CN108483306B - Transportation equipment based on rotation lifting - Google Patents
Transportation equipment based on rotation lifting Download PDFInfo
- Publication number
- CN108483306B CN108483306B CN201810358700.6A CN201810358700A CN108483306B CN 108483306 B CN108483306 B CN 108483306B CN 201810358700 A CN201810358700 A CN 201810358700A CN 108483306 B CN108483306 B CN 108483306B
- Authority
- CN
- China
- Prior art keywords
- rotating arm
- clamping device
- frame
- clamping
- lifting
- 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
- 238000004804 winding Methods 0.000 claims description 36
- 238000004146 energy storage Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/18—Power-operated hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/18—Power-operated hoists
- B66D3/26—Other details, e.g. housings
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a transport device based on rotary lifting, which is characterized in that: including frame, swinging boom, roll up the chain, driving motor, reel and set up the promotion motor on the swinging boom, the frame includes the chassis, support frame and parallel frame, support frame welded fastening is on the chassis, the both ends welded fastening of parallel frame is on the support frame, the below of chassis is provided with the gyro wheel, driving motor sets up the one end parallel with the parallel frame on the chassis, the reel is connected with driving motor's output, the one end of swinging boom articulates on the chassis, be provided with on the swinging boom and be used for holding the first clamp equipment of getting of object and second clamp equipment, it is connected with first clamp equipment and second clamp equipment respectively to promote the motor, it is connected with reel and swinging boom respectively to roll up the chain across the parallel frame. The invention provides a transport device based on rotary lifting, which can enable articles to be stacked while grabbing the articles, and can fully utilize the longitudinal space by clamping and stacking once.
Description
Technical Field
The invention relates to the field of transportation equipment, in particular to transportation equipment based on rotary lifting.
Background
At the present stage, the total value of trade import and export in China is increased rapidly, so that the increase of logistics transportation demands is pulled. The current development of logistics in China is in a stable and medium state, wherein the development of the logistics of express delivery is rapid, but basic equipment of logistics transportation is not perfect, and the large crane produced in China is complex in structure and complex in operation and is not applicable to the transportation of small-size express delivery objects, so that the main task of logistics transportation is still to fall on the body of express delivery personnel, and the express delivery personnel is required to consume a great deal of time and energy to finish the sorting and carrying of the objects, so that the further development of the logistics of express delivery is not facilitated.
Disclosure of Invention
In order to solve the problems, the invention aims to provide the transport equipment based on the rotary lifting, which can be used for placing the objects while grabbing the objects, and the longitudinal space is fully utilized.
The invention solves the problems by adopting the following technical scheme:
the utility model provides a transportation equipment based on rotatory jack-up, includes frame, swinging boom, book chain, driving motor, reel and sets up the hoisting motor on the swinging boom, the frame includes chassis, support frame and parallel frame, support frame welded fastening is on the chassis, the both ends welded fastening of parallel frame is on the support frame, the below of chassis is provided with the gyro wheel, driving motor sets up the one end parallel with parallel frame on the chassis, the reel is connected with driving motor's output, the one end of swinging boom articulates on the chassis, be provided with the clamp equipment that is used for the centre gripping object on the swinging boom, the hoisting motor is connected with clamp equipment, the book chain strides across parallel frame is connected with reel and swinging boom respectively.
Further, the clamping device comprises a rotating rod hinged to the rotating arm and a clamping jaw arranged on the rotating rod, wherein the rotating rod can rotate around the rotating arm, and the clamping jaw can rotate around the rotating rod.
Further, the clamping device comprises a first clamping device, a second clamping device and a third clamping device, and the first clamping device, the second clamping device and the third clamping device comprise rotating rods and clamping jaws; the two rotating arms are arranged, the first clamping device and the second clamping device are arranged on one rotating arm, and the third clamping device is arranged on the other rotating arm.
Further, a flexible chain is included that is connected between the first gripping device and the second gripping device.
Further, a buffer energy storage block for preventing the impact of the rotating arm is arranged on the parallel frame.
Further, a limiting block for limiting the rotation range of the rotating arm is further arranged on the parallel frame.
Further, fixed pulleys are arranged on the parallel frames, and the winding chains penetrate through the fixed pulleys and are respectively connected with the rotating arms and the winding drums.
Further, the lifting motor is connected with the second clamping device and the third clamping device through the pulley blocks respectively.
Further, the buffering energy storage block is a spring.
Further, the number of the rollers is 4, and the rollers are Mecanum wheels convenient for steering.
The beneficial effects of the invention are as follows: the transportation equipment based on rotary lifting is characterized in that a motor arranged on a bottom frame rotates to drive a winding drum to rotate, a winding chain arranged on the winding drum is changed from a tightening state to a loosening state, then a rotating arm rotates clockwise under the action of gravity of the rotating arm, and the downward rotation angle is determined by controlling the winding chain length by the motor; when the rotating arm descends to a proper height, the clamping equipment on the rotating arm clamps the object, then the motor on the underframe rotates in the opposite direction, and the winding chain contracts to drive the rotating arm to ascend anticlockwise; when the rotating arm rises to the vertical position, a lifting motor on the rotating arm works to drive the clamping device to rise; when the equipment moves to a designated position through the roller, the lifting motor reverses to enable the clamping equipment to descend, and the clamped object is longitudinally placed. By utilizing the equipment, the device not only can play a role in clamping and transporting the objects, but also can longitudinally place the objects, so that the longitudinal space is well utilized, and the labor and the space are greatly saved.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the operation of a rotary-crane-based transport apparatus of the present invention;
FIG. 2 is a block diagram of a rotary-crane-based transport apparatus of the present invention;
fig. 3 is a front view of a rotary-lifting-based transport device of the present invention.
Detailed Description
Referring to fig. 1-3, the transport device based on rotary lifting of the invention comprises a frame, a rotating arm 2, a winding chain 6, a driving motor 7, a winding drum 8 and a lifting motor 9 arranged on the rotating arm 2, wherein the frame comprises a bottom frame 11, a supporting frame 12 and a parallel frame 13, the supporting frame 12 is fixedly welded on the bottom frame 11, two ends of the parallel frame 13 are fixedly welded on the supporting frame 12, a roller 16 is arranged below the bottom frame 11, the driving motor 7 is arranged at one end of the bottom frame 11 parallel to the parallel frame 13, the winding drum 8 is connected with the output end of the driving motor 7, one end of the rotating arm 2 is hinged on the bottom frame 11, a clamping device for clamping objects is arranged on the rotating arm 2, the lifting motor 9 is connected with the clamping device, and the winding chain 6 spans the parallel frame 13 and is respectively connected with the winding drum 8 and the rotating arm 2. The driving motor 7 arranged on the underframe 11 rotates to drive the winding drum 8 to rotate, the winding chain 6 arranged on the winding drum 8 is changed from a tightening state to a loosening state, then the rotating arm 2 rotates clockwise under the action of gravity of the rotating arm 2, and the downward rotating angle is determined by controlling the length of the winding chain 6 by the driving motor 7; when the rotating arm 2 descends to a proper height, the clamping equipment on the rotating arm 2 clamps the object, then the driving motor 7 on the underframe 11 rotates in the opposite direction, and the winding chain 6 contracts to drive the rotating arm 2 to ascend anticlockwise; when the rotating arm 2 rises to the vertical position, the lifting motor 9 on the rotating arm 2 works to drive the clamping device to rise; when the device is moved to a specified position by the roller 16, the lifting motor 9 is reversed so that the gripping device is lowered and the gripped object is placed longitudinally. By utilizing the equipment, not only can the objects be mechanically transported, but also the objects can be longitudinally placed, and the longitudinal space is well utilized, so that the manpower and the space are greatly saved, the transportation efficiency is improved, and the further development of logistics industry is promoted.
The clamping device comprises a rotating rod hinged to the rotating arm 2 and a clamping jaw arranged on the rotating rod, the rotating rod can rotate around the rotating arm 2, and the clamping jaw can rotate around the rotating rod. The clamping device comprises a rotating rod and clamping jaws, the rotating rod can rotate around the rotating arm 2, the clamping jaws can also rotate around the rotating rod, the clamping device can clamp and longitudinally place objects very conveniently through the arrangement, the clamping device can enable the objects to be parallel to the horizontal plane when lifting the objects, and the objects cannot be damaged due to the inclination.
