CN108032524A - A kind of method by reflecting detection delamination - Google Patents
A kind of method by reflecting detection delamination Download PDFInfo
- Publication number
- CN108032524A CN108032524A CN201711341849.5A CN201711341849A CN108032524A CN 108032524 A CN108032524 A CN 108032524A CN 201711341849 A CN201711341849 A CN 201711341849A CN 108032524 A CN108032524 A CN 108032524A
- Authority
- CN
- China
- Prior art keywords
- sensor
- laser emitter
- printing
- printer
- delamination
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
Abstract
A kind of method by reflecting detection delamination, includes the following steps, instruction is completed in the individual layer printing for receiving 3D printer；Control laser emitter and sensor rotate a circle around workbench, and record was rotated in one week again, and laser emitter reflexes to the laser of sensor by sense state；The laser emitter is set with sensor in the in the same direction of 3D printer workbench；The interlamellar spacing of the laser emitter in the height direction is adapted with the printing layer thickness of 3D printing；Laser emitter and sensor are together rotated around workbench in the operating condition, the real-time sense state information of monitoring sensor；When the real-time sense state information monitored and the sensor photosensitive state recorded mismatch, control 3D printer stops printing.Solve the problems, such as the delamination of detection workpiece not in time.
Description
Technical field
The present invention relates to 3D printing field, more particularly to a kind of printing that can detect 3D printer automatically by reflecting to produce
The method whether product delamination occur.
Background technology
Instantly popular 3D printing technique, is a kind of based on digital model file, with powdery metal or plastics
Etc. can jointing material, come the technology of constructed object by way of successively printing.3D printer then appears in the nineties in last century
Mid-term, i.e., a kind of rapid molding device that technology is folded etc. using photocuring and ply of paper.It is basic with normal printer operation principle
It is identical, equipped with " print materials " such as liquid or powder in printer, after being connected with computer, controlled by computer " printed material " one
It is layering, the blueprint on computer is finally become in kind.Nowadays this technology is applied in multiple fields, people
Clothes, buildings model, automobile, chocolate sweets etc. are manufactured with it.
Since the performance of optional printed material limits, in the successively print procedure of 3D printing, if material caking property is too
It may lead to not well remove from workbench, and the caking property of material is too poor, is possible to cause to produce in print procedure
Between raw different printable layers the problem of being adhered disengagement, once disengage if whole model be changed into waste product, significantly impact work
Progress simultaneously wastes material.
The content of the invention
For this reason, it may be necessary to provide a kind of product delamination detection method of 3D printing, detection workpiece delamination asking not in time is solved
Topic.
A kind of method by reflecting detection delamination, includes the following steps,
Instruction is completed in the individual layer printing for receiving 3D printer；
Control laser emitter and sensor rotate a circle around workbench, and record was rotated in one week again, Laser emission
Device reflexes to the laser of sensor by sense state；The laser emitter setting in the same direction in 3D printer workbench with sensor
Put；The interlamellar spacing of the laser emitter in the height direction is adapted with the printing layer thickness of 3D printing；
Laser emitter and sensor are together rotated around workbench in the operating condition, monitoring sensor photosensitive shape in real time
State information；
When the real-time sense state information monitored and the sensor photosensitive state recorded mismatch, 3D printing is controlled
Machine stops printing.
Specifically, step is further included, the individual layer printing for receiving 3D printer is completed after instructing, and opens the laser hair of respective layer
Emitter.
Further, the sensor is vertically disposed multiple sensors or the narrow bar sensor of Longitudinal extending.
Preferably, step is further included, in the sensor photosensitive state for monitoring real-time sense state information and having recorded not
During matching, alarm signal is sent.
Alternatively, the alarm signal is sound, light or electric signal, is communicated by bluetooth, WiFi, 3G, 4G or 5G to outgoing
Go out.Include the following steps, open laser emitter and sensor；The laser emitter is with sensor in 3D printer workbench
Horizontal direction be oppositely arranged；The laser emitter and sensor interlamellar spacing in the height direction and the printable layer of 3D printing
Thickness is adapted；
The prior art is different from, above-mentioned technical proposal receives the reflection light of workpiece surface by designing laser sensor,
And increase corresponding control logic in the control unit of 3D printer and effectively prevent what is be likely to occur in 3D printing flow
Workpiece delamination is detected not in time, so that the problem of causing waste of material, energy waste.
Brief description of the drawings
Fig. 1 is the delamination reflection detection method flow chart described in embodiment；
Fig. 2 is the delamination reflection detection device structural map described in embodiment；
Fig. 3 is the delamination reflection detection device structural map described in embodiment.
