CN108422442B - A kind of ultra-small integrated servo joint - Google Patents
A kind of ultra-small integrated servo joint Download PDFInfo
- Publication number
- CN108422442B CN108422442B CN201810577552.7A CN201810577552A CN108422442B CN 108422442 B CN108422442 B CN 108422442B CN 201810577552 A CN201810577552 A CN 201810577552A CN 108422442 B CN108422442 B CN 108422442B
- Authority
- CN
- China
- Prior art keywords
- steel wheel
- cam
- shell
- code
- disc
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The present invention provides a kind of ultra-small integrated servo joints, including microminiature harmonic speed reducer, hollow torque motor, driving unit, shell, output acquisition axis, pressing plate and blanking cover.Steel wheel a, steel wheel b and roller in microminiature harmonic speed reducer form roller bearing and steel wheel integral structure, cam sleeve is mounted in output acquisition axis, cam and motor shaft use integral structure, rotor is mounted on cam, motor stator is mounted in shell, and shell upper surface is fixedly connected with steel wheel a.Driving unit includes drive control plate, code-disc and code-disc mounting plate, and code-disc mounting plate is installed in the lower end of output acquisition axis；Code-disc is installed on code-disc mounting plate；Pressing plate is installed on shell, pressing plate is machined with cylinder boss for installing drive control plate, and blanking cover is fixed on the lower end of shell.The diameter in servo joint of the invention is the diameter of harmonic speed reducer, smaller, structure is simpler, quality is smaller.
Description
Technical field
The present invention relates to a kind of joint transmission mechanism of robot, specifically a kind of ultra-small integrated servo joint.
Background technique
Joint is the important component of robot, and the joint of different size, which can according to need, builds different machines
People's configuration, such as mechanical arm and biped robot.Joint is mainly made of driving motor and retarder, is provided by driving motor dynamic
Power outputs power under retarder effect, and the executing agency with mobile robot is moved.
With the development of electromechanical integration, robot components are towards lightness, integrated, intelligent and systematization direction
Development, the robot of market is limited to the volume and fan-out capability of harmonic speed reducer at present, joint diameter and volume is larger, cost
It is higher.For traditional articulated robot, it is limited to the control mode and structure type in joint, configuration is relatively fixed,
Connection type between each freedom degree is different from, and modularization and replaceability are poor, are limited to this, determines its function
Unification, substitution complicate, and are unable to satisfy environment and task complicated and changeable.
Summary of the invention
The present invention is directed to the design disadvantage of existing joint of robot, proposes a kind of microminiature using microminiature harmonic speed reducer
Integrated servo joint has the characteristics that small in size, light-weight, precision is high, at low cost.
A kind of ultra-small integrated servo joint proposed by the present invention, including microminiature harmonic speed reducer, hollow torque electricity
Machine, driving unit, shell, output acquisition axis, pressing plate and blanking cover.
The microminiature harmonic speed reducer includes steel wheel a, steel wheel b, flexbile gear, cam, flexible bearing, roller and bearing rib
Circle；It is machined with V-ring slot on the inner wall of steel wheel a, cooperatively forms rectangle annular groove with the V-ring slot of steel wheel b outer wall processing；Roller
It is mounted in the rectangle annular groove；Steel wheel a, steel wheel b and roller form roller bearing and steel wheel integral structure, and steel wheel a makees
For the outer ring of roller bearing, steel wheel b is as inner ring；Steel wheel a and steel wheel b passes through internal tooth respectively and is meshed with the external tooth of flexbile gear；It is soft
Wheel, flexible bearing and cam are sequentially set with, and end ring is mounted on cam, for flexible bearing axial limiting；Described
Steel wheel b is fixedly connected with the upper end of output acquisition axis；The cam is hollow structure, is sleeved on output acquisition axis, cam
Integral structure is used with motor shaft.
The upper surface of the shell is fixedly connected with steel wheel a, and the upper surface of shell is hollow, is sleeved on cam.It is described
Hollow torque motor include motor stator and rotor, motor stator is mounted in shell, and rotor is mounted on cam
On；Rotor and motor stator sequence are set with.
The driving unit includes drive control plate, code-disc and code-disc mounting plate；In the shell being located at below motor stator
Pressing plate is installed, pressing plate is machined with cylinder boss, and drive control plate is mounted on the cylinder boss of pressing plate on body；The output
Step surface is arranged in the lower end for acquiring axis, for installing code-disc mounting plate；Code-disc is installed on code-disc mounting plate.
The blanking cover is fixed on the lower end of shell.
The shell is identical as the diameter of microminiature harmonic speed reducer.
The steel wheel a and steel wheel b, on its end face and outer ring, circumferentially on be uniformly threaded hole；Steel wheel a and
The outer ring threaded hole of steel wheel b is used for the installation of connecting rod when assembled joint.
Advantages of the present invention with have the active effect that
(1) simple structure, small quality: the harmonic speed reducer that the present invention designs is by bearing and steel wheel integrated design, than tradition
The weight that design reduces structural member quantity, reduces structural thickness, alleviates bearing wall, so that integrated servo joint weight is more
Gently, structure is simpler；
(2) size is small: the diameter in the integrated servo joint that the present invention designs is the diameter of harmonic speed reducer, due to harmonic wave
Retarder reduces the width of a bearer ring than same parameter harmonic speed reducer form in the market, allow joint size more
It is small；
(3) big carrying: bearing and steel wheel integrated design are increased the engaging width of flexbile gear and steel wheel, than same by the present invention
Class product has higher bearing capacity under identical size；
(4) easy to install: the present invention increases radially installed mode on the basis of conventional end face installation form, improves installation
Property and operability, are applicable in more application scenarios；
(5) inexpensive: the configuration of the present invention is simple, all structures are mainly rotary structure, while flexbile gear is soft using tubular
Wheel construction form simplifies difficulty of processing, reduces cost.
Detailed description of the invention
Fig. 1 is ultra-small integrated servo joint sectional view of the invention；
In figure:
1- steel wheel a；2- steel wheel b；3- flexbile gear；4- cam；5- flexible bearing；6- roller；7- end ring；
8- sealing ring a；9- sealing ring b；10- sealing ring c；11- motor stator；12- rotor；
13- drive control plate；14- code-disc；15- code-disc mounting plate；16- shell；17- output acquisition axis；
18- pressing plate；19- blanking cover；20- bearing a；21- bearing b；22- clamp nut.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
As shown in Figure 1, a kind of ultra-small integrated servo joint provided by the invention, comprising: microminiature harmonic speed reducer,
Hollow torque motor and driving unit.
Wherein, microminiature harmonic speed reducer specifically includes that steel wheel a1, steel wheel b2, flexbile gear 3, cam 4, flexible bearing 5, rolling
Son 6 and end ring 7.In addition, microminiature harmonic wave further includes sealing ring a8, sealing ring b9 and sealing ring c10.
Hollow torque motor specifically includes that motor stator 11 and rotor 12.
Driving unit specifically includes that drive control plate 13, code-disc 14 and code-disc mounting plate 15.
Ultra-small integrated servo joint further include shell 16, output acquisition axis 17, pressing plate 18, blanking cover 19, bearing a20,
Bearing b21.Code-disc in microminiature harmonic speed reducer, hollow torque motor and driving unit is successively assemblied in output acquisition axis 17
On.
As shown in Figure 1, being the overall structure of microminiature harmonic speed reducer.Steel wheel a1 is output steel wheel, corresponding steel wheel b2
To input steel wheel.It is machined with V-ring slot on the inner wall of steel wheel a1, cooperatively forms rectangle with the V-ring slot of steel wheel b outer wall processing
Annular groove；Roller 6 is mounted in rectangle annular groove.The internal tooth of steel wheel a1 and steel wheel b2 are meshed with the external tooth of flexbile gear 3, and power passes through convex
4 input of wheel, drives 5 rotational deformation of flexible bearing, and corresponding deformation occurs for flexbile gear 3, and flexbile gear 3 is meshed with steel wheel a1 and steel wheel b2,
Realize the transmitting of power.When steel wheel a1 is fixed, under the cooperation of roller 6, power completes output by steel wheel b2.
Steel wheel a1 be metal material processing at annular rotary structure, the inner ring of steel wheel a1 is relatively large in diameter and smaller by two
Part is machined with internal tooth on the smaller inner wall of diameter in inner ring, by the transmission of internal tooth and the outer tooth engagement of flexbile gear 3 realization power, directly
The larger inwall processing of diameter has V-ring slot, cooperatively forms rectangle annular groove with the V-ring slot of steel wheel b2, provides the installation of roller 6 and limit
Space.
Steel wheel b2 be metal material processing at annular rotary structure, inwall processing has internal tooth, passes through internal tooth and flexbile gear 3
Outer tooth engagement realizes the transmission of power.Steel wheel b2 outer wall is machined with annular V slot, cooperatively forms rectangle with the V-ring slot of steel wheel a1
Annular groove, installation and limit for roller 6.
Connection is realized by roller 6 between steel wheel a1 and steel wheel b2.Using steel wheel a1 as the outer ring of roller bearing, steel wheel b2
As inner ring, two steel wheels and roller 6 form roller bearing and steel wheel integral structure.
Steel wheel a1 and steel wheel b2, its end face and outer ring circumferentially on be uniformly threaded hole, as input steel wheel and
Export the mounting hole of steel wheel.The microminiature harmonic speed reducer is connect by the lower end surface threaded hole of steel wheel a1 with shell 16,
The outer ring threaded hole of steel wheel a1 is used for the installation of connecting rod when assembled joint, and another end link selects steel wheel according to actual use demand
The mounting means of b2.Output acquisition axis is fixedly connected by standard screws with the upper surface steel wheel b2.In two end faces steel wheel a1 and
The outer end face of steel wheel b2 is machined with annular groove, the mounting groove as sealing ring a8, sealing ring b9 and sealing ring c10.
Flexbile gear 3 be metal material processing at annular rotary thin-wall structure, outer wall is machined with external tooth, 3 external tooth of flexbile gear and steel
The internal tooth of wheel a1 and steel wheel b2 engages respectively, by deformation of the flexbile gear 3 in the case where cam 4 and flexible bearing 5 act on, transmits for steel wheel
Transfer motion power.The torque of harmonic speed reducer output can be changed by adjusting the width of flexbile gear 3.In the situation that 3 number of teeth of flexbile gear is fixed
Under, harmonic speed reducer reduction ratio regulatory function can be realized by the internal tooth gear ratio of change steel wheel a1 and steel wheel b2.
Cam 4 be metal material processing at rotary structure, cam 4 and motor shaft use integral structure, and motor turns
Son 12 is sleeved on motor shaft.Cam 4 is hollow structure, and output acquisition axis 17 is installed through 4 centre bore of cam.Cam 4
Outer diameter have larger and smaller portions.The biggish part of outer diameter is oval structure, and outer diameter smaller portions are cylindrical structure.Motor shaft
Cylindrical structure runs through 16 upper surface of shell, rotor 12 and pressing plate 18, and the lower end of cylindrical structure is machined with external screw thread, for pressing
The installation of tight nut 22.Under the effect of hollow torque motor, power-conversion is the change of flexible bearing 5 by 4 rotary motion of cam
Shape, flexbile gear 3 deform therewith, then realize the transmitting of power.The biggish one end thread mill drilling of 4 outer diameter of cam is used for bearing rib
The installation of circle.
Flexible bearing 5 is made of inner ring, outer ring and ball roller, is driven lower inner ring to be deformed in cam 4, is then passed through
Ball roller drives outer ring deformation, finally drives the deformation for the flexbile gear 3 connecting with outer ring, realizes power transmitting.Pass through bearing rib
The positive stop lug boss of circle 7 and shell 16 carries out the axial limiting of flexible bearing 5.
Roller 6 be metal material processing at cylindrical structure, intersect be mounted on steel wheel a1 and steel wheel b2 composition rectangle
In annular groove, realize that the power for laterally and radially carrying and inputting steel wheel and export between steel wheel of the invention transmits.
End ring 7 be metal material processing at hollow T-type rotary structure, be mounted on cam 4 by standard screws
One end, the axial limiting for flexible bearing 5.
Motor stator 11 and electronics rotor 12 form the hollow torque motor, and motor stator 11 is mounted on shell 16
Interior, rotor 12 is mounted on cam 4.Rotor 12 is sequentially set with motor stator 11.Hollow torque motor is as this
The power source of invention passes to cam 4 by rotor 12, and it is dynamic to complete the present invention by the microminiature harmonic speed reducer
The output of power.
Drive control plate 13 is mounted on the cylinder boss of pressing plate 18, and center is through-hole, output acquisition axis 17 through afterwards with
Code-disc mounting plate 15 connects, and code-disc 14 is connect with code-disc mounting plate 15.
Shell 16 be metal material processing at rotary structure, the diameter phase of shell 16 and microminiature harmonic speed reducer
Together.The upper transverse plane of shell 16 is connect with microminiature harmonic speed reducer, in the plane machining annular convex platform, for flexibility
The axial limiting of bearing 5.It is machined with boss in shell 16, the installation for motor stator 11.Two are machined in 16 circumference of shell
Counter sink is enclosed, the installation of pressing plate 18 and blanking cover 19 is respectively used to.Bearing a20 is installed on housing 16, bearing a20 is located at installation
In 16 end face of shell and one end.Between the cylindrical structure of cam 4, bearing a20 provides support for axis rotation, reduces friction.
Output acquisition axis 17 is that T-type turns round axis structure, is connect by standard screws with steel wheel b, central circular is through convex
Wheel 4 and 13 centre bore of drive control plate, connect with code-disc mounting plate 15.Output acquisition 17 hollow structure of axis is cable hole.Pass through
The output information of steel wheel b is passed to code-disc 14 by output acquisition axis 17, is then passed through the control of drive control plate 13, is realized this hair
The accurate control of bright output.
Pressing plate 18 provides the mounting hole of bearing b21, and circumference uniform distribution is threaded hole, the countersunk head with 16 circumference uniform distribution of shell
Hole is corresponding.Meanwhile pressing plate 18 is machined with cylinder boss, the installation for drive control plate 13.Axis is installed on pressing plate 18
B21 is held, bearing b21 is between pressing plate 18 and the cylindrical structure of cam 4, and bearing b21 provides support for axis rotation, and reduction rubs
It wipes.
19 circumference uniform distribution of blanking cover is threaded hole, corresponding with 16 circumference uniform distribution counter sink of shell.19 centre bore of blanking cover
For cable hole.
Clamp nut 22 is outer six square nuts, is mounted on 4 one end of cam, realizes the axial limiting of bearing b21.
The integrated servo joint that the present invention designs is column structure, in identical parameters, convenient for application, similar
Cylindrical structure is kept in the case of product same bearer, improves usability.
Microminiature harmonic speed reducer, hollow torque motor and driving unit are combined into ultra-small integrated servo of the invention
Joint.Under extraneous power supply auxiliary, by the control of drive control plate 13, power is passed into cam by rotor 12,
Flexible bearing 5 deforms under the effect of cam 4 drives flexbile gear 3 to deform, and is realized by tooth engagement inside and outside between flexbile gear 3 and steel wheel
The output of power is completed in the transmitting of power, is fed back the output information of steel wheel b in drive by code-disc 14 by output acquisition axis 17
Dynamic control panel 13 then realizes accurate control.Ultra-small integrated servo joint structure provided by the invention is simpler, realizes
Size can be smaller, when installing integrated servo joint of the invention, be ok, can be applicable in more in axial-radial
Scene.