The clamping device comprises a first clamping device 3, a second clamping device 4 and a third clamping device 10, wherein the first clamping device 3, the second clamping device 4 and the third clamping device 10 comprise rotating rods and clamping jaws; the number of the rotating arms 2 is two, the first clamping device 3 and the second clamping device 4 are arranged on one rotating arm 2, and the third clamping device 10 is arranged on the other rotating arm 2. The first clamping device 3 and the second clamping device 4 are placed on one of the rotating arms 2, so that the two objects can be lifted by the one rotating arm 2 at the same time, and the first clamping device 3 and the second clamping device 4 can rotate to a proper angle to prevent collision of the two objects when the objects are clamped, and rotate by 90 degrees when the first clamping device 3 unloads the objects when the objects are placed, so that the influence on the unloading of the second clamping device 4 is avoided, and the second clamping device 4 continuously descends to stack the objects; the third clamping device 10 is arranged on the other rotating arm 2, and can work when the first clamping device 3 and the second clamping device 4 work, so that the object transportation efficiency is further improved; and by adjusting the distance between the frame and the objects, the objects gripped by the third gripping device 10 can be further stacked longitudinally.
Wherein a flexible chain 5 is also included, said flexible chain 5 being connected between the first gripping device 3 and the second gripping device 4. The flexible chain 5 arranged between the first gripping device 3 and the second gripping device 4 can be adjusted according to the sizes of the objects to be gripped by the first gripping device 3 and the second gripping device 4 so as to adapt to the sizes of the objects to be gripped by the two gripping devices, and preparation is made for lifting and unloading the objects afterwards.
Wherein, the parallel frame 13 is provided with a buffer energy storage block 14 for preventing the impact of the rotating arm 2. The buffer energy storage block 14 arranged on the parallel frame 13 can drive the winding chain 6 to shrink when the driving motor 7 arranged on the bottom plate 11 reversely rotates, and then the rotating arm 2 connected on the winding chain 6 anticlockwise blocks the impact force brought to the parallel frame 13 in the rising process of the rotating arm 2 when the rotating arm 2 is close to the parallel frame 13, so that the parallel frame 13 cannot shake due to the too large impact force in the rising process of the rotating arm 2, the shaking of the transportation equipment is avoided, and the transportation equipment can be operated more stably.
Wherein, the parallel frame 13 is also provided with a limiting block 15 for limiting the rotation range of the rotating arm 2. The limiting block 15 arranged on the parallel frame 13 can limit the movement range of the rotating arm 2 when the rotating arm 2 is driven by the winding chain 6 to rotate anticlockwise, so that the rotating arm 2 can only move to the parallel frame 13 at most and is vertical to the ground; the limiting block 15 is further provided with an elastic piece, and when the rotating arm 2 needs to move downwards clockwise, the elastic piece applies elastic force to the rotating arm 2, so that the rotating arm 2 can move downwards smoothly on a vertical plane.
The parallel frame 13 is provided with a fixed pulley, and the winding chain 6 passes through the fixed pulley to be respectively connected with the rotating arm 2 and the winding drum 8. The fixed pulley arranged on the parallel frame 13 enables the winding chain 6 to pass through smoothly when the driving motor 7 arranged on the bottom frame 11 tightens or loosens the winding chain 6, reduces the loss of friction force, and enables the driving motor 7 to control the movement of the rotating arm 2 smoothly.
The lifting motor 9 is connected with the second clamping device 4 and the third clamping device 10 through the pulley blocks 17 respectively. Lifting motor 9 goes on through assembly pulley 17 when lifting up and descending the operation of getting equipment, not only can reduce the frictional force that receives, can also stabilize by assembly pulley 17 and press from both sides and get equipment for press from both sides the condition that rises or decline of getting equipment can not appear rocking, thereby can be more accurate when transportation equipment carries out vertical stacking to the article.
Wherein the buffer energy storage block 14 is a spring. The spring is a common energy storage object and has a good buffering effect, and the spring is applied to the transportation equipment, so that shaking of the transportation equipment caused by too large impact force in the rising process of the rotating arm 2 is avoided, and the transportation equipment can run more stably.