Description of reference numerals：
1st, workbench；
2nd, reflecting plate；
21st, laser emitter；
22nd, sensor；
4th, rotating mechanism；
5th, printhead.
Embodiment
To describe the technology contents of technical solution, construction feature, the objects and the effects in detail, below in conjunction with specific reality
Apply example and coordinate attached drawing to be explained in detail.
Referring to Fig. 1, describing a kind of product delamination detection method of 3D printing, include the following steps,
Instruction is completed in the individual layer printing that S100 receives 3D printer；
S102 controls laser emitter and sensor to rotate a circle around workbench, and record was rotated in one week again, laser
Transmitter reflexes to the laser photosensitive state of sensor；
Laser emitter and sensor together rotate S104 around workbench in the operating condition, and monitoring sensor is felt in real time
Light state information；
S106 controls 3D when the real-time sense state information monitored and the sensor photosensitive state recorded mismatch
Printer stops printing.
The above method can be applied in a kind of product delamination reflection detection device of 3D printing shown in Fig. 2, in figure
It will be seen that the workbench 1 of 3D printing device is arranged under the printhead 5 of printer, the painting for accepting printhead is beaten
Product.Wherein described reflection detection device includes laser emitter 21, sensor 22, and the laser emitter, sensor are together
It is arranged on reflecting plate 2, the laser emitter longitudinal arrangement is set, the interlamellar spacing of the laser emitter in the height direction
It is adapted with the printing layer thickness of 3D printing；The reflecting plate is also connected with rotating mechanism, and the rotating mechanism is used to drive anti-
Penetrate central rotation of the plate around workbench.The setting of laser emitter and sensor on reflecting plate is close, and workbench does not have work
The optical signal that laser emitter is sent in the case of not the blocking of part directly dissipates, and will not be received by sensor, but in work
After making on platform there are workpiece, the light that laser emitter is sent, but can basis since diffusing reflection can be received by sensor
The different situations of workpiece surface, the reflected signal received can differences.
In some embodiments shown in Fig. 1, method may begin at step, and S100 receives the individual layer printing of 3D printer
Instruction is completed, is then turned on the laser emitter corresponding to " individual layer " therein.When individual layer wherein is the bottom, i.e.,
When being initially received the individual layer printing completion instruction of 3D printer, allow rotating mechanism to start to rotate, carry out step S102 controls
Laser emitter and sensor processed rotate a circle around workbench, and record was rotated in one week again, and laser emitter reflexes to biography
The laser photosensitive state of sensor.Since the direction of reflecting plate is pointing directly at the center of workbench, since workpiece has been printed
Out one layer, then transmitting laser that will necessarily be to laser emitter reflects, and allows most of light of laser emitter to reflect
Into sensor (laser emitter can be set towards incomplete vertical reflector, but be slightly toward side where reflector
Can).But this reflected intensity can be with the characteristic of workpiece surface, such as degree of roughness, variable gradient, the distance from reflecting plate
It is affected, during reflecting plate was around workbench rotation one week, if workpiece is in stable condition, sensor receives
Particular moment of the reflected signal in rotating a circle all be to determine.Therefore, sense state as described herein can include turning
Dynamic angle, current location, rotation time, the received light intensity of sensor, waveform, chromatography etc., for example, photosensitive shape in some cases
State is that light intensity reaches a1 luxs, and when rotational angle is to 300 °, light intensity is a2 luxs in 270 ° of rotational angle.And for example
The time for rotating a cycle is 12S, then when sense state is the 9S in a rotation period, the received spectral line of sensor is
B1, when rotation time is 10S, spectral line result is b2, etc..By around the sense of the sensor of respective layer in workbench one week
Light state saves, equivalent to surface characteristic of the workpiece that have recorded on workbench on 360 degree of directions.Further,
Can also be after 3D printer nozzle often apply and has beaten one layer, the laser emitters for opening one layer of respective layer all, due to laser more
The sense states such as the reception light intensity of other layers of sensor are influenced whether in the diffusing reflection of workpiece surface, then need to complete in printing
The feature that a circle records the sense state of sensor again is rotated to reflecting plate afterwards.S104 in the operating condition laser emitter and
Sensor is together rotated around workbench, the real-time sense state information of monitoring sensor；S106 is in the real-time photosensitive shape monitored
When state information and the sensor photosensitive state recorded mismatch, control 3D printer stops printing.Simply, delamination is just
Caused by being the bonding force that material is more than printable layer interlayer due to printing pulling force interior layer by layer in itself, different printable layers are shown as
Disengaging, layering, tilting, curling phenomena such as.Usually occur at the edge of the layer of workpiece, usually will appear as tearing up and down.This
The light path of the laser emitter of sample irradiation correspondence position will be changed, so that the sense state that recorded on sensor will be sent out
Changing.It is no longer a1 luxs such as to monitor the light intensity of sensor in 9S of the sensor in case above, there occurs
Larger floating becomes a3, then illustrating the workpiece surface that is being printed on workbench, there occurs great changes, it is more likely that is hair
Delamination is given birth to！This certain change is probably to diminish, it is also possible to becomes larger, i.e., reflexes to the light path scattering of current sensor originally
Lose, or have received the scattering light path not impinged upon originally on current sensor.Then this method judges to receive in control unit
During to sensor photosensitive status information and the mismatch of record, the printhead of 3D printer is directly notified to stop printing.By upper
State method so that workpiece stops the printing of next step immediately after there is printing delamination situation, prevents from further wasting original
Material, avoiding the occurrence of the one-piece machine member after delamination all becomes waste product, also wastes electric energy.Solving in the prior art can not beat 3D
The problem of delamination situation in the print procedure of print machine is detected.
In specific application, the Laser emission of respective layer is just opened after 3D printer notice individual layer printing finishes instruction
Device, the single-row arrangement on reflecting plate of multiple laser emitters, and the laser emitter that can be arranged to different layers have different
Spectrum, sensor can be arranged to the formation of single-row arrangement on reflecting plate, can also be passed using fillet formula as illustrated in the drawing
Sensor.So with different frequency laser emitter unlatching, then the light that sensor receives just have different proportion not
The light of same frequency, the sense state information in rotation one week that this spectrum is formed with the change of rotational angle are equivalent to
To the best identification id of workpiece surface feature.
In some specific embodiments, basic unit's height and position phase of the first layer height of laser emitter row and 3D printer
Unified, the interlamellar spacing of laser emitter is mutually unified with the print thickness of 3D printer.And the setting of sensor column then need not be with 3D
The print thickness of printer is related, it might even be possible to says that the quantity more at most method perform detection result of sensor is finer, still
Quantity is likely to result in over-fitting again too much, and specific number of sensors determines as needed in actual application.By setting
Count that laser emitter interlamellar spacing and printer print thickness are mutually unified and direct irradiation is in printable layer junction, this kind designs can
The delamination problems that workpiece produces preferably are detected, further save design cost.
In a further embodiment, step is further included after sensor photosensitive state change is detected, sends alarm signal
Number.It is general generally to be held in the month up to four or five hours, printer operating personnel using this time since the 3D printing time is all longer
One cigarette, appointment of going out, or call friend and drink a cup, spits groove doctoral thesis in lower this year and does not hand over again etc..In a word will not be special
The special job schedule on the scene for staring at 3D printer of people.The presence of so one alarm unit is just highly desirable, alarm unit
Alarm signal can be sent, it has the function of to send discernible signal and communication, the discernible signal include sound, light, electricity,
Mechanical signal, can also be virtual code, instruction, short message etc., communication function include bluetooth communication, wifi communications, 2G,
3G, 4G, 5G communication modes etc..By above-mentioned means, reach and made user notified when Printing Problem occurs in workpiece, and
When fed back, easy to user carry out the replacement of workpiece, raw material supplement etc..Above-mentioned setting causes the present invention program more people
Property, more with practicality and convenience.
It please see Figure 2 below, illustrate a kind of device of the applicable above method, including laser emitter 21, sensor 22
It is set along on reflecting plate 2, at least a pair of of laser emitter and sensor is could be provided as in special circumstances, even if only setting
Put a pair of of laser emitter and sensor can also reach the detection specific floor height of certain workpiece part whether delamination the problem of, but be
Workpiece quality is detected comprehensively, in preferred embodiment, including multiple laser emitter longitudinal arrangements are set, described to swash
The interlamellar spacing of optical transmitting set in the height direction is adapted with the printing layer thickness of 3D printing；The reflecting plate also with rotating mechanism
4 connections, the rotating mechanism are used to drive reflecting plate around the central rotation of workbench；The sensor and control unit (figure
Not shown in) connect, laser emitter is connected with control unit, and the individual layer that control unit is additionally operable to receive 3D printer has printed
Complete job information, is additionally operable to store, monitors rotating mechanism laser emitter in workbench rotary course and reflex to sensing
The laser of device is also controlled with the operational module of 3D printer and connected by sense state, control unit；Control unit is used to receive 3D
Instruction is completed in the printing of printer；It is additionally operable to record again after receiving printing and completing instruction and rotates laser emitter in one week
Reflex to the laser photosensitive state of sensor；It is additionally operable in the real-time sense state information monitored and the sensor sense recorded
When light state mismatches, control 3D printer operational module stops printing.Pass through the design of above device and patrolling for control unit
Collect control so that the situation of the detection workpiece delamination being likely to occur in 3D printing flow not in time is inhibited, so that material
The problem of waste, energy waste, can be resolved.
In a preferred embodiment, as shown in Fig. 2, rotating mechanism only needs offer power to enable reflecting plate plate to carry out
Circular motion, can be sliding-rail sliding, as shown in Fig. 2, rotating mechanism 4 provides a circular slide, reflecting plate 2 is solid
It is scheduled on different sliding blocks, by setting Induction Motor Drive sliding block to be moved on slide, then can realizes that rotating mechanism drives
The effect that Laser emission plate, sensing plate move in a circle.In the embodiment that Fig. 3 is shown, rotating mechanism 4 can also be that shaft is revolved
Arm configuration, the both ends of spiral arm are fixed with Laser emission plate, sensing plate respectively, and middle part and the shaft of spiral arm are fixed, and shaft can be by
Motor-driven rotation, then drive Laser emission plate, sensing plate on spiral arm to move in a circle.Set by above-mentioned rotating mechanism,
The system is realized sets rotatable reflecting plate in workbench outer end, helps more preferably to carry out reflection monitor and detection work flat
The delamination of workpiece on platform.
In specific embodiment shown in Fig. 2, the sensor is narrow for vertically disposed multiple sensors or Longitudinal extending
Bar sensor.The sense state information in real time includes current operation time, current operation phase and current sense state
Laser intensity, or spectral characteristic.By above-mentioned design, product of the present invention can be significantly improved to workpiece of different shapes and special
Workpiece surface delamination reflection accuracy of detection and accuracy.
In the preferred embodiment shown in figure 2, the system further includes alarm unit, and alarm unit can send alarm signal
Number, it has the function of to send discernible signal and communication, and the discernible signal includes sound, light, electricity, mechanical signal, may be used also
To be virtual code, instruction, short message etc., communication function includes bluetooth communication, WiFi communication, 2G, 3G, 4G, 5G communication
Mode etc..By above-mentioned means, reach and made user notified when Printing Problem occurs in workpiece, fed back in time,
Supplement of replacement, raw material easy to user's progress workpiece etc..Above-mentioned setting causes the system more hommization, more has real
With property and convenience.
It should be noted that although the various embodiments described above have been described herein, but not thereby limit
The scope of patent protection of the present invention.Therefore, based on the present invention innovative idea, to embodiment described herein carry out change and repair
Change, or the equivalent structure or equivalent flow shift made using description of the invention and accompanying drawing content, directly or indirectly will be with
Upper technical solution is used in other related technical areas, is included within the scope of patent protection of the present invention.
Claims (5)
- A kind of 1. method by reflecting detection delamination, it is characterised in that include the following steps,Instruction is completed in the individual layer printing for receiving 3D printer；Control laser emitter and sensor rotate a circle around workbench, and record was rotated in one week again, and laser emitter is anti- The laser of sensor is incident upon by sense state；The laser emitter is set with sensor in the in the same direction of 3D printer workbench； The interlamellar spacing of the laser emitter in the height direction is adapted with the printing layer thickness of 3D printing；Laser emitter and sensor are together rotated around workbench in the operating condition, the real-time sense state letter of monitoring sensor Breath；When the real-time sense state information monitored and the sensor photosensitive state recorded mismatch, control 3D printer stops Only print.
- 2. a kind of method by reflecting detection delamination according to claim 1, it is characterised in that further include step, connect The individual layer printing for receiving 3D printer is completed after instructing, and opens the laser emitter of respective layer.
- 3. a kind of method by reflecting detection delamination according to claim 1, it is characterised in that the sensor is perpendicular The narrow bar sensor of multiple sensors or Longitudinal extending to arrangement.
- A kind of 4. method by reflecting detection delamination according to claim 1, it is characterised in that step is further included, When the sensor photosensitive state for monitoring real-time sense state information and having recorded mismatches, alarm signal is sent.
