand according to claim 4, it is characterised in that:The tong passes through described lower solid Through hole in reservation stretches out.
A kind of 9. full-automatic clamping mechanical hand according to claim 4, it is characterised in that:Set on the limit base limited Position groove, the eccentric rotary are spacing in the stopper slot.
A kind of 10. full-automatic clamping mechanical hand according to claim 4, it is characterised in that:The clamping bar is Circle-Array Four of row setting.
CN201710779534.2A 2017-09-01 2017-09-01 Full-automatic clamping manipulator Active CN107351110B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710779534.2A CN107351110B (en) 2017-09-01 2017-09-01 Full-automatic clamping manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710779534.2A CN107351110B (en) 2017-09-01 2017-09-01 Full-automatic clamping manipulator

Publications (2)

Publication Number Publication Date
CN107351110A true CN107351110A (en) 2017-11-17
CN107351110B CN107351110B (en) 2020-08-25

Family

ID=60290711

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710779534.2A Active CN107351110B (en) 2017-09-01 2017-09-01 Full-automatic clamping manipulator

Country Status (1)

Country Link
CN (1) CN107351110B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112355874A (en) * 2020-11-18 2021-02-12 王刚 Polishing device for surfaces of parts of numerical control machine tool

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10120939A1 (en) * 2001-04-20 2002-10-24 Schunk Gmbh & Co Kg Gripper for manipulators has electric drive for actuator part with drive shaft coupled to actuator part via spindle drive in the form of a trapezoidal or conical threaded drive
CN101797711A (en) * 2010-03-22 2010-08-11 河北农业大学 Workpiece combined clamp for abrasive wheel cutting machine
CN103111859A (en) * 2012-12-09 2013-05-22 重庆盾铭电磁阀有限公司 Cam clamping device
CN203512869U (en) * 2013-10-16 2014-04-02 贵州平水机械有限责任公司 Automatic grabbing device for reel paper
CN204819549U (en) * 2015-07-24 2015-12-02 沈阳通用机器人技术股份有限公司 Terminal mechanical gripper of two degree of freedom robots
CN205166444U (en) * 2015-11-13 2016-04-20 浙江全顺机床有限公司 Numerical control machine tool chuck subassembly
CN107097052A (en) * 2017-07-04 2017-08-29 桐乡市大周商贸有限公司 A kind of short axle swivel feeding device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10120939A1 (en) * 2001-04-20 2002-10-24 Schunk Gmbh & Co Kg Gripper for manipulators has electric drive for actuator part with drive shaft coupled to actuator part via spindle drive in the form of a trapezoidal or conical threaded drive
CN101797711A (en) * 2010-03-22 2010-08-11 河北农业大学 Workpiece combined clamp for abrasive wheel cutting machine
CN103111859A (en) * 2012-12-09 2013-05-22 重庆盾铭电磁阀有限公司 Cam clamping device
CN203512869U (en) * 2013-10-16 2014-04-02 贵州平水机械有限责任公司 Automatic grabbing device for reel paper
CN204819549U (en) * 2015-07-24 2015-12-02 沈阳通用机器人技术股份有限公司 Terminal mechanical gripper of two degree of freedom robots
CN205166444U (en) * 2015-11-13 2016-04-20 浙江全顺机床有限公司 Numerical control machine tool chuck subassembly
CN107097052A (en) * 2017-07-04 2017-08-29 桐乡市大周商贸有限公司 A kind of short axle swivel feeding device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
孙开元等: "《常用机构设计及应用图例》", 31 July 2010 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112355874A (en) * 2020-11-18 2021-02-12 王刚 Polishing device for surfaces of parts of numerical control machine tool

Also Published As

Publication number Publication date
CN107351110B (en) 2020-08-25

Similar Documents

Publication Publication Date Title
CN110052872B (en) Indexing milling machine fixture and using method thereof
CN209850431U (en) Clamp for bearing ring machining lathe
CN207431798U (en) A kind of hole special drill press fixture that can beat round piece
CN202622381U (en) Semi-automatic clamper
CN106424994A (en) Universal clamp achieving slow wire winding
CN107351110A (en) A kind of full-automatic clamping mechanical hand
CN206200611U (en) A kind of polygonal part Automatic-clamping centering machine
CN204976114U (en) Accurate directional locking anchor clamps of simple and easy quick clamping
CN209532814U (en) A kind of inside spline wheel gear blank smart car built-up jig
CN107756649A (en) A kind of carbon electrode bore hole covers outer cone lathe
CN103009161B (en) Centering clamp for clamping precision forged piece
CN201684930U (en) Automatic expansion center device
CN211103640U (en) Clamp for machining slewing bearing gear
CN107363279A (en) A kind of adjustable multifunction hydraulic fixture of numerically controlled lathe
CN101214597B (en) Abutting joint bolt root segment R district rolling intensification clamp
CN102922450A (en) Clamping device for cylindrical surface test piece
CN207414861U (en) A kind of long axis frock clamp
CN208575422U (en) A kind of automobile rear axle welding clamp
CN207564713U (en) A kind of carbon electrode bore hole covers outer cone lathe
CN207171567U (en) A kind of axle class tool for processing fixture
CN102794663B (en) Multi-direction tension clamping location tool for processing part
CN104014830A (en) Automatic turning pipe clamp chuck device
CN104972138B (en) Small size lathe
CN201579611U (en) Motorcycle shock absorber drill jig
CN206747676U (en) Effort-saving cutter chuck

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant