CN108076634B - Holding/insertion apparatus of plug members - Google Patents
Holding/insertion apparatus of plug members Download PDFInfo
- Publication number
- CN108076634B CN108076634B CN201780002577.8A CN201780002577A CN108076634B CN 108076634 B CN108076634 B CN 108076634B CN 201780002577 A CN201780002577 A CN 201780002577A CN 108076634 B CN108076634 B CN 108076634B
- Authority
- CN
- China
- Prior art keywords
- plug members
- holding
- launched
- cover
- outer cylindrical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
A kind of holding/insertion apparatus (10) of plug members holds cover for the plug members (1) with cover and engaging portion, and engaging portion is inserted in the open pore (WH) of workpiece to by cover occlusion of openings hole.Holding/insertion apparatus (10) of the plug members includes outer cylindrical portion (2), is formed with the insertion hole inserted in the axial direction for cover in the front end of outer cylindrical portion (2)；1st launched portion (3) is formed as that cover is extrapolated from insertion hole to outer cylindrical portion and engaging portion can be inserted in open pore；2nd launched portion (4) is pushed the 1st launched portion using magnetic repulsion (mf) forwards；And operation portion (5), increased by moving the 2nd launched portion in the axial direction/reduce magnetic repulsion.The intensity of magnetic repulsion is determined based on the magnetic signal from the magnetic detector (81) for being installed on outer cylindrical portion, and whether the insert state of gripping state and engaging portion to cover suitably checks.
Description
Technical field
The present invention relates to holding/insertion apparatus of plug members, holding/insertion apparatus of the plug members can will be blocked
Such as the plug members of the open pore in formation such as the vehicle bodies of vehicle hold, are inserted in the open pore, and can be to above-mentioned
The state held/be inserted into is checked.
Background technique
In general, vehicle vehicle body be formed with multiple drainings with or the open pore of electrodeposition coating etc..Above-mentioned open pore
It is inserted into and is sealed with the plug members (grommet for capableing of flexible deformation by formation such as resin parts or rubber parts
(grommet) etc.).In the past, it is inferior to be located at the floor that operating personnel is difficult to see that for open pore, therefore plug members are inserted in vehicle
The job dependence of the open pore of body etc. in the feeling and skill of operating personnel, by the delicate pushing force of palm, finger tip come into
Row.But such operation is excessive to the burden of operating personnel, so in order to eliminate this problem, such as in patent document 1
A kind of pair of plug members are disclosed to carry out vacuum suction and fill the installation of the plug members of plug members indentation open pore
It sets.
As shown in Figure 11 (a), Figure 11 (b), Figure 11 (c), the mounting device 100 of patent document 1, which has, is installed on mechanical arm
The driving source (linear servo motor) 102 on the top of (robot arm) 101, the drive shaft for being installed on linear servo motor 102
The adsorption element 104 on 103 top, the push part 105 for supporting adsorption element 104 and drawing via drive shaft 103 is adsorbed
The suction pump 106 of air in component.In addition, adsorption element 104 by cone shape cup portion 104a and be continuously set to the cup
The peripheral part 104b of the top periphery of portion 104a is formed, and push part 105 is formed as abutting and being supported on the back side of cup portion 104a
And the back side of peripheral part 104b.
According to above-mentioned mounting device 100, as shown in Figure 11, Figure 12, operating robotic arm 101 makes the peripheral part of cup portion 104a
104b is abutted with the large-diameter portion G1 of plug members G, makes the work of suction pump 106 to make to become in cup portion negative pressure, and it is stifled to adsorb holding
Plunger member G (referring to Fig.1 2 (a)).Next, operating robotic arm 101, makes plug members G be positioned at the open pore WH's of workpiece W
Surface in the state of having abutted the large-diameter portion G2 of plug members G with the open pore WH periphery of workpiece, makes to drive later
Axis 103 advances (referring to Fig.1 2 (b)).Then, the peripheral part of push part 105 pushes the peripheral part 104b of cup portion 104a, blocking
Large-diameter portion G1, G2 of component G copies the shape of cup portion and is deformed into and protrudes upwards, and the outer diameter of large-diameter portion G1, G2 become smaller (reference
Figure 12 (c)).When the outer diameter of large-diameter portion G2 becomes smaller to the degree that can insert open pore WH, it is in relative to workpiece W and pushes shape
The large-diameter portion G2 of the downside of state inserts open pore WH.Next, plug members G reverts to original when stopping suction pump 106
State is pressed into open pore WH (referring to Fig.1 2 (d)).
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2011-51054 bulletin
Summary of the invention
Problems to be solved by the invention
However, patent document 1 mounting device 100 there is a problem of it is following such.That is, in the installation of patent document 1
In device 100, there are the following problems: making to become in cup portion 104a negative pressure due to making the work of suction pump 106, and adsorbs to hold and block up
Plunger member G, so adsorption capacity can reduce when the peripheral part 104b of cup portion can not be tightly attached to plug members G, can not steadily
Plug members G is held, in addition, existing and falling and/or misplacing for plug members G occurring when can not steadily hold plug members G
And it can not carry out being suitably inserting operation.
In addition, the mounting device 100 of patent document 1 is to make to become negative pressure in cup portion 104a to adsorb holding plug members G
Construction, so to whether suitably held plug members G, whether can reliably insert open pore WH in workpiece W into
Row confirmation is also not easy to realize.For example, even if wanting the holding shape for checking above-mentioned plug members G using imaging sensor etc.
State and insert state, the gripping state and insert state of usual plug members G can be mounted device 100 and/or workpiece W is covered,
Also it is difficult to be confirmed from the appearance.
The present invention be in order to solve the above problem and the invention made, its purpose is to provide a kind of handles of plug members
Hold/insertion apparatus, holding/insertion apparatus of the plug members can simply and steadily hold plug members and by the choking portion
Part is appropriately interposed in open pore, and can simply be confirmed to holding/insertion state.