- 5. a kind of method by reflecting detection delamination according to claim 4, it is characterised in that the alarm signal is Sound, light or electric signal, are sent out by bluetooth, WiFi, 3G, 4G or 5G communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711341849.5A CN108032524B (en) | 2017-12-14 | 2017-12-14 | Method for detecting delamination by reflection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711341849.5A CN108032524B (en) | 2017-12-14 | 2017-12-14 | Method for detecting delamination by reflection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108032524A true CN108032524A (en) | 2018-05-15 |
| CN108032524B CN108032524B (en) | 2020-07-03 |
Family
ID=62102881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711341849.5A Active CN108032524B (en) | 2017-12-14 | 2017-12-14 | Method for detecting delamination by reflection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032524B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220125553A1 (en) * | 2020-10-27 | 2022-04-28 | Marc Lemchen | Methods for Direct Printing of Orthodontic and Dental Appliances onto the Teeth of a Patient |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000127251A (en) * | 1998-10-30 | 2000-05-09 | Yamanashi Prefecture | Three-dimensional molding machine and its molding method |
| CN105014965A (en) * | 2014-04-29 | 2015-11-04 | 三纬国际立体列印科技股份有限公司 | Three-dimensional printing device |
| CN206273586U (en) * | 2016-12-16 | 2017-06-23 | 深圳晗竣雅科技有限公司 | A kind of polychrome photocuring 3D printer |
-
2017
- 2017-12-14 CN CN201711341849.5A patent/CN108032524B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000127251A (en) * | 1998-10-30 | 2000-05-09 | Yamanashi Prefecture | Three-dimensional molding machine and its molding method |
| CN105014965A (en) * | 2014-04-29 | 2015-11-04 | 三纬国际立体列印科技股份有限公司 | Three-dimensional printing device |
| CN206273586U (en) * | 2016-12-16 | 2017-06-23 | 深圳晗竣雅科技有限公司 | A kind of polychrome photocuring 3D printer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220125553A1 (en) * | 2020-10-27 | 2022-04-28 | Marc Lemchen | Methods for Direct Printing of Orthodontic and Dental Appliances onto the Teeth of a Patient |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108032524B (en) | 2020-07-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200049477A1 (en) | Portable collaborative robotic articulated arm coordinate measuring machine | |
| JP2014534903A (en) | Laser capsule marking system and method | |
| CN108032524A (en) | A kind of method by reflecting detection delamination | |
| CN108290425B (en) | Optional drive system | |
| CN105291614B (en) | The measurement of film reel diameter of a kind of type-script and colour band, fracture detection and tension control method | |
| CN107914399A (en) | A kind of product delamination detecting system | |
| CN108806091A (en) | Internet type has the full-automatic ice cream cone ice cream dispensing machine of two-dimensional code authentication function | |
| CN209842770U (en) | Vending machine cabinet | |
| CN110406750A (en) | Logistics information auxiliary sticking device | |
| CN114011654A (en) | 3D curved surface glue dispensing mechanism and glue dispensing method | |
| CN109319566A (en) | Polybag is sold and reclaimer | |
| CN108099204A (en) | The product delamination rotary detecting method of 3D printing | |
| CN108081615A (en) | A kind of detecting system rotated automatically | |
| EP4299487A2 (en) | Conveyor belt cleaning device adapted with modular cleaning heads | |
| GB2617701A (en) | Conveyor belt cleaning device adapted with modular cleaning heads | |
| CN211843726U (en) | Printer and printing method | |
| WO2019210787A1 (en) | Pot movement mechanism of cooking apparatus, control method and control device, and pot flip method | |
| CN108044944A (en) | The product delamination detection method of 3D printing | |
| CN108000883A (en) | The product delamination quadrature detection system of 3D printing | |
| JP2000061699A (en) | Rotary type core tablet producing machine | |
| JP2002355906A (en) | Container processing apparatus and processing method using the same | |
| CN221686228U (en) | Instant noodle ladle body packaging appearance detection equipment | |
| JP4410583B2 (en) | Drug packaging device | |
| CN107395917A (en) | Rotary cylindrical scanning device | |
| GB2617702A (en) | Conveyor belt cleaning device having modularity and real-time cleaning adjustments based on sensory input |
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 | ||
| CB02 | Change of applicant information |
Address after: No. 302, block 3, underground No. 1 area, kuiqiao Road, Changle District, Fuzhou, Fujian 350299 Applicant after: Xu Suxiang Address before: Jinghua No. 28 Fujian province 350001 Mizuki Gulou District of Fuzhou city software Road No. 5 building 301 room Applicant before: Xu Suxiang |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |