CN108436952B - A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger - Google Patents
A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger Download PDFInfo
- Publication number
- CN108436952B CN108436952B CN201810163952.3A CN201810163952A CN108436952B CN 108436952 B CN108436952 B CN 108436952B CN 201810163952 A CN201810163952 A CN 201810163952A CN 108436952 B CN108436952 B CN 108436952B
- Authority
- CN
- China
- Prior art keywords
- finger
- hinge
- plate
- hawk
- claws
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of imitative claws of a hawk logistics packaging manipulators of electric-gas composite drive flexible finger, it is made of driving part, four same hand finger, finger component is made of finger root section, middle finger joint and finger tip section, the present invention can according to circumstances select the position of contact force, and the direction of active force, crawl process is set not cause deformation and damage to object, crawl is more accurate reliable；Meanwhile adjusting root finger joint and being grabbed the angle of object, it is adapted to the large change of crawl dimension of object, crawl body form is adapted to, the variation that vertical horizontal is placed, grabs point of force application and the flexible adaptive shape of size, reaction is quick, resiliency is good.
Description
Technical field
The present invention relates to the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger, manipulator categories of the present invention
In robot, the applied technical field of electromechanical integration, couple with robot body, is particularly suitable for food, agricultural product, light industry
The productions such as crawl, the sorting of product and logistics field.
Background technique
For the large-scale production situation of light industry and food service industry, to meet raw material complex-shaped, that physical property is various, half
It the problems such as needs of finished product, the logistics of finished product and packaging, recruitment cost to solve simple work is high, working condition is poor, needs
The end grasping device of logistics crawl.With regard to the type of the complex object of crawl: object 1. in irregular shape, difference in size is big
(melon fruits and vegetables)；2. frangible brittle body (birds, beasts and eggs, glass and ceramic product)；3. easily-deformable soft object (bread, Soft Roll
Fill article)；4. the object (bottle, bottle for cosmetics) special-shaped, location status confusion and hardly possible are made in order；From the above, complex object
Material properties, the difference of geomery and location status it is larger.Traditional industry manipulator (end grasping device) be clamp-type or
Parallel movable structure can only grab the rigid workpiece that shape size is identical, location status is consistent, will not be damaged.Humanoid dexterous
Hand needs to perceive spatial position and the shape of complex object, needs accurately to control movement and grasp force, and it is complicated right otherwise to damage
As or cannot reliably grab, but at present humanoid dextrous hand be still in the laboratory research stage.
Currently, the finger part of underactuated manipulator is that rigidity becomes restraining structure, every finger is total to three degree of freedom.In list
Under motor driven, not in contact with finger arbitrary point when being crawled object motion profile be fixed and invariable, small can be crawled
The supporting surface (such as conveyer belt) of object generates interference.Contact needs to overcome two torsion spring effects, effect when being crawled object
Point, the size direction of active force are immutable.Neither adapt to it is aforementioned inconsistent by the shape of grasping complex object, size, again
It is not able to satisfy contact force not damage and the requirement of the particularity of reliable grip complex object, while can also be produced to by grasping complex object
Raw greater impact.Therefore, the underactuated manipulator adaptability of rigid structure is bad, and it is right cannot effectively to grasp complexity above-mentioned
As.
Emphatically for above-mentioned complicated grasping object, the present invention overcomes drawbacks described above, motor will by leading screw and nut mechanism
Rotary motion is converted into linear motion, then the rotation of finger root section, adjusting of four finger components is pushed to refer to root section gesture simultaneously, installs
Referring to the pneumatic bellows muscle driving crawl object on root section and finger tip section, is making to refer to that root section turns also by pneumatic bellows muscle
Position, adapts to vertical snatching cylindrical, rectangular, spherical, ellipsoid-like object or horizontal snatching cylindrical, square objects.Pass through band angle
The motor Angular displacement control of Displacement Feedback encoder, crawl posture is adjustable, contact force position is adjustable, therefore it is right to grab complexity
As when, crawl range it is wider；Pneumatic bellows muscle response speed is fast, and flexible adaptive effect.
Summary of the invention
The purpose of the present invention is to provide a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger,
To solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme: a kind of imitative hawk of electric-gas composite drive flexible finger
Pawl logistics packaging manipulator, including lead screw spindle motor, upper base plate, guiding connecting rod, feed screw nut seat, linear bearing, driving plate,
Push plate, fixed finger seat, connecting rod, base plate, short finger, long finger, single head bellows muscle, band ridge push plate, draws bullet at push rod
Spring, small support, rotate driving plate, round clamp, seal head, axle sleeve, rotation finger block, small rolling bearing units, the lead screw spindle motor
It is integral by two guiding connecting rod fixations to be mounted on upper base plate, the upper base plate and base plate, the two of two guiding connecting rods
End has cylindrical section to cooperate respectively with the interporal lacuna on upper base plate and base plate, the motor-driven feed screw nut seat of lead screw shaft
It is fixed in driving plate, there are two linear bearings, two linear bearings to lean on corresponding guiding connecting rod for installation in the driving plate
Guiding, driving plate move along a straight line up and down；The upper end of the finger root section of the short finger on the left side is connect with fixed finger seat hinge, described solid
To determine finger block to be mounted on base plate by screw, the push plate is fixed in driving plate, and the push plate outside is equipped with push rod,
The connection of one end hinge of the push rod and connecting rod, the other end of the connecting rod are connected by a hinge with the hinge seat on short finger,
The finger root upper end of long finger among the right is connect with fixed finger seat hinge, and the band ridge push plate is fixed in driving plate, institute
It states band ridge push plate outside and push rod, one end hinge connection of the push rod and connecting rod, the other end of the connecting rod and long hand is installed
Hinge seat on finger is connected by a hinge, and the driving plate drives band ridge push plate to move along a straight line up and down；
The upper end of the finger root section of two short fingers in the outside on the right is connect with rotation finger block hinge, the outside on the right
Two short fingers with rotation finger block and rotate driving plate be coaxial inner conductor, integrally rotate, driving is from two single heads
The shaft part of bellows muscle, the rotation finger block top packs into axle sleeve, and the axle sleeve withstands the rotary inner ring of small rolling bearing units,
Rotation finger block is axially fixed in small rolling bearing units by the threaded portion nut tightening of the shaft part on the rotation finger block top
On, the small rolling bearing units are fixed by screws in base plate, and the single head bellows muscle is fixed on seal head by clip
On wavy bayonet, the seal head with gas-tpe fitting is fixed on small support, and the small support is fixed on rotate driving plate, and two
One end of spring is drawn to be hooked into the hole on the ridge with ridge push plate, the other end is hooked into the hole on small support, the rotate driving
Push rod is installed, one end hinge of the push rod and connecting rod connects, on the other end of the connecting rod and short finger on the outside of plate
Hinge seat is connected by a hinge；
The short finger include refer to root section, hinge seat, big support, thick seal head, gas-tpe fitting, double end bellows muscle,
Thin seal head, thick torsional spring, middle finger joint, thin torsional spring, finger tip section, arc adhesive tape, the hinge seat, which is fixed on, to be referred on root section, described double
On the wavy bayonet that clip is fixed on thick seal head, the gas-tpe fitting is spun on thick seal head for the upper end of head bellows muscle
On, the lower end of the double end bellows muscle is on the wavy bayonet that clip is fixed on thin seal head, the thickness seal head, Bao Mi
End socket is each attached to big support, and one big support, which is fixed on, to be referred on root section, another big support is fixed on finger tip section, the finger
Root section is connect with middle finger joint hinge, and thick torsional spring is cased on hinge core shaft, and the middle finger joint is connect with finger tip section hinge, hinge core shaft
On be cased with thin torsional spring, the arc adhesive tape is respectively adhered on the grasping contact surface for referring to the inside of root section, middle finger joint, finger tip section.
Preferably, the driving plate drives push plate to move along a straight line up and down.
Preferably, the push plate driving push rod, connecting rod adjust the angle referred between root and base plate.
Preferably, the band ridge push plate driving push rod, connecting rod adjust the angle referred between root and base plate.
Preferably, the width gaps cooperation of the thickness and the guide groove on the outside of driving plate of two blocks of rotate driving plates, leans on straight pin
Hinge is connected and is rotated.
Preferably, the termination plane of two guide grooves is parallel, two that the outside on the right of guaranteeing under spring effect is drawn at two
Short finger is parallel with long finger, the short finger on the left side.
Preferably, with soket head cap screw and nut, two round clamps, by the single head bellows muscle of two rubber materials
Planar ends are fixedly clamped on the ridge with ridge push plate, are also able to maintain sealing.
Preferably, the single head bellows hypertrophy of inflation, drive small support, the right outside the rotation of short finger, it is real
Existing finger indexing.
Preferably, the driving plate drives rotate driving plate to move along a straight line up and down, rotate driving plate driving push rod, connecting rod,
To adjust the angle referred between root and base plate.
Preferably, the single head bellows muscle of free state is U-shaped bellows longitudinal section, and original state is by drawing bullet after installation
Spring is compressed into Ω shape bellows longitudinal section.
Preferably, there are four fingers for manipulator of the present invention, and the finger root of four fingers is equal with the angle between base plate, the left side
Two finger knots be symmetrically installed before and after in one finger, three, the right finger, left side finger and three, the right finger, outside
Structure is identical with size, is short finger；After the finger root reverse indexing of two short fingers in the outside on the right, the two short hands
Refer to and the finger root of the short finger in the left side can form distributing position on concentric circles and each digital flexion direction is towards this concentric circles
The center of circle；Long finger is finger intermediate in the finger of three, the right, and the short finger in the left side is left and right symmetrically arranged with the long finger in the right, long hand
Finger is identical as short finger structure, but the length of three finger joints of long finger is longer than three finger joints of short finger, forms claws of a hawk shape,
Long finger is hooked to object bottom, plays the role of firm grip.
Preferably, pneumatic system of the present invention forming by six identical pneumatic units, in each pneumatic unit, air inlet is logical
Cross gas circuit is crossed, cross gas circuit front end is concatenated switch valve Q2 open in usual, adjustable throttling Q3 all the way, and another way is concatenated
In the orifice restriction valve Q4 of 0.1-1mm, cross gas circuit rear end connects single head bellows for high-speed switch valve Q1 open in usual, pore diameter range
Muscle or double end bellows muscle；In single head bellows muscle or double end bellows muscle air inlet, it is connected to exhaust switch valve Q5,
It is connected to silencer Q6 after exhaust switch valve Q5, is further connected with pressure in single head bellows muscle or double end bellows muscle air inlet
Transmitter Q7.
Compared with prior art, the beneficial effects of the present invention are:
(1) by the control of motor, adjustable finger joint and the angle for being grabbed object, the tune of contacting points position is realized
Whole, to object contacting points position is grabbed adjustment can according to circumstances select the position of contact force and the side of active force
To making crawl process not cause deformation and damage to object, crawl is more accurate reliable；Meanwhile it adjusting root finger joint and being grabbed object
The angle of body is adapted to the large change of crawl dimension of object.
(2) by Speed On-off Valve, the accurate Pneumatic single head bellows muscle that controls drives pressure, and accurate control refers to root
Indexable angle meets vertical snatching cylindrical, rectangular, spherical, elliposoidal to realize the accurate control of finger indexing angle
Object, or horizontal crawl is spherical, cylindrical, square objects, adapts to crawl body form, the variation that vertical horizontal is placed.
(3) by Speed On-off Valve, the accurate Pneumatic double-head bellows muscle that controls drives pressure, realizes grasp force
Accurate control；Double end bellows muscle, which is mounted on, simultaneously refers to root section and finger tip section, overcomes and refers to thick bullet on root section and middle finger joint hinge
It is excellent to improve bulky spring, the parameter of hairspring to grab object for spring, middle finger joint and two torques for referring to hairspring on root section hinge
Change, grabs point of force application and the flexible adaptive shape of size.
(4) pneumatic system gain is big, and pneumatic bellows muscle is light and handy, without cylinder upper piston and cylinder barrel, piston rod and cylinder cap
Seal friction damping, so that it is good to react quick, resiliency.
Detailed description of the invention
Fig. 1 is that the A-A of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger cuts open main view；
Fig. 2 is the B-B for rotating counterclockwise 90 degree of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger
Cut open bottom view；
Fig. 3 is the C-C for rotating counterclockwise 90 degree of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger
Cut open top view；
Fig. 4 is that the D-D of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger cuts open left view；
Fig. 5 is the E-E partial sectional view of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger；
Fig. 6 is the E-E partial section enlarged view of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger；
Fig. 7 is the short finger component main sectional view of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger；
Fig. 8 is the single head bellows muscle part of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger
Figure；
Fig. 9 is the finger horizontal location state diagram of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger；
Figure 10 is the band ridge push plate part main view of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger
Figure；
Figure 11 is that the band ridge push plate part of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger is overlooked
Figure；
Figure 12 is that the Speed On-off Valve of the imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger is pneumatic
Schematic diagram；
In figure: 1, lead screw spindle motor；2, upper base plate；3, it is oriented to connecting rod；4, feed screw nut seat；5, linear bearing；6, it drives
Movable plate；7, push plate；8, push rod；9, fixed finger seat；10, connecting rod；11, big rolling bearing units；12, base plate；13, short finger；
13a, refer to root section；13b, hinge seat；13c, big support；13d, thick seal head；13e, gas-tpe fitting；13f, double end bellows flesh
Meat；13g, thin seal head；13h, thick torsional spring；13i, middle finger joint；13j, thin torsional spring；13k, finger tip section；13l, arc adhesive tape；14,
Long finger；15, single head bellows muscle；16, band ridge push plate；17, spring is drawn；18, small support；19, rotate driving plate；20, circle
Pressing plate；21, seal head；22, axle sleeve；23, finger block is rotated；24, small rolling bearing units.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger, including lead screw spindle motor 1, the seat of honour
Plate 2, guiding connecting rod 3, feed screw nut seat 4, linear bearing 5, driving plate 6, push plate 7, push rod 8, fixed finger seat 9, connecting rod 10,
Base plate 12, long finger 14, single head bellows muscle 15, band ridge push plate 16, draws spring 17, small support 18, rotation at short finger 13
Driving plate 19, round clamp 20, seal head 21, axle sleeve 22, rotation finger block 23, small rolling bearing units 24, lead screw spindle motor 1 are mounted on
Upper base plate 2, upper base plate 2 and base plate 12 are integral by two guiding connecting rod 3 fixations, and the both ends of two guiding connecting rods 3 are equal
There is cylindrical section to cooperate respectively with the interporal lacuna on upper base plate 2 and base plate 12, the feed screw nut seat 4 that lead screw spindle motor 1 drives is solid
It is scheduled in driving plate 6, there are two linear bearings 5, two linear bearings 5 to lead by corresponding guiding connecting rod 3 for installation in driving plate 6
To about 6 driving plate moves along a straight line；The upper end of the finger root section 13a of the short finger 13 on the left side is connect with 9 hinge of fixed finger seat,
Fixed finger seat 9 is mounted on base plate 12 by screw, and push plate 7 is fixed in driving plate 6, is equipped with push rod on the outside of push plate 7
8, push rod 8 is connect with one end hinge of connecting rod 10, and the hinge seat 13b on the other end of connecting rod 10 and short finger 13 is connected by hinge
It connects, the finger root upper end of the long finger 14 among the right is connect with 9 hinge of fixed finger seat, and band ridge push plate 16 is fixed on driving plate 6
On, push rod 8 is installed on the outside of band ridge push plate 16, push rod 8 is connect with one end hinge of connecting rod 10, the other end of connecting rod 10 and long hand
Refer to that the hinge seat 13b on 14 is connected by a hinge, driving plate 6 drives about 16 ridge push plate of band to move along a straight line；
The upper end of the finger root section 13a of the short finger 13 of two of the outside on the right is connect with rotation 23 hinge of finger block, right
The short finger 13 of two of the outside on side with rotation finger block 23 and rotate driving plate 19 be coaxial inner conductor, integrally rotate, drive
Dynamic to come from two single head bellows muscle 15, the shaft part on rotation 23 top of finger block packs into axle sleeve 22, and axle sleeve 22 withstands small usher to seat
The rotary inner ring of bearing 24 rotates the threaded portion nut tightening of the shaft part on 23 top of finger block, will rotate 23 axis of finger block
To being fixed on small rolling bearing units 24, small rolling bearing units 24 are fixed by screws in base plate 12, and single head bellows muscle 15 leans on
Clip is fixed on the wavy bayonet of seal head 21, and the seal head 21 with gas-tpe fitting is fixed on small support 18, small support 18
It is fixed on rotate driving plate 19, one end of two drawing springs 17 is hooked into the hole on the ridge with ridge push plate 16, another end hook
Into in the hole on small support 18, the outside of rotate driving plate 19 is equipped with push rod 8, and push rod 8 is connect with one end hinge of connecting rod 10,
The other end of connecting rod 10 is connected by a hinge with the hinge seat 13b on short finger 13；
Short finger 13 includes referring to root section 13a, hinge seat 13b, big support 13c, thick seal head 13d, gas-tpe fitting 13e, double
Head bellows muscle 13f, thin seal head 13g, thick torsional spring 13h, middle finger joint 13i, thin torsional spring 13j, finger tip section 13k, arc adhesive tape
13l, hinge seat 13b, which are fixed on, to be referred on root section 13a, and the upper end of double end bellows muscle 13f is fixed on thick seal head 13d by clip
Wavy bayonet on, gas-tpe fitting 13e is spun on thick seal head 13d, and the lower end of double end bellows muscle 13f is fixed on by clip
On the wavy bayonet of thin seal head 13g, thick seal head 13d, thin seal head 13g are each attached to big support 13c, a big support
13c, which is fixed on, to be referred on root section 13a, another big support 13c is fixed on finger tip section 13k, refers to that root section 13a and middle finger joint 13i is cut with scissors
Chain link is cased with thick torsional spring 13h on hinge core shaft, and middle finger joint 13i is connect with finger tip section 13k hinge, is cased on hinge core shaft thin
Torsional spring 13j, arc adhesive tape 13l are respectively adhered on the grasping contact surface for referring to the inside of root section 13a, middle finger joint 13i, finger tip section 13k
On.
In the present embodiment, driving plate 6 drives about 7 push plate to move along a straight line.
In the present embodiment, 7 driving push rod 8 of push plate, connecting rod 10 adjust the angle referred between root and base plate 12.
In the present embodiment, band 16 driving push rod 8 of ridge push plate, connecting rod 10 adjust the angle referred between root and base plate 12.
In the present embodiment, the width gaps of the guide groove in 6 outside of thickness and driving plate of two blocks of rotate driving plates 19 cooperate, and lean on
Straight pin hinge is connected and is rotated.
In the present embodiment, the termination plane of two guide grooves is parallel, the outside under drawing spring 17 to act at two on the right of guarantee
Two short finger 13 it is parallel with long finger 14, the short finger 13 on the left side.
In the present embodiment, with soket head cap screw and nut, two round clamps 20, by the single head bellows of two rubber materials
The planar ends of muscle 15 are fixedly clamped on the ridge with ridge push plate 16, are also able to maintain sealing.
In the present embodiment, the single head bellows muscle 15 of inflation expands, drive small support 18, the right outside short finger
Finger indexing is realized in 13 rotations.
In the present embodiment, driving plate 6 drives about 19 rotate driving plate to move along a straight line, 19 driving push rod 8 of rotate driving plate,
Connecting rod 10, to adjust the angle referred between root and base plate 12.
In the present embodiment, the single head bellows muscle 15 of free state is U-shaped bellows longitudinal section, original state after installation
Ω shape bellows longitudinal section is compressed by drawing spring 17.
When grabbing object, start the ventilation of big flow mode, switch valve Q2 energization ventilation open in usual is first controlled, through adjustable throttling
Valve Q3 enters single head bellows muscle 15 or the inner cavity double end bellows muscle 13f, when close to goal pressure, according to pressure transmitter
The feedback signal of Q7 makes switch valve Q2 power-off cut-off open in usual；Then micrometeor mode is ventilated, according to the anti-of pressure transmitter Q7
Feedback signal passes through the high speed open and close effect of high-speed switch valve Q1 open in usual and the through-flow work of micrometeor of orifice restriction valve Q4
With, it is accurate to control single head bellows muscle 15 or double end bellows muscle 13f inner chamber gas pressure, to accurately keep crawl
The rotational angle of contact force and Fingers root；When discharging object, according to the feedback signal of pressure transmitter Q7, exhaust open in usual is opened
It closes valve Q5 energization and opens exhaust, and cut-off exhaust in time makes unloaded manipulator finger have one to guarantee having certain back pressure
Fixed rigidity.
The working principle of the invention and process for using: it for being specifically crawled after object optimizes calculating, can calculate
Crawl posture and contacting points position corresponding to required grasp force out, grab posture and contacting points position by motor rotational angle and
The accurate Collaborative Control of each bellows muscle internal pressure.Specifically: it is different 1. to grab congener (such as apple), geomery
It, can be by selecting torsion spring parameter and finger structure size appropriate when the complex object of cause, realization can freedom degree adaptation
Property can not be destroyed and the complex object of reliable grip this type again；2. grabbing (such as apple, orange, the orange ball of similar shape
The tetragonal bodies such as shape or size square box), geomery is when changing similar shape complex object greatly, selection torsion appropriate can be passed through
Spring parameter and finger structure size, realizing freedom degree adaptability but also can not destroy and the complexity of reliable grip similar shape
Object；3. grabbing (such as apple, orange, orange equal sphere and small square box tetragonal body) of different shapes, geomery not simultaneously
, can be by proper choice of torsion spring parameter and finger structure size when identical complex object, and accurate single head bellows flesh
The internal pressure of meat 15, after overcoming the pulling force for drawing spring 17 to adjust finger indexing, realization freedom degree adaptability but also can not be broken
Bad and reliable grip complex object of different shapes.
The present invention, which imitates claws of a hawk logistics packaging manipulator, can vertically grab circle by the accurate control of finger indexing angle
Cylindricality, rectangular, spherical, ellipsoid-like object, or horizontally crawl spherical shape, cylindrical, square objects, to both adapt to crawl object
Shape meets the needs of vertical horizontal places variation again.
According to object shapes (such as cylindrical, rectangle) size and physical characteristics of materials, by ADAMS software to machinery
The various configurations of hand finger are emulated, and are determined the adaptation geomery range of each configuration and are not damaged and reliable grip
The condition of compatibility of (not falling off) determines that imitative claws of a hawk logistics packaging manipulator finally grasps configuration, contacting points position and contact force
Size, direction.
Due to flexible finger structure, manipulator state has: 1. not in contact in the case of finger no load movement；2. contact is followed by
Touch is nought state；3. object does not move after contact, but contact force increases, and the position of action point of contact force, contact force direction become
Change；4. object does not move after contact, contact force maximum rating；5. the grip motion that object and manipulator are displaced with brief acceleration,
The position of action point of contact force, size, direction change；6. the grip motion that object and manipulator are at the uniform velocity displaced simultaneously, contact force
Position of action point, size, direction change；7. the grip motion of object and manipulator deceleration displacement simultaneously, the work of contact force
With a position, size, direction change；8. object and the static floating state of manipulator.
Dynamic control when, 1. in the case that not in contact with finger no load movement when, determination avoid and conveyer belt or station
The path planning of the finger tip of desktop interference forms the Dynamic Control Strategy of motor rotation and the driving of bellows muscle pressure；②
After contact object do not move, contact force maximum rating when, object is raised moment, and contact force mutates, and can pass through pressure
Transmitter and Speed On-off Valve adjust each bellows muscle internal pressure；3. in object and the same brief acceleration of manipulator
When displacement or deceleration are displaced, being adapted to property adjusts each bellows muscle internal pressure.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger, including lead screw spindle motor (1), the seat of honour
Plate (2), feed screw nut seat (4), linear bearing (5), driving plate (6), push plate (7), push rod (8), is fixed at guiding connecting rod (3)
Finger block (9), connecting rod (10), base plate (12), short finger (13), long finger (14), single head bellows muscle (15), band ridge push away
Plate (16) draws spring (17), small support (18), rotate driving plate (19), round clamp (20), seal head (21), axle sleeve (22), turns
Dynamic finger block (23), small rolling bearing units (24), it is characterised in that: the lead screw spindle motor (1) is mounted on upper base plate (2), described
Upper base plate (2) and base plate (12) are integral by two guiding connecting rod (3) fixations, and the both ends of two guiding connecting rod (3) are equal
There is cylindrical section to cooperate respectively with the interporal lacuna on upper base plate (2) and base plate (12), the lead screw that the lead screw spindle motor (1) drives
Nut seat (4) is fixed on driving plate (6), and there are two linear bearing (5), two linear bearings for installation on the driving plate (6)
(5) it is oriented to by corresponding guiding connecting rod (3), driving plate (6) moves along a straight line up and down；The finger root section of the short finger (13) on the left side
The upper end of (13a) is connect with fixed finger seat (9) hinge, and the fixed finger seat (9) is mounted on base plate (12) by screw
On, the push plate (7) is fixed on driving plate (6), is equipped with push rod (8) on the outside of the push plate (7), the push rod (8) and company
One end hinge of bar (10) connects, and the other end and the hinge seat (13b) on short finger (13) of the connecting rod (10) pass through hinge
It connects, the finger root upper end of the long finger (14) among the right is connect with fixed finger seat (9) hinge, and the band ridge push plate (16) is solid
It is scheduled on driving plate (6), is equipped with push rod (8) on the outside of the band ridge push plate (16), one end of the push rod (8) and connecting rod (10)
Hinge connection, the other end and the hinge seat (13b) on long finger (14) of the connecting rod (10) are connected by a hinge, the driving
Plate (6) drives band ridge push plate (16) to move along a straight line up and down；
The upper end of the finger root section (13a) of the short finger (13) of two of the outside on the right is connect with rotation finger block (23) hinge,
The short finger (13) of two of the outside on the right with rotation finger block (23) and rotate driving plate (19) be coaxial inner conductor, integrally
Rotation, driving come from two single head bellows muscle (15), and the shaft part on described rotation finger block (23) top packs into axle sleeve (22),
The axle sleeve (22) withstands the rotary inner ring of small rolling bearing units (24), the threaded portion of the shaft part on described rotation finger block (23) top
Divide and use nut tightening, rotation finger block (23) is axially fixed on small rolling bearing units (24), the small rolling bearing units (24) are logical
It crosses screw to be fixed on base plate (12), the single head bellows muscle (15) is fixed on the wavy bayonet of seal head (21) by clip
On, the seal head (21) with gas-tpe fitting is fixed on small support (18), and the small support (18) is fixed on rotate driving plate
(19) on, two are drawn the one end of spring (17) to be hooked into the hole on the ridge with ridge push plate (16), and the other end is hooked into small support
(18) it in the hole on, is equipped with push rod (8) on the outside of the rotate driving plate (19), the one of the push rod (8) and connecting rod (10)
Hinge connection is held, the other end and the hinge seat (13b) on short finger (13) of the connecting rod (10) are connected by a hinge.
2. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1, special
Sign is:
The short finger (13) includes referring to root section (13a), hinge seat (13b), big support (13c), thick seal head (13d), tracheae
Connector (13e), double end bellows muscle (13f), thin seal head (13g), thick torsional spring (13h), middle finger joint (13i), thin torsional spring
(13j), finger tip section (13k), arc adhesive tape (13l), the hinge seat (13b), which is fixed on, to be referred on root section (13a), the double end wave
The upper end of line pipe muscle (13f) is on the wavy bayonet that clip is fixed on thick seal head (13d), gas-tpe fitting (13e) rotation
On thick seal head (13d), the lower end of the double end bellows muscle (13f) is fixed on the wave of thin seal head (13g) by clip
On shape bayonet, the thickness seal head (13d), thin seal head (13g) are each attached to big support (13c), and one big support (13c) is solid
It is scheduled on and refers on root section (13a), another big support (13c) is fixed on finger tip section (13k), the finger root section (13a) and middle finger
The connection of (13i) hinge is saved, is cased with thick torsional spring (13h) on hinge core shaft, the middle finger joint (13i) and finger tip section (13k) hinge connect
It connects, is cased on hinge core shaft thin torsional spring (13j), the arc adhesive tape (13l), which is respectively adhered on, refers to root section (13a), middle finger joint
On the grasping contact surface of the inside of (13i), finger tip section (13k).
3. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1, special
Sign is: the driving plate (6) drives push plate (7) to move along a straight line up and down；Push plate (7) driving push rod (8), connecting rod (10),
Adjusting refers to the angle between root and base plate (12).
4. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1, special
Sign is: band ridge push plate (16) driving push rod (8), connecting rod (10), adjusts the angle referred between root and base plate (12).
5. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1, special
Sign is: the thickness of two pieces of rotate driving plates (19) and the width gaps of the guide groove on the outside of driving plate (6) cooperate, and cut with scissors by straight pin
Chain link and rotate.
6. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 5, special
Sign is: the termination plane of two guide grooves is parallel, and two short hands for guaranteeing the outside on the right under spring (17) effect are drawn at two
Refer to that (13) are parallel with long finger (14), short finger (13) on the left side.
7. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1, special
Sign is: soket head cap screw and nut, two round clamps (20) is used, by the single head bellows muscle (15) of two rubber materials
Planar ends are fixedly clamped on the ridge with ridge push plate (16), keep sealing.
8. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1, special
Sign is: the expansion of the single head bellows muscle (15) of inflation, and the short finger (13) in outside on small support (18), the right is driven to turn
It is dynamic, realize finger indexing.
9. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1, special
Sign is: the driving plate (6) drives rotate driving plate (19) to move along a straight line up and down, rotate driving plate (19) driving push rod (8),
Connecting rod (10), to adjust the angle referred between root and base plate (12).
10. a kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger according to claim 1,
Be characterized in that: the single head bellows muscle (15) of free state is U-shaped bellows longitudinal section, and original state is by drawing spring after installation
(17) it is compressed into Ω shape bellows longitudinal section.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163952.3A CN108436952B (en) | 2018-02-27 | 2018-02-27 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
| PCT/CN2019/073908 WO2019165878A1 (en) | 2018-02-27 | 2019-01-30 | Claw-like logistics packaging mechanical arm with electric-gas hybrid drive flexible fingers |
| JP2019559816A JP6831136B2 (en) | 2018-02-27 | 2019-01-30 | Electric-pneumatic combined drive Robot hand for logistics packing that imitates Eagle Claw with flexible fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163952.3A CN108436952B (en) | 2018-02-27 | 2018-02-27 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108436952A CN108436952A (en) | 2018-08-24 |
| CN108436952B true CN108436952B (en) | 2019-07-23 |
Family
ID=63192614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163952.3A Active CN108436952B (en) | 2018-02-27 | 2018-02-27 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6831136B2 (en) |
| CN (1) | CN108436952B (en) |
| WO (1) | WO2019165878A1 (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436952B (en) * | 2018-02-27 | 2019-07-23 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
| CN108858271B (en) | 2018-09-07 | 2020-10-30 | 江南大学 | Manipulator of dual-drive special-shaped super-soft elastic framework |
| CN108994825A (en) * | 2018-09-19 | 2018-12-14 | 河北卓秋实业有限公司 | Cantilevered Dual-spindle linked bionic mechanical hand spreading machine |
| CN109262646B (en) * | 2018-09-29 | 2020-10-20 | 江南大学 | Chain plate type flexible finger |
| CN109910039B (en) * | 2019-04-29 | 2020-11-17 | 江南大学 | Agile manipulator for clamping pneumatic finger, transposition finger root and rotating electric finger root |
| CN110014445B (en) * | 2019-05-08 | 2021-04-06 | 河北省科学院应用数学研究所 | Flexible bionic manipulator with adjustable initial grabbing angle |
| CN111152254B (en) * | 2020-01-09 | 2021-04-20 | 江南大学 | Flexible shaft-driven rigid-flexible coupling finger four-finger under-actuated manipulator |
| CN111360865B (en) * | 2020-04-03 | 2021-04-20 | 江南大学 | Quick-change finger palm changing manipulator with finger root flexible shaft for transmission rotation and eccentric transposition |
| CN111409094B (en) * | 2020-04-14 | 2021-08-24 | 江南大学 | Composite manipulator and method for kneading and wrapping and grabbing by flexible shaft transmission drum tensioning belt |
| CN112314542B (en) * | 2020-08-06 | 2022-07-26 | 北京工业大学 | Polyhedral paw for catching marine organisms |
| CN112157644B (en) * | 2020-10-10 | 2022-03-01 | 西南科技大学 | Auxiliary installation robot system for out-of-pile nuclear detector |
| CN112249717B (en) * | 2020-10-16 | 2021-11-26 | 淮北职业技术学院 | Automatic stacking device for automobile batteries |
| CN114012766B (en) * | 2021-11-10 | 2023-06-27 | 江南大学 | Multi-degree-of-freedom bionic hand and operation method for electric positioning and pneumatic clamping of multi-degree-of-freedom bionic hand |
| CN114750187B (en) * | 2022-03-30 | 2022-12-02 | 江南大学 | Artificial muscle and air cylinder adopting radial flower-edge-shaped elastic corrugated pipe and control method |
| CN114800583B (en) * | 2022-04-18 | 2023-09-26 | 浙江大学 | Two-phase driving flexible paw |
| CN115056259A (en) * | 2022-08-16 | 2022-09-16 | 太仓奥林吉汽车零部件有限公司 | Novel flexible tongs for transferring non-metal parts |
| CN116477299A (en) * | 2023-04-25 | 2023-07-25 | 江苏科技大学 | Flexible transmission unit for flexible manipulator and control method |
| CN116652999B (en) * | 2023-07-26 | 2023-11-24 | 中国科学院自动化研究所 | Underwater soft manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN101422906A (en) * | 2008-12-12 | 2009-05-06 | 清华大学 | Displacement under-actuated two-articulated robot finger device based on flexible piece |
| CN203380902U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series flexible hinge framework claw driven and controlled by electric push rods |
| CN104802178A (en) * | 2015-05-12 | 2015-07-29 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator |
| CN204725498U (en) * | 2015-05-12 | 2015-10-28 | 江南大学 | Elastic bellows single-acting cylinder drives series connection flexible hinge framework manipulator |
| CN205928654U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | Two motor drive cooperative control's underactuated manipulator |
| CN206154333U (en) * | 2016-10-21 | 2017-05-10 | 合肥工业大学 | Imitative staff mechanical gripper |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6053495U (en) * | 1983-09-22 | 1985-04-15 | 東芝精機株式会社 | gripping device |
| JP2747715B2 (en) * | 1989-01-24 | 1998-05-06 | 株式会社日平トヤマ | Grasping device |
| JP2006102920A (en) * | 2004-10-08 | 2006-04-20 | Fanuc Ltd | Grip-type hand |
| GB2496335A (en) * | 2009-07-22 | 2013-05-08 | Shadow Robot Company Ltd | Finger digit for robotic hand |
| JP5660364B2 (en) * | 2010-05-25 | 2015-01-28 | 国立大学法人 東京大学 | Robot hand and robot system |
| JP6111589B2 (en) * | 2012-10-11 | 2017-04-12 | セイコーエプソン株式会社 | Robot hand, robot apparatus, and method of manufacturing robot hand |
| CN105643649A (en) * | 2014-11-15 | 2016-06-08 | 张桂春 | Six-joint three-finger manipulator for grabbing apples |
| CN204725505U (en) * | 2015-05-12 | 2015-10-28 | 江南大学 | Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator |
| CN104875202B (en) * | 2015-06-17 | 2016-08-24 | 燕山大学 | A kind of universal type Pneumatic flexible robot device |
| CN108436952B (en) * | 2018-02-27 | 2019-07-23 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
-
2018
- 2018-02-27 CN CN201810163952.3A patent/CN108436952B/en active Active
-
2019
- 2019-01-30 WO PCT/CN2019/073908 patent/WO2019165878A1/en active Application Filing
- 2019-01-30 JP JP2019559816A patent/JP6831136B2/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN101422906A (en) * | 2008-12-12 | 2009-05-06 | 清华大学 | Displacement under-actuated two-articulated robot finger device based on flexible piece |
| CN203380902U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Series flexible hinge framework claw driven and controlled by electric push rods |
| CN104802178A (en) * | 2015-05-12 | 2015-07-29 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator |
| CN204725498U (en) * | 2015-05-12 | 2015-10-28 | 江南大学 | Elastic bellows single-acting cylinder drives series connection flexible hinge framework manipulator |
| CN205928654U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | Two motor drive cooperative control's underactuated manipulator |
| CN206154333U (en) * | 2016-10-21 | 2017-05-10 | 合肥工业大学 | Imitative staff mechanical gripper |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019165878A1 (en) | 2019-09-06 |
| CN108436952A (en) | 2018-08-24 |
| JP6831136B2 (en) | 2021-02-17 |
| JP2020518480A (en) | 2020-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108436952B (en) | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger | |
| US11485027B2 (en) | Electric compound driving thickness irregularly shaped plate spring framework flexible manipulator | |
| WO2021197319A1 (en) | Palm switching manipulator capable of fast finger changing and having finger base flexible shaft for rotation transmission and eccentric transposition | |
| CN109910039B (en) | Agile manipulator for clamping pneumatic finger, transposition finger root and rotating electric finger root | |
| CN108481311B (en) | Variable-rigidity compliant grabbing device | |
| CN108858271B (en) | Manipulator of dual-drive special-shaped super-soft elastic framework | |
| US20210347063A1 (en) | Chain plate flexible finger | |
| WO2016180337A1 (en) | Grapple device having serial hinged structure and driven by single-acting cylinders with elastic bellows | |
| CN205928703U (en) | But underactuated manipulator of hard and soft coupling transposition finger | |
| WO2016180338A1 (en) | Grapple device having serial flexible hinge structure and driven by single-acting cylinders with elastic bellows | |
| CN104175325B (en) | The self-locking force booster type submissive end grasping device of series connection leaf hinge | |
| WO2016179793A1 (en) | Grapple device having serial leaf-spring structure and driven by single-acting cylinders with elastic bellows | |
| CN107414880B (en) | Based on the activation lacking mechanical finger for becoming born of the same parents' principle | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN204725505U (en) | Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator | |
| CN105643649A (en) | Six-joint three-finger manipulator for grabbing apples | |
| CN108673542A (en) | A kind of electric-gas composite drive series connection flexible hinge framework flexible manipulator | |
| CN111300473A (en) | Electric-pneumatic driving flexible claw capable of rotating position and adjusting rigidity of plate spring framework finger | |
| CN204725506U (en) | Elastic bellows single-acting cylinder drives series board spring skeleton manipulator | |
| CN209078770U (en) | A kind of manipulator sucker jig | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| CN104802179B (en) | Elastic corrugated pipe single-acting cylinder-driven serial plate spring framework manipulator | |
| CN210084462U (en) | Multi freedom stacking manipulator | |
| CN110053036A (en) | The flat folder indirect self-adaptive robot finger apparatus of concyclic slide bar straight line | |
| CN108890677B (en) | Flexible underactuated manipulator cooperatively driven by finger root joint and finger tip joint |
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 |