Technical teaching for solving the problem was
(1) the of the invention technical solution for solving the above subject is a kind of holding/insertion dress of plug members
It sets, for the plug members with cover and engaging portion, holds the cover, the engaging portion is inserted in the open pore of workpiece
To block the open pore by the cover, to be intended to, holding/insertion apparatus of the plug members has: main body
Portion, the main part include outer cylindrical portion, and the insert inserted in the axial direction for the cover is formed in the front end of the outer cylindrical portion
Hole；1st launched portion, the 1st launched portion be formed as being inserted into and be held in from the insertion hole cover in outer cylindrical portion from
The insertion hole is extrapolated to outer cylindrical portion, and the engaging portion can be inserted in the open pore；2nd launched portion, the 2nd pushes away
Portion is pushed the 1st launched portion using magnetic repulsion forwards out；And operation portion, the operation portion are released by making the described 2nd
It moves in the axial direction to increase/reduce the magnetic repulsion in portion；With holding/insertion check device, the holding/insertion check device base
The intensity of the magnetic repulsion determined in the magnetic signal from the magnetic detector for being installed on the outer cylindrical portion, and to described
Whether the insert state of the gripping state of cover and the engaging portion is suitably checked.
(2) in holding/insertion apparatus of the plug members described in (1), it is preferred that in the 1st launched portion and institute
It states the 2nd launched portion and is separately installed with homopolarity magnet relative to each other.
(3) in holding/insertion apparatus of the plug members described in (2), it is preferred that the magnetic detector is to installing
In the 1st launched portion magnet and be installed on the 2nd launched portion magnet between the magnetic flux density in magnetic field that is formed carry out
Detection.
(4) in holding/insertion apparatus of the plug members described in any one of (1) to (3), it is preferred that the behaviour
Has the drive motor for moving the 2nd launched portion in the axial direction as portion, the holding/insertion check device is believed in the magnetic
The signal of starting or the stopping of the drive motor is exported when number reaching scheduled threshold value.
The effect of invention
In accordance with the invention it is possible to a kind of holding/insertion apparatus of plug members is provided, holding/insertion of the plug members
Device can simply and steadily hold blocking workpiece open pore plug members and by the plug members be appropriately interposed in
Above-mentioned open pore, and simply the state of above-mentioned holding/insertion can be confirmed.
Detailed description of the invention
Fig. 1 is holding/insertion apparatus perspective view of the plug members of an example as embodiments of the present invention.
Fig. 2 is decomposition/assembling figure of the constituent part in holding/insertion apparatus of plug members shown in FIG. 1.
Fig. 3 is that holding/insertion apparatus cross-sectional view of plug members shown in FIG. 1 (holds the shape before plug members
State).
Fig. 4 is holding/insertion apparatus cross-sectional view of plug members shown in FIG. 1 (the state that hold plug members).
Fig. 5 is that plug members (are inserted in workpiece by holding/insertion apparatus cross-sectional view of plug members shown in FIG. 1
State before open pore).
Fig. 6 is that holding/insertion apparatus cross-sectional view of plug members shown in FIG. 1 (completes and is inserted in plug members
The state of the open pore of workpiece).
Fig. 7 is holding/insertion apparatus holding/insertion check device block diagram of plug members shown in FIG. 1.
Fig. 8 is magnet separating distance shown in Fig. 2 figure related to magnetic flux density.
Fig. 9 is the side view of plug members shown in FIG. 1.
Figure 10 is the perspective view of another plug members.
Figure 11 shows the mounting device of plug members documented by patent document 1, and (a) is the main view of part section, (b)
It is A-A section direction view, is (c) B direction view.
Figure 12 shows the Action Specification figure in the mounting device of plug members documented by patent document 1, and (a) is to adsorb
The part section of the state of grommet, (b) be the state for having abutted grommet with workpiece partial sectional view, be (c) to make to protect
The partial sectional view of the state deformed is enclosed in hole, is (d) partial sectional view of the state after being inserted into grommet.
Specific embodiment
Next, referring to attached drawing to holding/insertion apparatus of the plug members of an example as embodiments of the present invention
It is described in detail.Firstly, the construction and handle of holding/insertion apparatus main part to the plug members of present embodiment
The construction for holding/being inserted into check device is illustrated.It is moved when next, being held to this holding/insertion apparatus, being inserted into plug members
It is illustrated as method.In turn, the type for the plug members that can be applicable in this holding/insertion apparatus is illustrated.
<construction of holding/insertion apparatus main part of plug members>
Firstly, using FIG. 1 to FIG. 3 to the construction of holding/insertion apparatus main part of the plug members of present embodiment
It is illustrated.Holding/insertion apparatus solid of the plug members of an example as embodiments of the present invention is shown in FIG. 1
Figure.Decomposition/assembling figure of the constituent part in holding/insertion apparatus of plug members shown in FIG. 1 is shown in FIG. 2.In Fig. 3
In holding/insertion apparatus cross-sectional views (hold plug members before state) of plug members shown in FIG. 1 is shown.
As shown in FIG. 1 to 3, holding/insertion apparatus 10 of the plug members of present embodiment is following device: for tool
There are the plug members 1 of cover 11 and the engaging portion 12 erected in the inside side of the cover 11, holds cover 11, engaging portion 12 is inserted
Enter the open pore WH of workpiece W thus with cover 11 come occlusion of openings hole WH.The main part 10A of this holding/insertion apparatus 10 has
Have: outer cylindrical portion 2 is formed with the insertion hole inserted on axial direction (front-rear direction) for cover 11 in the front end of the outer cylindrical portion 2 21
211；1st launched portion 3, the 1st launched portion 3 be formed as being inserted into from insertion hole 211 and the cover 11 that is held in outer cylindrical portion from
Insertion hole 211 is extrapolated to outer cylindrical portion, and engaging portion 12 can be inserted in open pore WH；2nd launched portion 4, the 2nd launched portion
4 are pushed the 1st launched portion 3 using magnetic repulsion mf forwards；And operation portion 5, the operation portion 5 is by making the 2nd launched portion 4 in axis
It moves on (front-rear direction) to increase/reduce magnetic repulsion mf.Operation portion 5 has the drive for moving the 2nd launched portion 4 in the axial direction
Dynamic motor 6.
Outer cylindrical portion 2 is substantially cylindric cylindrical body, is formed with the lid for plug members 1 in the front end of outer cylindrical portion 2 21
The insertion hole 211 that portion 11 inserts in the axial direction.Oriented radially inner side claw 211T outstanding is formed in insertion hole 211.Claw
211T is formed as, have in the circumferential direction of insertion hole 211 across scheduled compartment of terrain it is multiple, and in the cover of plug members 1 11
The lip 111 that is formed of peripheral side pass through the gap of claw 211T while flexible deformation, and card is being restored after
It is fixed.In addition, claw 211T is formed as the trapezoidal shape that radially inner side attenuates, adjacent claw be in each other arc-shaped even
It connects.In addition, 22 side of inner peripheral surface in the front end of outer cylindrical portion 2 21 is formed with the annular shape abutted with the shoulder 33 of the 1st launched portion 3
Canopy portion 221.Canopy portion 221 is functioned as the stop component when the preceding inlet side of the 1st launched portion 3 in the axial direction moves.Outside
The rear end 23 of canister portion 2 is open at cylindrical shape with scheduled length from front end 21.
1st launched portion 3 is the substantially cylindric cylindrical body with 22 sliding contact of inner peripheral surface of outer cylindrical portion 2, is released the 1st
The front end 32 in portion 3 has the round shape that arc-shaped concave surface is abutted and be shaped generally as with the surface of the cover 11 of plug members 1
The portions 321 of shape.Portions 321 are formed as when inlet side moves the 1st launched portion 3 forward, than outer cylindrical portion 2 front end 21 slightly to
Front is prominent.In addition, having a pair of axisymmetric position in outer peripheral surface in the rear end of the 1st launched portion 3 and being rearward extended
And be formed as the foot 34 of the preset width of arc-shaped along outer peripheral surface.The front end 32 of the 1st launched portion 3 with front end 32
The mode in the same plane of rear end face 322 be embedded with and be formed as columned first permanent magnet (magnet) 31.Rear end face
322 are formed as orthogonal to the axial direction.The front end side of first permanent magnet 31 is magnetized into the pole S, and the rear end side of the first permanent magnet 31 is magnetized into N
Pole.In addition, outer cylindrical portion 2 and the 1st launched portion 3 are preferably the nonmagnetic material of light weight, high rigidity, such as aluminium alloy system.It is outer by making
Canister portion 2 and the 1st launched portion 3 are nonmagnetic material, the diffusion for the magnetic line of force being able to suppress between magnet and improve magnetic repulsion.
2nd launched portion 4 is the substantially cylindric cylindrical body with 35 sliding contact of inner peripheral surface of the 1st launched portion 3, the 2nd
The front end 42 of launched portion 4 is embedded in the mode in the same plane with front end face 421 is formed as columned second forever
Magnet (magnet) 41 (being the same shape with the first permanent magnet 31).Front end face 421 is formed as orthogonal to the axial direction.Second permanent magnet 41
Front end side be magnetized into the pole N, the rear end side of the second permanent magnet 41 is magnetized into the pole S.Therefore, in the 1st launched portion 3 and the 2nd launched portion 4
It is separately installed with homopolarity opposite the first permanent magnet (magnet) 31 and the second permanent magnet (magnet) 41 in parallel with each other.In addition, the 2nd
Launched portion 4 has guide portion 44, which is rearward extended from front end 42 and is formed with a pair parallel to each other
Guide surface 441.In addition, the 2nd launched portion 4 axle center part be formed in the axial direction penetrate through front end 42 and guide portion 44 perforation
Hole 43.Moreover, being formed about in the periphery of the 2nd launched portion 4 multiple the tight of front ends 42 and guide portion 44 is penetrated through in the axial direction
Solid hole 45.
In addition, operation portion 5 has screw spindle part 51 and nut portions 52, which passes through the axis around the screw spindle part 51
Rotational action and move the 2nd launched portion 4 on axial direction (front-rear direction).In addition, connecting in the rear end of screw spindle part 51 511
Have the drive shaft 61 of drive motor 6.Preferably, drive motor 6 be provided with can control drive shaft 61 rotating torques,
The stepper motor of the programming (programming) of revolving speed etc..In addition, operation portion 5 has portion collar (collar) 53, guide part
54, base canister portion 55 and pressing portion 56.
It is formed with external screw thread 512 in the periphery of screw spindle part 51, is formed in the inner circumferential of nut portions 52 and blocks with external screw thread 512
The internal screw thread 524 of conjunction.Nut portions 52 have the nut main body portion for being formed as cylindric, are formed in the front end side of the nut portions 52
There is the flange part 521 that same section is formed in the guide portion 44 of the 2nd launched portion 4.It is formed in flange part 521 and is released with the 2nd
The guide surface 441 of the guide portion 44 in portion 4 guide surface 522 in the same plane.In addition, being formed with and the 2nd in flange part 521
The bleed hole 523 that each fastener hole 45 of launched portion 4 is connected to.
The insertion hole 531 inserted in the axial direction for the nut main body portion of nut portions 52 is formed in collar part 53.Collar part
53 are formed in same section with the flange parts 521 of nut portions 52.Therefore, the guidance with the 2nd launched portion 4 is formed in collar part 53
The guide surface 441 in portion 44 guide surface 532 in the same plane.In addition, collar part 53 be formed with from the 2nd launched portion 4
The fastening bolt inserted of fastener hole 45 the 533, the 2nd launched portion 4 of threaded hole and nut portions 52 and collar part 53 that are threadedly engaged
Fastening connection is integrated.
In guide part 54, it is formed with the guide groove 542 in U-shaped section in the axial direction.The guide portion 44 of 2nd launched portion 4 with
Nut portions 52 and collar part 53 link the state being integrated with fastening and can be accommodated movably in guide groove 542 in the axial direction
It is interior.Guide part 54, which has, is formed as outer peripheral surface identical with the outer peripheral surface diameter of the 2nd launched portion 4.In the axle center part of guide part 54,
It is formed with the bleed hole 541 for being connected to guide groove 542 and inserting for the drive shaft of drive motor 6 61 in the axial direction.Guide part 54
Flush-mounted in the inner peripheral surface 553 of base canister portion 55.
Base canister portion 55 is substantially cylindric cylindrical body, and internal diameter and outer diameter are formed as and the foot 34 of the 1st launched portion 3
Internal diameter is identical with outer diameter diameter.In base canister portion 55, it is formed in the axial direction in the position orthogonal with the guide groove 542 of guide part 54
The guide groove 551 in U-shaped section.Guide groove 551 is formed as of same size with the foot 34 of the 1st launched portion 3, right in the axial direction
The foot 34 is oriented to.It is formed in the rear end of base canister portion 55 and fastens the arm top end part 71 for being linked to robot device 7
Circular fastening connection portions 552.Pressing portion 56 is circle shape part identical with fastening 552 diameter of connection portions,
It is formed about in the periphery of pressing portion 56 and fastening connection portions 552 is fastened to the arm top end part for being linked to robot device 7
71 multiple fastener holes 562.In the axle center part of pressing portion 56, it is formed with the insert of drive shaft 61 for drive motor 6 in the axial direction
Bleed hole 561.
<holding/insertion check device construction>
Next, using Fig. 1, Fig. 3, Fig. 7 and Fig. 8 to holding/insertion check device 8 of this holding/insertion apparatus 10
Construction be illustrated.Holding/insertion apparatus solid of the plug members as embodiments of the present invention is shown in FIG. 1
Figure.Holding/insertion apparatus cross-sectional view that plug members shown in FIG. 1 are shown in FIG. 3 (holds the shape before plug members
State).Holding/insertion check device block diagram in holding/insertion apparatus of plug members shown in FIG. 1 is shown in FIG. 7.?
Magnet separating distance shown in Fig. 2 figure related to magnetic flux density is shown in Fig. 8.
As shown in Fig. 1, Fig. 3, Fig. 7 and Fig. 8, holding/insertion check device 8 of this holding/insertion apparatus 10 is as follows
Device: based on the magnetic signal from the magnetic detector 81 for being installed on outer cylindrical portion 2 come to the first permanent magnet (magnet) 31 and second forever
The intensity of the mutual magnetic repulsion of magnet (magnet) 41 is determined, and the insertion shape of gripping state and engaging portion 12 to cover 11
Whether state is suitably checked.Holding/insertion check device 8 have magnetic detector 81, magnetic signal enlarging section 82, storage unit 83,
Operation/determination unit 84, motor control part 85, robot control unit 86, display unit 87 and operation portion 88.
Magnetic detector 81 is installed on the outer peripheral surface of outer cylindrical portion 2, has in homopolarity opposite the first permanent magnetism in parallel with each other
The magnetic flux density in the magnetic field formed between body (magnet) 31 and the second permanent magnet (magnet) 41 is detected and exports magnetic signal
Circuit (e.g., including the circuit of Hall element).Magnetic detector 81 is formed as strip in the axial direction, and to cover the first permanent magnetism
The mode of the moving range of body (magnet) 31 and the second permanent magnet (magnet) 41 configures.Magnetic signal enlarging section 82 has and will examine from magnetic
The magnetic signal that survey portion 81 exports is transformed to the circuit for being able to carry out the digital signal of logical operation and amplifying.
Storage unit 83 has for a variety of plug members 1 as the object of this holding/insertion apparatus 10 and stores magnetic flux
The circuit of threshold value b1, b2, b3 of density (magnetic signal).Specifically, as shown in figure 8, stifled by each of each plug members 1
Plunger member 1 stores the state (separation of the first permanent magnet (magnet) 31 and the second permanent magnet (magnet) 41 before holding cover 11
When distance is d1: referring to Fig. 3) the threshold value b1 of magnetic flux density, cover 11 gripping state (the first permanent magnet (magnet) 31 and the
When the separating distance of two permanent magnets (magnet) 41 is d2: referring to Fig. 4, Fig. 5) magnetic flux density threshold value b2 and engaging portion
Insert state is (when the separating distance of the first permanent magnet (magnet) 31 and the second permanent magnet (magnet) 41 is d3: referring to the magnetic of Fig. 6)
The threshold value b3 of flux density.
Operation/determination unit 84 has following circuit: the circuit is able to carry out logic for what is exported from magnetic signal enlarging section 82
The digital signal of operation is compared with each threshold value b1, b2, the b3 for being stored in storage unit 83, in outer cylindrical portion 2 and the 1st launched portion
Between 3, without hold plug members 1 cover 11 the case where (referring to Fig. 3), suitably the cover 11 that hold plug members 1
The case where (referring to Fig. 4, Fig. 5) and the cover 11 of plug members 1 is pushed out and engaging portion 12 is properly inserted in open pore
The case where WH, (referring to Fig. 6) was determined.Specifically, when the logical operation that is able to carry out that export from magnetic signal enlarging section 82
When digital signal and the threshold value b1 for being stored in storage unit 83 are substantially uniform, it is determined as not having between outer cylindrical portion 2 and the 1st launched portion 3
There is the cover 11 for holding plug members 1.In addition, when the number letter for being able to carry out logical operation exported from magnetic signal enlarging section 82
When number substantially uniform with the threshold value b2 that is stored in storage unit 83, be determined as between outer cylindrical portion 2 and the 1st launched portion 3 suitably
Hold the cover 11 of plug members 1.In addition, when the digital signal for being able to carry out logical operation exported from magnetic signal enlarging section 82
When substantially uniform with the threshold value b3 that is stored in storage unit 83, it is determined as between outer cylindrical portion 2 and the 1st launched portion 3 by hold
Cover 11 is pushed out, and engaging portion 12 is properly inserted the open pore WH in workpiece W.