Wherein, the number of the rollers 16 is 4, and the rollers 16 are Mecanum wheels which are convenient for steering. The number of the rollers 16 is 4, and the 4 rollers 16 are respectively fixed on four corners below the underframe 11, so that a good fixing device function is realized; the rollers 16 are available as Mecanum wheels with good rotation characteristics, the wheels are mounted on the chassis 11, a rotation control motor is arranged beside each roller 16, and each rotation control motor controls the rotation direction of each wheel, so that the device can rotate more conveniently in all directions, and objects can reach a designated place more smoothly.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (7)
1. Transportation equipment based on rotatory jack-up, its characterized in that: the automatic lifting device comprises a frame, a rotating arm (2), a winding chain (6), a driving motor (7), a winding drum (8) and a lifting motor (9) arranged on the rotating arm (2), wherein the frame comprises an underframe (11), a supporting frame (12) and a parallel frame (13), the supporting frame (12) is fixedly welded on the underframe (11), two ends of the parallel frame (13) are fixedly welded on the supporting frame (12), a roller (16) is arranged below the underframe (11), the driving motor (7) is arranged at one end of the underframe (11) parallel to the parallel frame (13), the winding drum (8) is connected with the output end of the driving motor (7), one end of the rotating arm (2) is hinged to the underframe (11), clamping equipment for clamping objects is arranged on the rotating arm (2), the lifting motor (9) is connected with the clamping equipment, and the winding chain (6) spans the winding drum (8) and the rotating arm (2) respectively.
The clamping device comprises a rotating rod hinged to the rotating arm (2) and a clamping jaw arranged on the rotating rod, wherein the rotating rod can rotate around the rotating arm (2), and the clamping jaw can rotate around the rotating rod;
the clamping device comprises a first clamping device (3), a second clamping device (4) and a third clamping device (10), wherein the first clamping device (3), the second clamping device (4) and the third clamping device (10) comprise rotating rods and clamping jaws; the two rotating arms (2) are arranged, the first clamping device (3) and the second clamping device (4) are arranged on one rotating arm (2), and the third clamping device (10) is arranged on the other rotating arm (2);
the parallel frame (13) is provided with a fixed pulley, and the winding chain (6) passes through the fixed pulley and is respectively connected with the rotating arm (2) and the winding drum (8);
the device comprises a chassis (11), a driving motor (7) arranged on the chassis (11) rotates to drive a winding drum (8) to rotate, a winding chain (6) arranged on the winding drum (8) is changed from a tightening state to a loosening state, then a rotating arm (2) rotates clockwise under the action of gravity of the rotating arm, and the downward rotating angle is determined by controlling the length of the winding chain (6) by the driving motor (7); when the rotating arm (2) descends to a certain height, the clamping equipment on the rotating arm (2) clamps the object, then the driving motor (7) on the underframe (11) rotates in the opposite direction, and the winding chain (6) contracts to drive the rotating arm (2) to ascend anticlockwise; when the rotating arm (2) rises to the vertical position, a lifting motor (9) on the rotating arm (2) works to drive the clamping device to rise; when the device moves to a designated position through the roller (16), the lifting motor (9) reverses to enable the gripping device to descend, and the gripped object is placed longitudinally.
2. A rotary-lifting-based transport apparatus according to claim 1, characterized in that: the device further comprises a flexible chain (5), wherein the flexible chain (5) is connected between the first clamping device (3) and the second clamping device (4).
3. A rotary-lifting-based transport apparatus according to claim 1, characterized in that: the parallel frame (13) is provided with a buffer energy storage block (14) for preventing the impact of the rotating arm (2).
4. A rotary-lifting-based transport apparatus according to claim 3, characterized in that: the parallel frame (13) is also provided with a limiting block (15) for limiting the rotation range of the rotating arm (2).
5. A rotary-lifting-based transport apparatus according to claim 1, characterized in that: the lifting motor (9) is connected with the second clamping device (4) and the third clamping device (10) through the pulley blocks (17).
6. A rotary-lifting-based transport apparatus according to claim 3, characterized in that: the buffer energy storage block (14) is a spring.
7. A rotary crane based transport apparatus according to any one of claims 1-6, wherein: there are 4 rollers (16), and the rollers (16) are Mecanum wheels which facilitate steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810358700.6A CN108483306B (en) | 2018-04-19 | 2018-04-19 | Transportation equipment based on rotation lifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810358700.6A CN108483306B (en) | 2018-04-19 | 2018-04-19 | Transportation equipment based on rotation lifting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108483306A CN108483306A (en) | 2018-09-04 |
| CN108483306B true CN108483306B (en) | 2024-01-16 |
Family
ID=63312963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810358700.6A Active CN108483306B (en) | 2018-04-19 | 2018-04-19 | Transportation equipment based on rotation lifting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108483306B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA499812A (en) * | 1954-02-09 | Lallo Giovanni | Safety swing | |
| GB2256173A (en) * | 1991-05-29 | 1992-12-02 | Tani Denki Kogyo Kk | Transporter with function of maintaining and moving center of gravity. |
| CN1805804A (en) * | 2003-06-09 | 2006-07-19 | S.I.M.A.C.股份公司 | Improved coil transfer winding plant for rolled-stock |
| US7172083B1 (en) * | 2002-09-09 | 2007-02-06 | Raines Harry F | Mobile hydraulic hoist |
| WO2012139156A1 (en) * | 2011-04-11 | 2012-10-18 | Trambas Dimitrios | A bulk container discharge device |
| KR20170013501A (en) * | 2015-07-28 | 2017-02-07 | 김진원 | Hand pallet truck with crane |
| CN206447494U (en) * | 2016-11-13 | 2017-08-29 | 无锡晟欧船舶设备有限公司 | A kind of ship petroleum pipeline lowering or hoisting gear |
| CN107892250A (en) * | 2017-10-24 | 2018-04-10 | 五邑大学 | Whip-and-derry |
| CN208234442U (en) * | 2018-04-19 | 2018-12-14 | 五邑大学 | A kind of transporting equipment based on rotation lifting |
-
2018
- 2018-04-19 CN CN201810358700.6A patent/CN108483306B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA499812A (en) * | 1954-02-09 | Lallo Giovanni | Safety swing | |
| GB2256173A (en) * | 1991-05-29 | 1992-12-02 | Tani Denki Kogyo Kk | Transporter with function of maintaining and moving center of gravity. |
| US7172083B1 (en) * | 2002-09-09 | 2007-02-06 | Raines Harry F | Mobile hydraulic hoist |
| CN1805804A (en) * | 2003-06-09 | 2006-07-19 | S.I.M.A.C.股份公司 | Improved coil transfer winding plant for rolled-stock |
| WO2012139156A1 (en) * | 2011-04-11 | 2012-10-18 | Trambas Dimitrios | A bulk container discharge device |
| KR20170013501A (en) * | 2015-07-28 | 2017-02-07 | 김진원 | Hand pallet truck with crane |
| CN206447494U (en) * | 2016-11-13 | 2017-08-29 | 无锡晟欧船舶设备有限公司 | A kind of ship petroleum pipeline lowering or hoisting gear |
| CN107892250A (en) * | 2017-10-24 | 2018-04-10 | 五邑大学 | Whip-and-derry |
| CN208234442U (en) * | 2018-04-19 | 2018-12-14 | 五邑大学 | A kind of transporting equipment based on rotation lifting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108483306A (en) | 2018-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201058767Y (en) | Metal drum extracting piling machine | |
| CN106144473A (en) | A kind of mechanical hand location grasping mechanism | |
| CN2782628Y (en) | Production line with dynamic storage controller | |
| CN110407107B (en) | Accurate allocation and transportation hoist of qxcomm technology | |
| CN210339605U (en) | Truss type stacker crane | |
| CN206476709U (en) | A kind of logistics pallet fork holds machine | |
| CN210392959U (en) | Cargo clamping mechanism for robot carrying stacking | |
| CN111003517A (en) | Magnetic blanking device | |
| CN106938787A (en) | A kind of multi-functional Zhua Ping robots | |
| CN108483306B (en) | Transportation equipment based on rotation lifting | |
| CN210102960U (en) | Accurate positioning device for stacking robot | |
| CN208234442U (en) | A kind of transporting equipment based on rotation lifting | |
| CN111717658A (en) | Automatic change goods transport manipulator for processing | |
| CN216549320U (en) | Lifting and moving device | |
| CN218706935U (en) | Manipulator for stacking robot | |
| CN211944950U (en) | Magnetic blanking device | |
| CN114834917A (en) | Material unloading system | |
| CN210162767U (en) | Stacking device for packaging and transporting high and low bearings | |
| CN207997992U (en) | A kind of automatic fixture and unmanned plane of container | |
| CN111747106A (en) | Automatic change goods transport manipulator for processing | |
| CN206203824U (en) | One kind is used for chemical industry equipment boom hoisting | |
| CN221050930U (en) | Sensor pile up neatly equipment of coming off production line | |
| CN214569158U (en) | Automatic opening and closing device for stacking baffle plates | |
| CN219730300U (en) | Material transfer platform for wharf | |
| CN214692195U (en) | Anchor ring stacking machine |
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 |