Claims (3)
1. a kind of ultra-small integrated servo joint, including microminiature harmonic speed reducer, hollow torque motor, driving unit, shell
Body, output acquisition axis, pressing plate and blanking cover；It is characterized in that,
The microminiature harmonic speed reducer includes steel wheel a, steel wheel b, flexbile gear, cam, flexible bearing, roller and end ring；
It is machined with V-ring slot on the inner wall of steel wheel a, cooperatively forms rectangle annular groove with the V-ring slot of steel wheel b outer wall processing；Roller peace
In the rectangle annular groove；Steel wheel a, steel wheel b and roller form roller bearing and steel wheel integral structure, steel wheel a conduct
The outer ring of roller bearing, steel wheel b is as inner ring；Steel wheel a and steel wheel b passes through internal tooth respectively and is meshed with the external tooth of flexbile gear；Flexbile gear,
Flexible bearing and cam are sequentially set with, and end ring is mounted on cam, for flexible bearing axial limiting；The steel wheel
B is fixedly connected with the upper end of output acquisition axis；The cam is hollow structure, is sleeved on output acquisition axis, described is convex
Wheel uses integral structure with motor shaft；The steel wheel a and steel wheel b, on its end face and outer ring, circumferentially upper uniformly distributed processing
There is threaded hole；The outer ring threaded hole of steel wheel a and steel wheel b is used for the installation of connecting rod when assembled joint；In the feelings that the flexbile gear number of teeth is fixed
Under condition, by changing the internal tooth gear ratio of steel wheel a and steel wheel b, harmonic speed reducer reduction ratio regulatory function is realized；
The upper surface of the shell is fixedly connected with steel wheel a, and the upper surface of shell is hollow, is sleeved on cam；
The hollow torque motor includes motor stator and rotor, and motor stator is mounted in shell, rotor peace
On cam；
The driving unit includes drive control plate, code-disc and code-disc mounting plate；On the shell being located at below motor stator
Pressing plate is installed, pressing plate is machined with cylinder boss, and drive control plate is mounted on the cylinder boss of pressing plate；The output acquisition
Step surface is arranged in the lower end of axis, for installing code-disc mounting plate；Code-disc is installed on code-disc mounting plate；
The blanking cover is fixed on the lower end of shell.
2. ultra-small integrated servo according to claim 1 joint, which is characterized in that the cam is metal material
The rotary structure being processed into, cam outer diameter have larger and smaller portions, and the biggish part of outer diameter is oval structure, and outer diameter is smaller
Part is cylindrical structure；Cylindrical structure runs through shell upper surface, rotor and pressing plate, is machined in the lower end of cylindrical structure outer
Screw thread, for installing clamp nut.
3. ultra-small integrated servo according to claim 1 joint, which is characterized in that the drive control plate is outside
Under boundary's power supply auxiliary, power is passed into cam by rotor, flexible bearing deform in the case where cam acts on drive it is soft
Wheel deformation, the transmitting of power is realized by tooth engagement inside and outside between flexbile gear and steel wheel a, b, the output of power is completed, passes through output
It acquires axis and feeds back the output information of steel wheel in drive control plate by code-disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810577552.7A CN108422442B (en) | 2018-06-07 | 2018-06-07 | A kind of ultra-small integrated servo joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810577552.7A CN108422442B (en) | 2018-06-07 | 2018-06-07 | A kind of ultra-small integrated servo joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108422442A CN108422442A (en) | 2018-08-21 |
| CN108422442B true CN108422442B (en) | 2019-06-25 |
Family
ID=63164649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810577552.7A Active CN108422442B (en) | 2018-06-07 | 2018-06-07 | A kind of ultra-small integrated servo joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108422442B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366498A (en) * | 2018-11-23 | 2019-02-22 | 芜湖电工机械有限公司 | A kind of four axial plane formula robots for high speed slot-puncher |
| CN111409097B (en) * | 2020-04-01 | 2022-08-19 | 燕山大学 | Compact joint driving device for robot |
| CN111390964A (en) * | 2020-04-23 | 2020-07-10 | 广州市精谷智能科技有限公司 | Shaft system structure of integrated joint of cooperative robot |
| CN114407071B (en) * | 2021-12-31 | 2024-03-29 | 北京敏锐达致机器人科技有限责任公司 | Robot joint |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01222884A (en) * | 1988-02-29 | 1989-09-06 | Shimadzu Corp | Hydraulic rotary actuator |
| CN203984152U (en) * | 2014-04-04 | 2014-12-03 | 上海电姆机器人有限公司 | The modularization servomotor of a kind of integration reducer and feedback control system |
| CN206495966U (en) * | 2016-05-25 | 2017-09-15 | 浙江来福谐波传动股份有限公司 | Robot harmonic speed reducer |
| CN107322632A (en) * | 2017-07-27 | 2017-11-07 | 董旺建 | The integrated mechanical joint of integral intelligent |
| CN207437721U (en) * | 2017-10-16 | 2018-06-01 | 浙江来福谐波传动股份有限公司 | A kind of right-angled intersection needle bearing with internal tooth |
-
2018
- 2018-06-07 CN CN201810577552.7A patent/CN108422442B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01222884A (en) * | 1988-02-29 | 1989-09-06 | Shimadzu Corp | Hydraulic rotary actuator |
| CN203984152U (en) * | 2014-04-04 | 2014-12-03 | 上海电姆机器人有限公司 | The modularization servomotor of a kind of integration reducer and feedback control system |
| CN206495966U (en) * | 2016-05-25 | 2017-09-15 | 浙江来福谐波传动股份有限公司 | Robot harmonic speed reducer |
| CN107322632A (en) * | 2017-07-27 | 2017-11-07 | 董旺建 | The integrated mechanical joint of integral intelligent |
| CN207437721U (en) * | 2017-10-16 | 2018-06-01 | 浙江来福谐波传动股份有限公司 | A kind of right-angled intersection needle bearing with internal tooth |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108422442A (en) | 2018-08-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108422442B (en) | A kind of ultra-small integrated servo joint | |
| CN208557581U (en) | A kind of ultra-small integrated servo joint | |
| CN106230186B (en) | It is a kind of to gather the hollow type harmonic speed reducer for having motor | |
| CN107234632B (en) | Energy-saving variable-rigidity elastic joint based on differential gear train | |
| CN106015469B (en) | A kind of hollow type harmonic speed reducer | |
| CN105114536B (en) | For robot or the planetary gearing speed reducer of joint of mechanical arm | |
| CN201979132U (en) | Hand-operated feeding device for aperture processing | |
| CN105842837B (en) | A kind of focusing structure of thick fine setting coaxial microscope | |
| CN108400676B (en) | Two-stage constraint type speed reducing motor | |
| US5352163A (en) | Step-up or reduction gear series using internally meshing planetary gear structure | |
| WO2019210625A1 (en) | Novel harmonic wave drive mechanism of wave generator | |
| CN207643177U (en) | A kind of mechanical joint structure of unilateral driving | |
| CN206406083U (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN108880091A (en) | A kind of Two axle drive harmonic wave reducing motor | |
| CN205097188U (en) | Man -machine tool arm of spraying machine | |
| CN205309802U (en) | Transmission and adopt this transmission's actuating system and rotary worktable | |
| CN114857232A (en) | Spiral force-applying device and power transmission system | |
| US11913493B2 (en) | Joint device | |
| CN203883609U (en) | High-precision linear driver | |
| CN209430701U (en) | A kind of coaxial speed-down device | |
| CN207945252U (en) | The robot retarder of fast assembling-disassembling | |
| WO2021024312A1 (en) | Reduction gear | |
| JP6824783B2 (en) | Drive device with motor | |
| CN206495945U (en) | Reductor | |
| JPS62199307A (en) | Apparatus for operating pawl of powder 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 |