Motor control part 85, which has based on judgement result of operation/determination unit 84 etc., to be controlled the starting of drive motor 6 and stops
Circuit only.For example, motor control part 85 is according to the judgement result of operation/determination unit 84 come in outer cylindrical portion 2 and the 1st launched portion
Suitably the state for the cover 11 that hold plug members 1 is confirmed between 3, the starting letter that output starts drive motor 6
Number, and after engaging portion 12 to be inserted in the open pore WH of workpiece W, according to the judgement result of operation/determination unit 84 come pair
The state that engaging portion 12 has been properly inserted confirmed, the stop signal of output driving motor 6.
Robot control unit 86, which has based on judgement result of operation/determination unit 84 etc., controls rising for robot device 7
The dynamic circuit stopped.For example, robot control unit 86 is according to the judgement result of operation/determination unit 84 come in outer cylindrical portion 2 and the 1st
Suitably the state for the cover 11 that hold plug members 1 is confirmed between launched portion 3, the starting of output and drive motor 6
The start signal in linkage starting robot device 7, and after engaging portion 12 to be inserted in the open pore WH of workpiece W,
Confirmed according to the judgement result of operation/determination unit 84 come the state being properly inserted to engaging portion 12, exports machine
The stop signal of people's device 7.
Display unit 87 has the circuit of display operation/determination unit 84 judgement result.For example, display unit 87 shows cover 11
Non- gripping state, the gripping state appropriate of cover 11, engaging portion 12 the state etc. that is suitably inserting be used as operation/determination unit
84 judgement result.In addition, operation portion 88 has the operation such as on/off, emergent stopping for carrying out this holding/insertion apparatus 10
Circuit.
<method of operating when holding, insertion plug members>
Next, using Fig. 3~Fig. 6 to using this holding/insertion apparatus 10 to hold plug members 1 and by the plug members
1 method of operating when being inserted in the open pore WH of workpiece W is illustrated.The handle of plug members shown in FIG. 1 is shown in FIG. 3
Hold/the cross-sectional view of insertion apparatus (holding the state before plug members).The handle of plug members shown in FIG. 1 is shown in FIG. 4
Hold/the cross-sectional view of insertion apparatus (the state that hold plug members).Be shown in FIG. 5 the holdings of plug members shown in FIG. 1/
The cross-sectional view of insertion apparatus (plug members are inserted in the state before the open pore of workpiece).It is shown in FIG. 6 shown in FIG. 1
Holding/insertion apparatus cross-sectional view (completing the state that plug members are inserted in the open pore of workpiece) of plug members.
As shown in figure 3, plug members 1 configure upward on the surface of scheduled site of storage Z cover 11.Make machine
People's device 7 starts, before making the outer cylindrical portion 2 in this holding/insertion apparatus 10 for the arm top end part 71 for being installed on robot device 7
End 21 downwards (direction of arrow P) it is mobile and close to plug members 1.At this point, the shoulder 33 of the 1st launched portion 3 is and outer cylinder
The state that the canopy portion 221 in portion 2 has abutted, the 1st launched portion 3 are located at the position of preceding inlet side.In addition, the 2nd launched portion 4, which is located at, retreats end
Position.Here, being installed on the first permanent magnet 31 of the 1st launched portion 3 and the second permanent magnet 41 for being installed on the 2nd launched portion 4
Separating distance d1 is maximum, so the mutual magnetic repulsion mf1 of magnet is minimum.At this point, the display cover 11 of display unit 87 does not hold shape
Judgement result of the state as operation/determination unit 84.
In the state of the smallest magnetic repulsion mf1, if robot device 7 is made to work, and further make outer cylindrical portion 2 downward
Side (direction of arrow P) is mobile, then as shown in figure 4, only the 1st launched portion 3 is mobile upwards (direction of arrow Q).In movement
Before, the mutual magnetic repulsion mf1 of magnet is minimum, so can be simply by the cover 11 of plug members 1 from insertion hole 211 to outer cylinder
It inserts the inside in portion 2.That is, plug members 1 cover 11 peripheral side formed lip 111 on one side flexible deformation while rapid
It is restored rapidly by the gap of claw 211T, and by rear.In this way, when the cover 11 of plug members 1 is by outer cylindrical portion 2
When inside is inserted, it is installed on point of the first permanent magnet 31 and the second permanent magnet 41 for being installed on the 2nd launched portion 4 of the 1st launched portion 3
Separation is reduced to separating distance d2 from d1 (referring to Fig. 3), so the mutual magnetic repulsion mf2 of magnet increases corresponding amount, in outer cylinder
The cover 11 of plug members 1 is flexibly held between portion 2 and the 1st launched portion 3.At this point, display unit 87 shows the appropriate of cover 11
Judgement result of the gripping state as operation/determination unit 84.
In addition, the difference of the initial separating distance d1 and separating distance d2 to the direction of arrow Q after mobile is equivalent to the 1st and pushes away
The path increment ST in portion 3 out.When the 1st launched portion 3 moves path increment ST, the bullet of magnet mutual magnetic repulsion mf2 and lip 111
Power is balanced.Therefore, excessive will not be become to the holding power of cover 11, and the holding power can be made to be similar to the palm of operating personnel
And/or the holding power of finger tip.In addition, making drive motor 6 work in the case where the shape of plug members 1 and/or different hardness
The axial position of the 2nd launched portion 4 is adjusted, so that will not become excessive to the holding power of cover 11, and can simply be done
To keeping the mutual magnetic repulsion mf2 of magnet balanced with the elastic force of lip 111.This can be by by each of each plug members 1
Plug members 1 store the threshold value b2 of magnetic flux density to cope with.
