CN107380476B - A kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle - Google Patents
A kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN107380476B CN107380476B CN201710760637.4A CN201710760637A CN107380476B CN 107380476 B CN107380476 B CN 107380476B CN 201710760637 A CN201710760637 A CN 201710760637A CN 107380476 B CN107380476 B CN 107380476B
- Authority
- CN
- China
- Prior art keywords
- motor
- straight line
- line ejection
- aerial vehicle
- unmanned aerial
- 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
- 230000007246 mechanism Effects 0.000 claims description 27
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052782 aluminium Inorganic materials 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/70—Launching or landing using catapults, tracks or rails
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of straight line ejection motors suitable for electromagnetic launch technology of unmanned aerial vehicle, are related to lift-off technology field.The invention proposes a kind of straight line ejection motors for electromagnetic launch technology of unmanned aerial vehicle, the transmitting and locking of unmanned plane may be implemented, can also realize the braking, reset and position feedback of unmanned plane carrier loader, and usually storage, transport when be able to carry out foldings, reduction the space occupied.
Description
Technical field
The present invention relates to lift-off technology fields, and in particular to a kind of straight line ejection suitable for electromagnetic launch technology of unmanned aerial vehicle is electronic
Machine.
Background technique
Straight line ejection motor is the Motor execution component in electromagnetic ejection system, is a kind of electromagnetic push emitter,
The electric energy of input can be converted to mechanical energy required for ejection, unmanned plane directly not driven forward by any intermediate link
Movement.In addition to this, straight line ejection motor must also realize the preceding positive lock to unmanned plane carrier loader of transmitting；When transmitting
Carrier loader and motor secondary are reliably supported and are oriented to；Unmanned plane separation realizes carrier loader after taking off reliable
Braking；The movement position of Real-time Feedback carrier loader, for carrying out closed-loop control to straight line ejection motor.Therefore, how
A kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle is designed, with function more than realization, is become urgently to be resolved
The technical issues of.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is it is electronic how to design a kind of straight line ejection for electromagnetic launch technology of unmanned aerial vehicle
Machine, to realize the transmitting and locking of unmanned plane.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of straight lines suitable for electromagnetic launch technology of unmanned aerial vehicle to launch electricity
Motivation, the straight line ejection motor are a kind of long primary short secondary, induction type three phase alternating current motor, including short motor 1, long motor
2, fold mechanism 3, secondary plate 4, locking mechanism 5 and laser range sensor mounting base 6；
The short motor 1 has two sets, is located at straight line ejection motor head and the tail both ends；Long motor 2 is located at straight line ejection
The middle position of motor, short motor 1 is identical as long 2 the two structure function of motor, and length is different；The short motor 1 and long electricity
It being linked together between machine 2 using fold mechanism 3, the right and left is respectively fixed with motor module on short motor 1 or long motor 2,
Motor module is the primary of straight line ejection motor, after primary is powered, forms induced magnetic field, which produces on secondary plate 4
Raw induced current, induced current and Induced magnetic field interact, and thrust are generated on secondary plate 4, so that unmanned plane be pushed to deliver
Trolley travels forward, and realizes that unmanned aerial vehicle ejecting takes off；The fold mechanism 3 is made of two panels hinge and a shaft, and two panels is closed
Page by shaft connection, the fold mechanism 3 for realizing straight line ejection motor folding and expansion；Secondary plate 4 is straight line
The secondary of ejection motor, the guide rail that secondary plate 4 respectively has a row elongated above and below, this two rows of guide rail and short motor 1 or long motor 2
Cooperation；There is the locking mechanism 5 for locking carrier loader in the ejection initial position of straight line ejection motor；In locking machine
Structure 5 is followed by the laser range sensor mounting base 6, and laser ranging sensing is fixed in laser range sensor mounting base 6
Device.
Preferably, the secondary plate 4 is aluminum rectangular slab, and aluminium sheet respectively has guide rail elongated described in a row up and down, described logical
Long guide rail constrains all freedom degrees of the carrier loader in addition to directive for unmanned plane carrier loader to be supported and is oriented to.
Preferably, it is machined with inclined-plane on the elongated guide rail, which is used for and leading on short motor 1 or long motor 2
Rail matches, and plays bearing and guiding role to secondary plate 4.
Preferably, respectively there is a protrusion in 4 front and back of secondary plate, and outside nesting protective cover is small for delivering with unmanned plane
Vehicle is in contact, to push carrier loader to travel forward.
Preferably, shear pin is installed on the locking structure 5, is locked carrier loader by the shear pin on locking mechanism 5
It is scheduled on the initial position of ejection.
Preferably, the end of straight line ejection motor be equipped with hydraulic bjuffer, for carrier loader carry out buffering with
Protection.
Preferably, the short motor 1 or long motor 2 further include electric machine support, there is outlet hole, motor module on electric machine support
By upper end outgoing cable to outside electric machine support, and be fixed on connecting terminal, later again with external equipment wiring.
(3) beneficial effect
The invention proposes a kind of straight line ejection motors for electromagnetic launch technology of unmanned aerial vehicle, and the hair of unmanned plane may be implemented
Penetrate and lock, can also realize the braking, reset and position feedback of unmanned plane carrier loader, and usually storage, transport when
It is able to carry out folding, reduces the space occupied.
Detailed description of the invention
Fig. 1 is a kind of straight line ejection motor structural schematic diagram for being adapted to electromagnetic launch technology of unmanned aerial vehicle of the invention；
Fig. 2 is short electric machine structure schematic diagram in the present invention；
Fig. 3 is long electric machine structure schematic diagram in the present invention；
Fig. 4 is fold mechanism structural schematic diagram in the present invention；
Fig. 5 is secondary plate structural schematic diagram in the present invention；
Fig. 6 is locking mechanism and laser range sensor mounting base schematic diagram in the present invention；
Fig. 7 is long/short electric machine structure composition schematic diagram in the present invention；
Fig. 8 is secondary plate and length/short motor interface schematic diagram in the present invention.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
As shown in figs 1 to 6, a kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle of the invention, substantially
Bilateral shape, long primary short secondary, induction type three phase alternating current motor, by short motor 1, long motor 2, fold mechanism 3, secondary plate 4,
Locking mechanism 5, laser range sensor mounting base 6 form.
Short motor 1 has two sets, is located at straight line ejection motor head and the tail both ends.Short motor 1 is straight line ejection electricity with long motor 2
The main structure of motivation, the two structure function is identical, and structure type is similar, and only length is different.Short motor 1 and long motor 2 it
Between linked together using fold mechanism 3.
As shown in fig. 7, short motor 1 or long motor 2 are by the motor module A, electric machine support B, the guide rail C, pedestal D group
At.Have many outlet holes on electric machine support B, motor module A by upper end outgoing cable to electric machine support B outside, and be fixed on and connect
In line terminals, later again with external equipment wiring.
Short motor 1 or 2 the right and left of long motor are fixed with the motor module A, the i.e. primary of line inductance electromotor, primary
After energization, induced magnetic field is formed, which generates induced current on secondary plate 4.Induced current and Induced magnetic field phase interaction
With just producing thrust on secondary plate 4.To push unmanned plane carrier loader to travel forward, realize that unmanned aerial vehicle ejecting takes off.
In addition to this, the guide rail C that short motor 1 or 2 top of long motor have a row elongated, for propping up unmanned plane carrier loader
It holds and is oriented to, guide rail constrains all freedom degrees of the carrier loader in addition to directive.Fold mechanism 3 is by two panels hinge and a shaft
Composition, similar to the hinge of door and window, may be implemented the folding and expansion of straight line ejection motor.
Secondary plate 4 is the secondary of linear motor, it has two rows of elongated guide rails, for cooperating with short motor 1, long motor 2.
Shear pin is installed on locking structure 5, is fixed with laser range sensor in laser range sensor mounting base 6.Secondary plate 4 and straight
The interface relationship of line ejection motor other parts is as shown in Figure 8.Slidway lap on secondary plate 4 is in short motor 1 or long motor 2
Guide rail C on, can move in a straight line on the direction perpendicular to paper.4 main structure of secondary plate is aluminum rectangular thin plate, aluminium
Plate respectively has row's guide rail up and down, is machined with inclined-plane on guide rail, which is used to match with the guide rail C on short motor 1 or long motor 2
It closes, bearing and guiding role is played to secondary plate 4.There are two convex portion, outside nesting protective cover is used for 4 front and back of secondary plate
It is in contact with unmanned plane carrier loader, carrier loader is pushed to travel forward.
There is the locking mechanism 5 for locking carrier loader in the initial position of motor, passes through the shear pin on locking mechanism 5
Carrier loader is positively locked in the initial position of ejection.It is followed by laser range sensor mounting base 6 in locking mechanism 5, is used
In fixed laser distance measuring sensor.There is hydraulic bjuffer in the end of linear motor, for the buffering and protection to carrier loader.
Specific work process is as follows:
Before transmitting, straight line ejection motor is expanded in place into simultaneously positive lock.It is later that secondary plate 4 and unmanned plane delivery is small
Vehicle is sent to inside straight line ejection motor along respective guide rail together.Using shear pin by carrier loader and locking mechanism 5
It links together, realizes secondary plate 4 and unmanned plane carrier loader in the positive lock of ejection initial position.Straight line ejection is electronic
After machine is powered, secondary plate 4 experiences forward electromagnetic push, has the tendency that travelling forward.When electromagnetic push cuts shear pin
After disconnected, secondary plate 4 and unmanned plane carrier loader are realized and are unlocked, and start accelerated motion forward.During the motion, carrier loader
On the continuous feedback position signal of tablet to laser range sensor, convenient for carrying out closed-loop control to straight line ejection motor.
After speed meets unmanned plane takeoff speed, straight line ejection motor is braked suddenly, and unmanned plane takes off by inertia unlock.It is secondary
Step 4 and carrier loader start to brake under the action of straight line ejection motor plugging power, and final speed is reduced to zero.
Finally, secondary plate 4 and carrier loader reset again under the control of straight line ejection motor, preparation emits next time.
As can be seen that the present invention may be implemented:
1) unmanned plane is emitted: after straight line ejection motor powers on, is induced between the air gap of motor module
Magnetic field, magnetic field makes secondary plate generate induced electromotive force and electric current, to generate thrust, carrier loader is pushed to travel forward.Work as nothing
It is man-machine reach movement velocity after, motor is braked suddenly, unmanned plane by inertia unlock take off.
2) carrier loader is braked and resetted: after unmanned plane takes off, motor exports plugging power, so that secondary plate
With slide trolley retarding braking, and final speed is reduced to zero, and later back to the initial position of ejection, preparation emits next time.
3) it locks unmanned plane: being reliably fixed carrier loader by locking device and shear pin before transmission, relied on after powering on
Thrust cuts shear pin, discharges carrier loader.
4) feed back unmanned plane position signal: the laser of laser contact sensor emission reaches on the reflector of carrier loader it
After feed back to laser range sensor, thus the position signal of Real-time Feedback unmanned plane, convenient for being carried out to straight line ejection motor
Closed-loop control.
5) fold and be unfolded: straight line ejection motor is realized by fold mechanism to fold and is unfolded.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle, which is characterized in that the straight line ejection motor is
A kind of long primary short secondary induction formula three phase alternating current motor, including short motor (1), long motor (2), fold mechanism (3), secondary plate
(4), locking mechanism (5) and laser range sensor mounting base (6)；
The short motor (1) has two sets, is located at straight line ejection motor head and the tail both ends；Long motor (2) is located at straight line ejection
The middle position of motor, short motor (1) is identical as long motor (2) the two structure function, and length is different；The short motor (1)
It is linked together between long motor (2) using fold mechanism (3), the right and left is solid respectively on short motor (1) or long motor (2)
Surely there is motor module, motor module is the primary of straight line ejection motor, after primary is powered, forms induced magnetic field, the induction
Magnetic field generates induced current on secondary plate (4), and induced current and induced magnetic field interact, generate and push away on secondary plate (4)
Power realizes that unmanned aerial vehicle ejecting takes off so that unmanned plane carrier loader be pushed to travel forward；The fold mechanism (3) is closed by two panels
Page and a shaft composition, two panels hinge are connected by shaft, and the fold mechanism (3) is for realizing straight line ejection motor
It folds and is unfolded；Secondary of the secondary plate (4) for straight line ejection motor, the guide rail that secondary plate (4) respectively has a row elongated above and below,
This two rows of guide rail and short motor (1) or long motor (2) cooperate；Have in the ejection initial position of straight line ejection motor for locking
The locking mechanism (5) of carrier loader；The laser range sensor mounting base (6), laser are followed by locking mechanism (5)
Distance measuring sensor mounting base is fixed with laser range sensor on (6).
2. being suitable for the straight line ejection motor of electromagnetic launch technology of unmanned aerial vehicle as described in claim 1, which is characterized in that described time
Step (4) is aluminum rectangular slab, and aluminum rectangular slab respectively has a guide rail elongated described in a row up and down, the elongated guide rail for pair
Unmanned plane carrier loader is supported and is oriented to, and constrains all freedom degrees of the carrier loader in addition to directive.
3. being suitable for the straight line ejection motor of electromagnetic launch technology of unmanned aerial vehicle as described in claim 1, which is characterized in that described logical
It is machined with inclined-plane on long guide rail, the inclined-plane with the guide rail on short motor (1) or long motor (2) for matching, to secondary plate
(4) bearing and guiding role are played.
4. being suitable for the straight line ejection motor of electromagnetic launch technology of unmanned aerial vehicle as described in claim 1, which is characterized in that described time
Respectively there are a protrusion, outside nesting protective cover, for being in contact with unmanned plane carrier loader, to push delivery before and after step (4)
Trolley travels forward.
5. being suitable for the straight line ejection motor of electromagnetic launch technology of unmanned aerial vehicle as described in claim 1, which is characterized in that the lock
Determine that shear pin is installed on mechanism (5), carrier loader is locked in the initial bit of ejection by the shear pin on locking mechanism (5)
It sets.
6. being suitable for the straight line ejection motor of electromagnetic launch technology of unmanned aerial vehicle as described in claim 1, which is characterized in that in straight line
The end of ejection motor is equipped with hydraulic bjuffer, for being buffered and being protected to carrier loader.
7. such as the straight line ejection motor described in any one of claims 1 to 6 suitable for electromagnetic launch technology of unmanned aerial vehicle, feature
It is, the short motor (1) or long motor (2) further include electric machine support, have outlet hole on electric machine support, motor module is by upper end
Outgoing cable is fixed on connecting terminal to outside electric machine support, later again with external equipment wiring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760637.4A CN107380476B (en) | 2017-08-30 | 2017-08-30 | A kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760637.4A CN107380476B (en) | 2017-08-30 | 2017-08-30 | A kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107380476A CN107380476A (en) | 2017-11-24 |
| CN107380476B true CN107380476B (en) | 2019-07-05 |
Family
ID=60347846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710760637.4A Active CN107380476B (en) | 2017-08-30 | 2017-08-30 | A kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107380476B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109305381A (en) * | 2018-10-30 | 2019-02-05 | 中国船舶工业系统工程研究院 | A kind of quick power-assisted launching apparatus of unmanned plane cluster |
| CN111559512B (en) * | 2020-04-28 | 2021-12-10 | 北京科技大学 | Laser-loaded array ejection process method |
| CN112461044A (en) * | 2020-10-26 | 2021-03-09 | 北京机械设备研究所 | Non-lethal net-catching and transmitting device |
| CN114572415A (en) * | 2022-01-24 | 2022-06-03 | 中国空气动力研究与发展中心空天技术研究所 | Launching device and method for aircraft takeoff |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104554815A (en) * | 2015-01-19 | 2015-04-29 | 亚欧益盟科技（北京）有限公司 | Electromagnetic catapult |
| CN104691776A (en) * | 2013-12-04 | 2015-06-10 | 中国科学院宁波材料技术与工程研究所 | Permanent magnet linear launch device |
| CN206231638U (en) * | 2016-12-02 | 2017-06-09 | 中国人民解放军国防科学技术大学 | A kind of permanent-magnetism linear motor type electromagnetic launch technology of unmanned aerial vehicle device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9079671B2 (en) * | 2013-01-22 | 2015-07-14 | Exhaustless, Inc. | Aircraft thrust, assembly, and methods |
-
2017
- 2017-08-30 CN CN201710760637.4A patent/CN107380476B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104691776A (en) * | 2013-12-04 | 2015-06-10 | 中国科学院宁波材料技术与工程研究所 | Permanent magnet linear launch device |
| CN104554815A (en) * | 2015-01-19 | 2015-04-29 | 亚欧益盟科技（北京）有限公司 | Electromagnetic catapult |
| CN206231638U (en) * | 2016-12-02 | 2017-06-09 | 中国人民解放军国防科学技术大学 | A kind of permanent-magnetism linear motor type electromagnetic launch technology of unmanned aerial vehicle device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107380476A (en) | 2017-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107380476B (en) | A kind of straight line ejection motor suitable for electromagnetic launch technology of unmanned aerial vehicle | |
| EP3372547B1 (en) | Electric linear motor | |
| CN106394924B (en) | A kind of permanent-magnetism linear motor type electromagnetic launch technology of unmanned aerial vehicle device | |
| US10315886B2 (en) | Electronic safety actuation device with a power assembly, magnetic brake and electromagnetic component | |
| CN206231638U (en) | A kind of permanent-magnetism linear motor type electromagnetic launch technology of unmanned aerial vehicle device | |
| EP3228573B1 (en) | Electronic safety device with a power assembly | |
| EP2957478B1 (en) | System and method for passengers to board on and exit from a train without the train stopping at a train station | |
| US11585048B2 (en) | Method for producing different variants of rails from an assembly set, and system having a vehicle which is movable on a rail component | |
| US20180222325A1 (en) | Device and a method for operating a rail vehicle without an overhead line | |
| CN113302079A (en) | Electric multi-mode driving system, running method thereof, track and vehicle using driving system | |
| CN103273923A (en) | Station system based on synchronous operation of platform train and passenger train | |
| CN104691776B (en) | Permanent-magnet linear catapult-launching gear | |
| CN216993931U (en) | Unmanned aerial vehicle wireless charging hangar | |
| JP2021090343A (en) | Safety function | |
| US10030336B2 (en) | Conveyor system for transporting articles | |
| CN108622115A (en) | Hybrid air cushion suspension track train | |
| JP3930731B2 (en) | Moving system with hybrid linear motor drive | |
| WO2022187455A1 (en) | Rail transportation system | |
| CN108773380A (en) | The track converting system of suspension type rail traffic | |
| CN113295047B (en) | Driving distributed heavy carrier rocket vertical transfer system | |
| CN110406386A (en) | Mechanical guide means for magnetic levitation sled vehicle and the magnetic levitation sled vehicle with it | |
| CN109878753B (en) | Magnetic suspension boosting and capturing device for aircraft | |
| CN208665177U (en) | A kind of mining electric locomotive with two-shipper reconnection function | |
| Post | Toward more efficient transport: The Inductrack maglev system | |
| CN107554810A (en) | A kind of unmanned plane carrier loader suitable for electromagnetic launch |
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 |