CN108002322B - Intelligent mineral separation sample barrel uncapping detection method, detection device and uncapping device - Google Patents
Intelligent mineral separation sample barrel uncapping detection method, detection device and uncapping device Download PDFInfo
- Publication number
- CN108002322B CN108002322B CN201711336572.7A CN201711336572A CN108002322B CN 108002322 B CN108002322 B CN 108002322B CN 201711336572 A CN201711336572 A CN 201711336572A CN 108002322 B CN108002322 B CN 108002322B
- Authority
- CN
- China
- Prior art keywords
- uncapping
- cover
- barrel
- weighing
- sample
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses an intelligent ore sample separating barrel uncovering detection method, which comprises the following steps: s01, weighing the cover opening device in real time when the cover opening device sucks the cover and runs upwards; s02, judging whether the cover opening is normal or not according to the weight signal. The invention also discloses a detection device, which comprises a weighing unit and a control unit, wherein the weighing unit is used for weighing the cover opening device in real time; the control unit is used for judging whether the cover opening is normal or not according to the weight signal. The invention also correspondingly discloses a cover opening device which comprises a supporting plate, a vertical lifting assembly, a cover sucking assembly and a cover opening detection device, wherein the periphery side of the supporting plate is fixed on a fixed platform, the fixed end of the vertical lifting assembly is arranged on the supporting plate, the cover sucking assembly is arranged at the movable end of the vertical lifting assembly, and the weighing unit is arranged between the supporting plate and the fixed platform. The detection method, the detection device and the discharging device have the advantages of timely and accurate detection and the like.
Description
Technical Field
The invention mainly relates to the technical field of ore separation, in particular to an intelligent ore-separating sample barrel uncapping detection method, an intelligent ore-separating sample barrel uncapping detection device and an intelligent ore-separating sample barrel uncapping device.
Background
At present, the intelligent mineral separation sample barrel uncapping system comprises a supporting plate, a lifting cylinder, a sucker and the like, wherein the supporting plate is fixed on a fixed platform, and the lifting cylinder is fixed below the supporting plate; the lock head is arranged on the barrel cover, the lock body is arranged on the sample barrel, and the horizontal movement of the lock head is controlled to lock and unlock the sample barrel; the lifting cylinder is provided with a sucker at one end, and the sucker is provided with an electromagnet to complete the lifting action along with the cylinder, and a corresponding barrel cover is internally provided with an iron block. When the electromagnet on the sucker is electrified, the electromagnet will attract the iron block on the barrel cover, and the lifting cylinder lifts upwards, so that the cover opening action is completed.
In the process of uncapping, it is generally necessary to detect the uncapping condition, and many factors that currently cause unsuccessful uncapping are: (1) Only one end is stressed due to the fact that the sucker is pressed down and the barrel cover are not on the same horizontal plane; (2) insufficient attraction force caused by insufficient magnetism of the electromagnet; (3) Unsuccessful unlocking of the lid causes the sample barrel to be sucked up together.
The current method for detecting the uncovering comprises the following steps: a pair of photoelectric correlation switches are arranged on one side of the barrel cover, and the photoelectric correlation switches and the barrel cover in the uncapped state are positioned on the same horizontal plane. When the lid is normally sucked up, no lid signal will be detected. However, such detection is only possible for the case where the above (1) and (2) are unsuccessful in uncovering, and the determination is not possible for the case (3). And the detection that the sample barrels are sucked together, because the opening of the cover is unsuccessful, which causes the barrels to be sucked up together with the cover. The damage caused by the situation is destructive, and if the sample barrel is lifted and cannot be timely and effectively detected, the structure is damaged due to collision caused by continued action of the slewing mechanism. The sample barrel is lifted at present, which comprises the following three conditions: (1) The sample barrel is vertically sucked up because the lock heads on both sides are not opened; (2) The left lock head is not opened, so that the sample barrel is deflected rightwards and lifted; (3) The right lock is not opened, so that the sample barrel is deflected leftwards and lifted. After the sample barrel is lifted, the sample barrel is inclined or turned over due to loosening and falling, and the state cannot be predicted. At present, the traditional solution is generally to add an approach switch at the bottom end or the side edge of the sample barrel to sense, and when the sample barrel is lifted, the sensing signal disappears. But this solution has the drawbacks: whether the inductive switch is added at the bottom or the side, the proximity switch is added in a plurality of directions around, so that various states of the sample barrel which is lifted can be reliably detected, the cost is increased, the recognition time is prolonged, and the difficulty of early recognition risk is increased because the proximity switch outputting the switching value only has two signal states of 1 and 0 and cannot capture the gradual change process in the middle. When the scheme is adopted in actual use, the bottom of the sample barrel can be identified at least when the bottom is lifted by more than 3cm, and the sample barrel is put down at the height, so that the original positioning reference is changed, the problem of manual intervention is solved, and automatic operation cannot be realized. Therefore, it is necessary to predict in advance that the bucket will be lifted before the sample bucket is lifted or when the bucket is lifted to a small height. And judging and processing are adopted before the fault is about to occur or occurs, so that the fault can be avoided, and unattended operation is realized.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides an intelligent ore sample separating barrel uncapping detection method, device and uncapping device which are comprehensive, timely, accurate and reliable in detection.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an intelligent mineral separation sample barrel uncapping detection method comprises the following steps:
s01, weighing the cover opening device in real time when the cover opening device sucks the cover and runs upwards;
s02, judging whether the cover opening is normal or not according to the weight signal of the cover opening device.
As a further improvement of the above technical scheme:
the judging process in the step S02 is as follows:
when m3=0, it indicates that neither the bucket cover nor the sample bucket is sucked up, and the suction cover fails;
m3 is more than 0 and less than M1, and the cover is stressed only on one side when the cover is sucked;
m3=m1, indicating successful cap suction;
m1 is more than M3 and less than M1+M2, which means that the sample barrel is in an inclined state;
m3=m1+m2, which means that the lid and the whole of the sample barrel are lifted;
the weighing value is set to zero when the cover opening device is empty, and M1 is the weight of the barrel cover; m2 is the weight of the sample barrel; m3 is a real-time weighing signal.
In step S01, the cover opening device is weighed in real time during the process of the cover opening device rising at a constant speed.
The invention also discloses an intelligent mineral sample separating barrel uncapping detection device, which comprises a weighing unit and a control unit, wherein the weighing unit is arranged between a supporting plate and a fixed platform of the uncapping device and is used for weighing the uncapping device in real time when the uncapping device sucks and upwards operates; the control unit is connected with the weighing unit and is used for judging whether the cover opening is normal or not according to the weight signal of the cover opening device.
As a further improvement of the above technical scheme:
the weighing unit is communicated with the control unit through Modbus.
The weighing unit is a weighing sensor.
The control unit is a PLC.
The invention also correspondingly discloses an intelligent mineral separation sample barrel uncapping device which comprises a supporting plate, a vertical lifting assembly and a cover sucking assembly, wherein the periphery side of the supporting plate is fixed on a fixed platform, the fixed end of the vertical lifting assembly is arranged on the supporting plate, the cover sucking assembly is arranged at the movable end of the vertical lifting assembly, the intelligent mineral separation sample barrel uncapping detection device is further provided, and a weighing unit in the intelligent mineral separation sample barrel uncapping detection device is arranged between the supporting plate and the fixed platform.
As a further improvement of the above technical scheme:
the vertical lifting component is a lifting cylinder.
The suction cover assembly comprises a suction cup, and an electromagnet which is used for sucking an iron block on the barrel cover when the suction cup is electrified is arranged on the suction cup.
Compared with the prior art, the invention has the advantages that:
according to the intelligent mineral separation sample barrel uncapping detection method, the intelligent mineral separation sample barrel uncapping detection device and the intelligent mineral separation sample barrel uncapping detection device, the uncapping device is weighed in real time, weighing signals are comprehensively compared with the weights of the barrel cover and the sample barrel, and various uncapping states can be judged according to comparison results, so that intervention is performed in time; and the detection is comprehensive, timely, accurate and reliable.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a diagram of an embodiment of the door opening device of the present invention in a specific application.
The reference numerals in the figures denote: 1. a base; 2. a sample barrel; 21. a handle; 22. a lock body; 3. a barrel cover; 31. iron blocks; 32. a lock head; 4. a suction cap assembly; 41. an electromagnet; 5. a vertical lifting assembly; 6. a support plate; 7. a fixed platform; 8. and a weighing unit.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, the method for detecting the uncovering of the intelligent ore sample separation barrel in the embodiment comprises the following steps:
s01, weighing the cover opening device in real time when the cover opening device sucks the cover and runs upwards;
s02, judging whether the cover opening is normal or not according to the weight signal of the cover opening device.
Specifically, the judgment process in step S02 is:
when m3=0, it indicates that neither the bucket cover 3 nor the sample bucket 2 is sucked up, and the suction cover fails;
m3 is more than 0 and less than M1, and the reason that only one side of the barrel cover 3 is stressed when the cover is sucked is that only one side of the barrel cover 3 is unlocked;
m3=m1, indicating successful cap suction;
m1 is more than M3 and less than M1+M2, which means that the sample barrel 2 is in an inclined state, because only one side of the barrel cover 3 is unlocked;
m3=m1+m2, which means that the lid 3 and the whole of the sample vessel 2 are lifted;
wherein the weighing value is set to zero when the cover opening device is empty, and M1 is the weight of the barrel cover 3; m2 is the weight of the sample barrel 2; m3 is a real-time weighing signal.
According to the intelligent mineral separation sample barrel uncapping detection method, the uncapping device is weighed in real time, the weighing signals are comprehensively compared with the weights of the barrel cover 3 and the sample barrel 2, and various uncapping states can be judged according to comparison results, so that intervention is performed timely; and the detection is comprehensive, timely, accurate and reliable.
In the embodiment, in step S01, in the process of lifting the cover opening device at a constant speed, the cover opening device is weighed in real time, so that the weighing accuracy is ensured; the filter processing is carried out in the acceleration process of 100-200ms when the cover is sucked and lifted (the weight signal has the interference of acceleration at the moment), and the final judging result is mostly processed in the lifting 1S, so that the timely and accurate judgment is ensured.
As shown in fig. 2, the invention also discloses an intelligent mineral separation sample barrel uncapping detection device, which comprises a weighing unit 8 and a control unit, wherein the weighing unit 8 is arranged between a supporting plate 6 and a fixed platform 7 of the uncapping device and is used for weighing the uncapping device in real time when the uncapping device sucks and upwards operates; the control unit is connected with the weighing unit 8 and is used for judging whether the cover is normal according to the weight signal of the cover opening device, and the specific judgment is as described in the method. The weighing unit 8 adopts a weighing sensor, the change of weighing signals is controlled at ms level, the timely reliability of detection is guaranteed, the control unit adopts PLC, and the communication between the PLC and the weighing sensor is realized through Modbus, so that the communication rapidity is further improved.
As shown in fig. 2, the invention also discloses an intelligent sample separation barrel uncapping device, which comprises a supporting plate 6, a vertical lifting component 5, a cover sucking component 4 and the intelligent sample separation barrel uncapping detection device, wherein the periphery side of the supporting plate 6 is fixed on a fixed platform 7, the fixed end of the vertical lifting component 5 is arranged on the supporting plate 6, the cover sucking component 4 is arranged at the movable end of the vertical lifting component 5, and a weighing unit 8 in the intelligent sample separation barrel uncapping detection device is arranged between the supporting plate 6 and the fixed platform 7. Wherein sample barrel 2 is placed on base 1, and the both sides of sample barrel 2 are provided with handle 21, install tapered end 32 on the bung 3, install lock body 22 on the sample barrel 2, control tapered end 32 horizontal motion realization sample barrel 2's locking and unblock.
In this embodiment, the vertical lifting component 5 is a lifting cylinder, and in other embodiments, it may be another telescopic member such as an oil cylinder. In addition, the cover suction assembly 4 comprises a sucker, an electromagnet 41 is arranged on the sucker, and the electromagnet 41 sucks the iron block 31 on the barrel cover 3 when being electrified, so that the cover is opened. When the cover opening operation is carried out, the cover suction assembly 4 moves downwards to the lower limit along with the lifting cylinder, then unlocking is carried out between the cover 3 and the sample barrel 2, the lock head 32 is separated from the lock body 22, the electromagnet 41 on the cover suction assembly 4 is electrified to suck the iron block 31 on the cover 3, so that the cover 3 is sucked, and the lifting cylinder drives the cover 3 to move upwards to realize cover opening.
While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art, or equivalent embodiments with equivalent variations can be made, without departing from the scope of the invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (9)
1. The intelligent mineral separation sample barrel uncapping detection method is characterized by comprising the following steps of:
s01, weighing the cover opening device in real time when the cover opening device sucks the cover and runs upwards;
s02, judging whether the cover opening is normal or not according to the weight signal of the cover opening device;
the judging process in the step S02 is as follows:
when m3=0, the barrel cover (3) and the sample barrel (2) are not sucked, and the suction cover fails;
m3 is more than 0 and less than M1, and only one side of the barrel cover (3) is stressed when the cover is sucked;
m3=m1, indicating successful cap suction;
m1 is more than M3 and less than M1+M2, which means that the sample barrel (2) is in an inclined state;
m3=m1+m2, which means that the lid (3) and the sample barrel (2) are lifted up integrally;
wherein the weighing value is set to zero when the cover opening device is in no-load state, and M1 is the weight of the barrel cover (3); m2 is the weight of the sample barrel (2); m3 is a real-time weighing signal.
2. The intelligent mineral separation barrel uncapping detection method according to claim 1, wherein in step S01, the uncapping device is weighed in real time during the uniform rising of the uncapping device.
3. An intelligent sample separation barrel uncapping detection device for performing the intelligent sample separation barrel uncapping detection method according to claim 1 or 2, which is characterized by comprising a weighing unit (8) and a control unit, wherein the weighing unit (8) is arranged between a supporting plate (6) and a fixed platform (7) of the uncapping device and is used for weighing the uncapping device in real time when the uncapping device sucks and upwards operates; the control unit is connected with the weighing unit (8) and is used for judging whether the cover opening is normal or not according to the weight signal of the cover opening device.
4. An intelligent mining sample barrel uncapping detection device according to claim 3, wherein the weighing unit (8) and the control unit are in communication through Modbus.
5. The intelligent mineral separation barrel uncapping detection apparatus according to claim 3 or 4, wherein the weighing unit (8) is a weighing sensor.
6. The intelligent mineral separation barrel uncap detection apparatus of claim 5, wherein the control unit is a PLC.
7. The utility model provides an intelligence divides mineral sample bucket device of uncapping, includes backup pad (6), vertical lift subassembly (5) and inhales lid subassembly (4), the week side of backup pad (6) is fixed in on fixed platform (7), the stiff end setting of vertical lift subassembly (5) is on backup pad (6), inhale lid subassembly (4) and install in the expansion end of vertical lift subassembly (5), its characterized in that still includes the intelligent mineral sample bucket detection device that uncaps of arbitrary one of claims 3-6, weighing cell (8) among the intelligent mineral sample bucket detection device that uncaps install in between backup pad (6) and fixed platform (7).
8. The intelligent mineral separation barrel uncapping apparatus of claim 7, wherein the vertical lifting assembly (5) is a lifting cylinder.
9. The intelligent mineral separation barrel uncapping device according to claim 7 or 8, wherein the cover suction assembly (4) comprises a sucker, and an electromagnet (41) for sucking an iron block on the barrel cover (3) when the sucker is electrified is arranged on the sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711336572.7A CN108002322B (en) | 2017-12-14 | 2017-12-14 | Intelligent mineral separation sample barrel uncapping detection method, detection device and uncapping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711336572.7A CN108002322B (en) | 2017-12-14 | 2017-12-14 | Intelligent mineral separation sample barrel uncapping detection method, detection device and uncapping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108002322A CN108002322A (en) | 2018-05-08 |
| CN108002322B true CN108002322B (en) | 2023-07-14 |
Family
ID=62058747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711336572.7A Active CN108002322B (en) | 2017-12-14 | 2017-12-14 | Intelligent mineral separation sample barrel uncapping detection method, detection device and uncapping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108002322B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114222650A (en) * | 2019-09-30 | 2022-03-22 | 上海成业智能科技股份有限公司 | Method and device for extracting product through magnetic adsorption |
| CN112723277A (en) * | 2020-12-17 | 2021-04-30 | 广州市永合祥自动化设备科技有限公司 | Automatic can opener |
| CN113501483A (en) * | 2021-07-29 | 2021-10-15 | 常州纺织服装职业技术学院 | IBC barrel double-station automatic filling line control method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE7718872U1 (en) * | 1977-06-15 | 1977-09-29 | Csoka, Tamas, 2000 Hamburg | OPENER FOR BOTTLE SCREW CAPS |
| DE8212656U1 (en) * | 1982-05-03 | 1982-09-02 | Berendsohn Ag, 2000 Hamburg | DEVICE FOR OPENING AND CLOSING A BOTTLE |
| CN1334447A (en) * | 2000-07-24 | 2002-02-06 | 株式会社石田 | Combined metering device and system |
| CN1606518A (en) * | 2001-10-19 | 2005-04-13 | 蒙诺根有限公司 | Article handling system and method |
| CN102042957A (en) * | 2009-10-16 | 2011-05-04 | 优志旺电机株式会社 | Inspection apparatus using a chip |
| KR20120004086U (en) * | 2010-12-01 | 2012-06-11 | 김훈민 | monkey opener |
| CN205527655U (en) * | 2016-04-27 | 2016-08-31 | 江西稀有稀土金属钨业集团有限公司 | Bung is corrected and cap opener |
| CN106142657A (en) * | 2015-04-07 | 2016-11-23 | 合肥海德数控液压设备有限公司 | Cavity liner automatization takes cover system |
| CN206705645U (en) * | 2017-05-03 | 2017-12-05 | 鹤山市华轩涂料有限公司 | A kind of paint can rotates suction cover package system automatically |
-
2017
- 2017-12-14 CN CN201711336572.7A patent/CN108002322B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE7718872U1 (en) * | 1977-06-15 | 1977-09-29 | Csoka, Tamas, 2000 Hamburg | OPENER FOR BOTTLE SCREW CAPS |
| DE8212656U1 (en) * | 1982-05-03 | 1982-09-02 | Berendsohn Ag, 2000 Hamburg | DEVICE FOR OPENING AND CLOSING A BOTTLE |
| CN1334447A (en) * | 2000-07-24 | 2002-02-06 | 株式会社石田 | Combined metering device and system |
| CN1606518A (en) * | 2001-10-19 | 2005-04-13 | 蒙诺根有限公司 | Article handling system and method |
| CN102042957A (en) * | 2009-10-16 | 2011-05-04 | 优志旺电机株式会社 | Inspection apparatus using a chip |
| KR20120004086U (en) * | 2010-12-01 | 2012-06-11 | 김훈민 | monkey opener |
| CN106142657A (en) * | 2015-04-07 | 2016-11-23 | 合肥海德数控液压设备有限公司 | Cavity liner automatization takes cover system |
| CN205527655U (en) * | 2016-04-27 | 2016-08-31 | 江西稀有稀土金属钨业集团有限公司 | Bung is corrected and cap opener |
| CN206705645U (en) * | 2017-05-03 | 2017-12-05 | 鹤山市华轩涂料有限公司 | A kind of paint can rotates suction cover package system automatically |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108002322A (en) | 2018-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108002322B (en) | Intelligent mineral separation sample barrel uncapping detection method, detection device and uncapping device | |
| CN205397768U (en) | Elevator tenesmus buffer | |
| CN105438918A (en) | Elevator falling buffering device | |
| CN106744515A (en) | The automatic leveling device for fork and leveling method of electri forklift | |
| CN106429995A (en) | Fork lowering device and fork descent method of electric forklift | |
| CN111301911B (en) | Visual logic control method for stacker | |
| CN111539344A (en) | Control system and method for preventing container truck from being lifted based on video stream and artificial intelligence | |
| CN101730655A (en) | Lifting hook | |
| CN207811223U (en) | A kind of intelligence divides sample ore bucket uncovering detection device and hood-opening device | |
| CN109384181B (en) | Automatic cover feeding device for bearing bottles, working method and bottling and boxing assembly line | |
| CN210256174U (en) | Automatic grabbing device of electrolyte barrel and manipulator for grabbing electrolyte barrel | |
| KR20190027618A (en) | Container safety monitoring system and Method thereof | |
| CN114952871B (en) | System and method for sorting object blocks | |
| US3805975A (en) | Apparatus for charging a coke oven | |
| CN107235458B (en) | Detection device and detection method | |
| CN100503414C (en) | Clamper caging device for carbon block stacking overhead travelling crane | |
| CN110065860A (en) | Elevator control method and system | |
| CN114952697A (en) | Equipment for removing protective cover of camera | |
| CN208217735U (en) | A kind of upper cover tripper and automatic production line | |
| CN109387273B (en) | Missing detection device and method capable of detecting bearing bottle missing bearing and assembly line | |
| CN114111749B (en) | System and method for judging and calculating hydraulic tail plate action by using gyroscope | |
| CN206392235U (en) | Permanent magnetism ore deposit optional equipment supervising device | |
| KR20170001082A (en) | Apparatus for selecting and loading of thick platespecimen | |
| CN201065305Y (en) | Clamper caging device for carbon block stacking crown block | |
| CN117302705B (en) | Unstacking and conveying system and unstacking and conveying method |
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 |