Next, as shown in figure 5, the engaging portion 12 of plug members 1 protrudes forwards from the insertion hole 211 of outer cylindrical portion 2, institute
To operate robot device 7, so that engaging portion 12 is adapted to the hole center of the open pore WH of workpiece W on one side, make outer cylindrical portion 2 under on one side
Side (direction of arrow R) is close to workpiece W.Have in the front end 32 of the 1st launched portion 3 and abuts with the cover 11 of plug members 1
The portions 321 of arc-shaped concave surface are shaped generally as, so even if the method for the open pore WH axially with respect to workpiece W of outer cylindrical portion 2
Line direction slight inclination, also can be when the portions 321 of the 1st launched portion 3 push the cover 11 of plug members 1, and cover 11 is along seat
The substantially arc-shaped concave surface in portion 321 is mobile, is thus modified so that the direction of engaging portion 12 is with the open pore WH's of workpiece W
Normal direction is consistent.
Next, as shown in fig. 6, operation robot device 7, make the front end 21 of outer cylindrical portion 2 further (arrow from below
The direction of V) close to workpiece W, and the drive shaft 61 of drive motor 6 is rotated, makes the 2nd launched portion 4 to close to the 1st launched portion 3
Direction (direction of arrow X) it is mobile.At this point, being installed on the first permanent magnet 31 of the 1st launched portion 3 and being installed on the 2nd launched portion 4
The separating distance d2 (referring to Fig. 5) of the second permanent magnet 41 be further reduced as separating distance d3, so the mutual magnetic reprimand of magnet
Power mf3 increases corresponding amount.Magnetic repulsion mf3 increases, and thus overcomes insertion of the engaging portion 12 relative to the open pore WH of workpiece W
Resistance, the 1st launched portion 3 release the cover 11 of plug members 1 from the insertion hole 211 of outer cylindrical portion 2 forwards, make plug members 1
Engaging portion 12 be inserted in the open pore WH of workpiece W, and cover 11 is made to be tightly attached to workpiece W.At this point, display unit 87 show it is locking
Portion 12 is suitably inserting judgement result of the state as operation/determination unit 84.
In addition, the work of drive motor 6 can be made to adjust in the case where the shape of plug members 1 and/or different hardness
The axial position of 2nd launched portion 4, so that the pushing force of cover 11 and engaging portion 12 will not become excessive.In addition, passing through control
Rotating torques, revolving speed of drive shaft 61 of drive motor 6 etc. are able to carry out the speed control for moving the 2nd launched portion 4 in the axial direction
System.This can be coped with by storing the threshold value b3 of magnetic flux density by each of each plug members 1 plug members 1.
<types of plug members>
Next, being illustrated using the type of Fig. 9, Figure 10 to the plug members that this holding/insertion apparatus can be applicable in.
The side view of plug members shown in FIG. 1 is shown in FIG. 9.The perspective view of another plug members is shown in FIG. 10.
As shown in figure 9, plug members 1 have cover 11 and the engaging portion that erects of the perpendicular shape in the inside side ground in cover 11
12.Cover 11 and engaging portion 12 are all formed as being capable of flexible deformation.Specifically, having thin wall shape in the peripheral side of cover 11
Lip 111.Lip 111 is formed as surrounding the opening hole peripheral of workpiece, and the front end of lip 111 is contacted with workpiece surface elastic,
And ensure leakproofness.Although the surface 112 of cover 11 is formed here to be hemispherical, can also be formed as rectangle plane shape or
The various shapes such as concave shape.Engaging portion 12 is shaped generally as cylindrical shape, the peripheral side of engaging portion 12 have it is multiple can elasticity
The locking pawl 121 of deformation.In addition, locking pawl 121 either one be also possible to it is multiple.
As shown in Figure 10, another plug members 1B is formed as, and has cover 11B and perpendicular in the inside side of cover 11B
The locking pawl 122B of the engaging portion 12B erected to shape, engaging portion 12B are partitioned from locking main body 121B, by pushing to lid
The surface side of portion 11B work department 123B outstanding, so that locking pawl 122B is protruded to outer peripheral side from locking main body 121B.In the feelings
Under condition, cover 11B and the surface side work outstanding to cover 11B are simultaneously held between outer cylindrical portion 2 and the 1st launched portion 3
Portion 123B makes locking main body 121B be inserted in the open pore WH of workpiece W, on this basis, pushes away the 2nd launched portion 4 to close to the 1st
The direction in portion 3 is mobile out, and locking pawl 122B can be made prominent to the peripheral side of locking main body 121B.In addition, Fig. 9, Tu10Suo
Plug members 1, the 1B shown is to illustrate, this holding/insertion apparatus 10 can be suitable for various shape and hardness in addition to this
Plug members.
<function and effect>
As described above in detail, holding/insertion apparatus 10 of plug members according to the present embodiment, tool
Standby: main part 10A, main part 10A include outer cylindrical portion 2, are formed with for cover 11 in the front end of the outer cylindrical portion 2 21 in axis
The insertion hole 211 inserted upwards；1st launched portion 3, the 1st launched portion 3 are formed as to be inserted into and being held in from insertion hole 211 outer
Cover 11 in canister portion is extrapolated from insertion hole 211 to outer cylindrical portion, and engaging portion 12 can be inserted in open pore WH；2nd pushes away
Portion 4 out, the 2nd launched portion 4 are pushed the 1st launched portion 3 using magnetic repulsion mf forwards；And operation portion 5, the operation portion 5 are logical
Crossing moves the 2nd launched portion 4 to increase/reduce magnetic repulsion mf in the axial direction；With holding/insertion check device 8, the holding/insert
Enter check device 8 based on the magnetic signal from the magnetic detector 81 for being installed on outer cylindrical portion 2 to sentence to the intensity of magnetic repulsion mf
It is fixed, and whether the insert state of gripping state and engaging portion 12 to cover 11 suitably checks, so can make to block
The cover 11 of component 1 leads to from the insertion hole 211 of front end 21 to outer cylindrical portion interpolation and makes engaging portion 12 from the front end of outer cylindrical portion 2
In the state that portion 21 highlights forwards, the 11 (cover of cover of plug members 1 is held between outer cylindrical portion 2 and the 1st launched portion 3
Gripping state).At this point, the 2nd launched portion 4 is pushed the 1st launched portion 3 using magnetic repulsion mf forwards, but the magnetic repulsion mf
Intensity determined based on the magnetic signal from the magnetic detector 81 for being installed on outer cylindrical portion 2, and be to the gripping state of cover 11
It is no suitably to be checked, thus can the appropriate situation of holding power simply to cover 11 confirm.
In addition, in the state of suitably having held cover 11 of plug members 1 between outer cylindrical portion 2 and the 1st launched portion 3,
It abuts the engaging portion 12 of plug members 1 with the open pore WH of workpiece W, keep outer cylindrical portion 2 mobile to workpiece side and makes the 2nd release
Portion 4 is moved in the axial direction to increase magnetic repulsion mf, and thus the 1st launched portion 3 can be by the cover 11 of plug members 1 from outer cylindrical portion 2
Insertion hole 211 release forwards, and the engaging portion of plug members 1 12 is inserted in the open pore WH of workpiece W, and can make
Cover 11 is tightly attached to workpiece W (insert state of engaging portion).At this point, the intensity of magnetic repulsion mf is also based on from being installed on outer cylindrical portion
The magnetic signal of 2 magnetic detector 81 determines whether suitably to check the insert state of engaging portion 12, so can be simple
Ground confirms the appropriate situation of the insertion force of engaging portion 12.
Therefore, according to the present embodiment, it is capable of providing a kind of holding/insertion apparatus 10 of plug members 1, the plug members
1 holding/insertion apparatus 10 can simply and steadily hold plug members 1, and be appropriately interposed the plug members 1 in work
The open pore WH of part W, and can simply check holding/insertion state.
In addition, according to the present embodiment, it is relative to each other that homopolarity is separately installed in the 1st launched portion 3 and the 2nd launched portion 4
Magnet, so magnetic repulsion mf can be made steadily to act between the 1st launched portion 3 and the 2nd launched portion 4.In addition, magnet is preferably
Permanent magnet.If permanent magnet, then only change magnet separating distance d1, d2, d3 just can simply adjust the magnetic repulsion mf1,
mf2,mf3.In addition, if permanent magnet, then do not need coil as electromagnet etc., size reduction of an apparatus can be attained and/
Or it is cost effective.
In addition, according to the present embodiment, magnetic detector 81 is pushed away in the magnet for being installed on the 1st launched portion 3 with being installed on the 2nd
The magnetic flux density in the magnetic field formed between the magnet in portion 4 out is detected, so can more accurately assert has and the magnetic flux
The magnet of the substantially inversely proportional relationship of density distance d1, d2, d3 detached from each other, in addition, can more accurately assert has
Being installed on for substantially inversely proportional relationship and is installed on the magnetic of the 2nd launched portion 4 at the magnet of the 1st launched portion 3 with the separating distance
Magnetic repulsion mf1, mf2, mf3 between body.It therefore, being capable of the more simply and accurately gripping state to cover 11 and engaging portion 12
Insert state appropriate situation is confirmed respectively.
In addition, according to the present embodiment, operation portion 5 has the drive motor 6 for moving the 2nd launched portion 4 in the axial direction,
Hold/be inserted into the letter of check device 8 starting or stopping of output driving motor 6 when magnetic signal reaches scheduled threshold value b1, b2, b3
Number, so can appropriately and rapidly assert the gripping state of cover 11 and the insert state of engaging portion 12, and can it is appropriate and
It is quickly accomplished the insertion operation of plug members 1.In addition, being directed to a variety of plug members 1, the holding shape of each cover 11 is set separately
The threshold value b3 of the insert state of the threshold value b2 and each engaging portion 12 of state, thus, it is possible between outer cylindrical portion 2 and the 1st launched portion 3 from
Each plug members 1 such as are held, the plug members 1 held can be inserted in freely to the open pore WH of workpiece W.
Above-mentioned embodiment can change in the range of not changing the gist of the invention.For example, in above-mentioned reality
It applies in mode, this holding/insertion apparatus 10 is installed on to the arm top end part 71 of robot device 7, but machine might not be installed on
Device people device 7.For example, 55 ground of base canister portion that operating personnel can also directly hold this holding/insertion apparatus 10 operates.
Industrial utilizability
The present invention can be used as holding/insertion apparatus of following plug members, holding/insertion apparatus energy of the plug members
Enough plug members that will block the open pore of the formation such as the vehicle body in vehicle hold, are inserted in the open pore, and can
The state of above-mentioned holding/insertion is checked.
Description of symbols
1,1B: plug members；
2: outer cylindrical portion；
3: the 1 launched portions；
4: the 2 launched portions；
5: operation portion；
6: drive motor；
8: holding/insertion check device；
10: holding/insertion apparatus；
10A: main part；
11,11B: cover；
12,12B: engaging portion；
21: front end；
31: the first permanent magnets (magnet)；
41: the second permanent magnets (magnet)；
81: magnetic detector；
211: insertion hole；
W: workpiece；
WH: open pore；
B1, b2, b3: threshold value；
Mf, mf1: magnetic repulsion；
Mf2, mf3: magnetic repulsion.
Claims (4)
1. a kind of holding/insertion apparatus of plug members holds the lid for the plug members with cover and engaging portion
The engaging portion is inserted in the open pore of workpiece to block the open pore by the cover by portion, which is characterized in that
Holding/insertion apparatus of the plug members has:
Main part, the main part include outer cylindrical portion, are formed in the front end of the outer cylindrical portion and insert in the axial direction for the cover
Insertion hole；1st launched portion, the 1st launched portion are formed as to be inserted into from the insertion hole and described in being held in outer cylindrical portion
Cover is extrapolated from the insertion hole to outer cylindrical portion, and the engaging portion can be inserted in the open pore；2nd launched portion,
2nd launched portion is pushed the 1st launched portion using magnetic repulsion forwards；And operation portion, the operation portion are described by making
2nd launched portion moves in the axial direction to increase/reduce the magnetic repulsion；With
Holding/insertion check device, the holding/insertion check device is based on from the magnetic detector for being installed on the outer cylindrical portion
Magnetic signal determines the intensity of the magnetic repulsion, and the insertion shape of gripping state and the engaging portion to the cover
Whether state is suitably checked.
2. holding/insertion apparatus of plug members according to claim 1, which is characterized in that
Homopolarity magnet relative to each other is separately installed in the 1st launched portion and the 2nd launched portion.
3. holding/insertion apparatus of plug members according to claim 2, which is characterized in that
The magnetic detector is to being installed on the magnet of the 1st launched portion and be installed between the magnet of the 2nd launched portion
The magnetic flux density in the magnetic field of formation is detected.
4. holding/insertion apparatus of plug members according to any one of claim 1 to 3, which is characterized in that
The operation portion has the drive motor for moving the 2nd launched portion in the axial direction, the holding/insertion check device
The signal of starting or the stopping of the drive motor is exported when the magnetic signal reaches scheduled threshold value.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-177451 | 2016-09-12 | ||
| JP2016177451A JP6665739B2 (en) | 2016-09-12 | 2016-09-12 | Device for gripping / inserting closing member |
| PCT/JP2017/005270 WO2018047371A1 (en) | 2016-09-12 | 2017-02-14 | Gripping and inserting device for plugging member |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108076634A CN108076634A (en) | 2018-05-25 |
| CN108076634B true CN108076634B (en) | 2019-08-09 |
Family
ID=61562371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780002577.8A Active CN108076634B (en) | 2016-09-12 | 2017-02-14 | Holding/insertion apparatus of plug members |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6665739B2 (en) |
| CN (1) | CN108076634B (en) |
| WO (1) | WO2018047371A1 (en) |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3665596A (en) * | 1970-01-20 | 1972-05-30 | Sperry Rand Corp | Magnetic core wiring machine |
| JPS5639841A (en) * | 1979-08-31 | 1981-04-15 | Matsushita Electric Works Ltd | Automatic screw-driver for plate |
| JPS5669052A (en) * | 1979-11-05 | 1981-06-10 | Suriibondo:Kk | Grommet push-in device |
| JPS5754036A (en) * | 1980-09-17 | 1982-03-31 | Sekisui Prefab Homes Ltd | Positioning device for bolt hole |
| JPH04258376A (en) * | 1991-02-14 | 1992-09-14 | Matsushita Electric Ind Co Ltd | Weaving device for industrial robot |
| JPH09136225A (en) * | 1995-11-17 | 1997-05-27 | Fujitsu Ltd | Connection pin inserting and extracting device and connection pin holding method |
| US5726508A (en) * | 1995-12-06 | 1998-03-10 | Systems, Machines, Automation Components Corporation | Linear voice coil retractor |
| JP2007007767A (en) * | 2005-06-30 | 2007-01-18 | Meiwa E Tec:Kk | Press-fitting device |
| CN201051089Y (en) * | 2007-06-15 | 2008-04-23 | 林俊明 | A real time multi-channel whirlpool and magnetic memory/magnetism leakage detection device |
| CA2639310A1 (en) * | 2007-09-17 | 2009-03-17 | Tyco Healthcare Group Lp | Composite seal and method for manufacturing |
| US9409267B2 (en) * | 2010-06-17 | 2016-08-09 | Bendix Spicer Foundation Brake Llc | Snap-in center seal bushing |
| JP5376348B2 (en) * | 2011-08-04 | 2013-12-25 | 株式会社デンソー | Position detection device |
-
2016
- 2016-09-12 JP JP2016177451A patent/JP6665739B2/en active Active
-
2017
- 2017-02-14 CN CN201780002577.8A patent/CN108076634B/en active Active
- 2017-02-14 WO PCT/JP2017/005270 patent/WO2018047371A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| JP6665739B2 (en) | 2020-03-13 |
| CN108076634A (en) | 2018-05-25 |
| WO2018047371A1 (en) | 2018-03-15 |
| JP2018043295A (en) | 2018-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20110209320A1 (en) | Vision Guided Robotic Grommet Installation | |
| JP6188800B2 (en) | Test tube lid attaching / detaching device | |
| US20150251321A1 (en) | Robot hand for holding object, robot, robot system, and method of holding object | |
| CN107000215B (en) | Flexible clamping device for a component stacking system, component stacking system and positioning method for positioning a clamping element of a component stacking system | |
| US7210212B2 (en) | Bayonet collet pickup tool for agile fixturing | |
| US20140072396A1 (en) | Method and apparatus for orienting a lamination | |
| CN110216669A (en) | The method that robot, robot, robot system and workpiece rotation are put into hole | |
| JP6186157B2 (en) | Adsorption mechanism | |
| JP2016030320A (en) | Robot system, tool exchanging device, and robot device | |
| JP6520670B2 (en) | Magazine for sealing member supply and sealing member supply apparatus | |
| US10654136B2 (en) | Component connection and method for producing a component connection | |
| JP2021505401A (en) | Nose device and related methods for fastener setting machines | |
| US20160052148A1 (en) | Part holding assembly, an assembly system and a method of positioning a first part | |
| JP4803731B2 (en) | Work positioning device | |
| CN108076634B (en) | Holding/insertion apparatus of plug members | |
| JP2007075987A (en) | Fastening tool and method for fastening element to component | |
| EP3780030A1 (en) | Magnetic chuck | |
| JP4609295B2 (en) | Work transfer device | |
| US7367484B2 (en) | Automatic fastener loader | |
| JP6439617B2 (en) | Occlusion member gripping and insertion device | |
| CN106254728A (en) | Video camera adjusts tool and method | |
| JP5793467B2 (en) | Clamping device | |
| CN102208279B (en) | Automatic magnet loading device and magnet loading method | |
| US7883078B2 (en) | Cam clamp | |
| EP3780031A1 (en) | Magnet 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 |