CN108674512B - A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this - Google Patents
A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this Download PDFInfo
- Publication number
- CN108674512B CN108674512B CN201810562886.7A CN201810562886A CN108674512B CN 108674512 B CN108674512 B CN 108674512B CN 201810562886 A CN201810562886 A CN 201810562886A CN 108674512 B CN108674512 B CN 108674512B
- Authority
- CN
- China
- Prior art keywords
- end equipment
- texture
- wall end
- fin
- directionality
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses one kind and climbs wall end equipment, it is related under wet environment or climbs under water wall technical field of operation, including absorption cavity body and annular flange, the edge of absorption cavity body circumferential direction extends outward to form annular flange, annular flange is used to contact on the surface of wall surface and is symmetrically arranged with fin, fin includes multiple fin rays and multiple film layers, two neighboring fin ray is linked together by film layer, the directionality texture of orientation with uniformity is additionally provided on the surface that fin ray is in contact with wall surface, and the directionality texture on the different fin rays in the same annular flange can generate anisotropy friction, the invention also discloses a kind of climbing robots, including retractable driving device and multiple climb wall end equipment, wall end equipment is climbed to be fixed on the different location of retractable driving device telescopic direction, retractable driving device, which can drive, climbs wall end equipment and exists Steady quickly movement under underwater or wet environment, device overall structure is simple, at low cost and applied widely.
Description
Technical field
The present invention relates to wall technical field of operation is climbed under wet environment or under water, wall end equipment is climbed more particularly to one kind
And the climbing robot of wall end equipment is climbed including this.
Background technique
The underwater absorption principle being currently known can substantially be divided into following 3 class: mechanical interlocked, vacuum suction and adhesion protein
Absorption, but it is mechanical interlocked need fixed device to complete adsorption process by mechanical structure clamping, to the intensity of adsorbent equipment
There is higher requirement, and structure is complicated, vacuum suction completes adsorption process by forming pressure difference, it is desirable that has high leakproofness
And vacuum degree, also there are many limitations to the surface of absorption, can only mostly be adsorbed on relatively smooth surface, and needs a set of negative
Generation device configuration is pressed, manufacturing cost and transportation cost are high, and adhesion protein absorption is then to rely on the active force between molecule, right
The component of adhesion protein has strict demand, high production cost, and mechanical interlocked, vacuum suction and adhesion protein adsorb three kinds of absorption sides
Formula have the shortcomings that it is more or less, and with the development of science and technology, requirement of the people to underwater adsorbent equipment also increasingly come
Height, therefore it provides a kind of structure is simple, wall end equipment of climbing at low cost and applied widely is urgently to be resolved at present asks
Topic.
Summary of the invention
The object of the present invention is to provide one kind to climb wall end equipment, to solve the above-mentioned problems of the prior art, makes to climb
Wall end equipment structure is simple, at low cost, and applied widely.
To achieve the above object, the present invention provides following schemes:
The present invention provides one kind and climbs wall end equipment, including absorption cavity body and annular flange, absorption cavity body circumferential direction
Edge extends outward to form annular flange, and annular flange is used to contact on the surface of wall surface and is symmetrically arranged with fin, and fin includes
Two neighboring fin ray is linked together by multiple fin rays and multiple film layers, film layer, on the surface that fin ray is in contact with wall surface also
Directional texture, directionality texture orientation with uniformity are set, and the consistent sexual orientation of directionality texture to climb wall end
Device is less than the frictional force suffered by direction of retreat, and the same convex annular relative to frictional force of the wall surface suffered by direction of advance
The directionality texture on different fin rays on edge can generate anisotropy friction.
Optionally, fin is sector structure, and annular flange is used to contact on the surface of wall surface and is symmetrically arranged with a pair of of fin
Portion.
Optionally, absorption cavity body is that hard material adsorbs cavity body, and annular flange is pliable material loop flange, annular
The thickness of flange is less than the thickness of absorption cavity body, and the thickness of annular flange successively decreases from the inside to the outside.
Optionally, directionality texture is column structure, and the outer end of directionality texture forms bending part, on single fin ray
The overbending direction of directionality texture bending part is identical, and directionality texture is micron texture, nanometer texture or micro-nano compound knits
One of structure.
The present invention also provides a kind of climbing robot, including retractable driving device and wall end equipment is climbed, climbs wall end
Device is fixed on the different location of retractable driving device telescopic direction.
Optionally, retractable driving device includes control system and flexible driving body, and control system is for controlling flexible driving
The movement of body.
Optionally, the driving body that stretches is column, and the both ends of flexible driving body are each provided at least one and climb wall end dress
It sets, driving body is stretched circumferentially in the wall end equipment edge of climbing positioned at the same end, and flexible driving body uses electrostriction material
Material is made, and the outer surface of flexible driving body is provided with helicla flute.
Optionally, set-up of control system is in one end of flexible driving body.
Optionally, control system includes power supply and controller, and power supply is electrically connected with the controller, controller and flexible driving body
Electrical connection is for controlling flexible driving body movement.
Optionally, power supply is lithium battery.
The present invention achieves following technical effect compared with the existing technology:
One kind provided by the invention climbs wall end equipment, including absorption cavity body and annular flange, and annular flange is for connecing
It touches and is symmetrically arranged with fin on the surface of wall surface, fin includes fin ray, is provided with direction on the surface that fin ray is in contact with wall surface
Property texture, directionality texture orientation with uniformity, the consistent sexual orientation of directionality texture to climb wall end equipment relative to
Frictional force of the wall surface suffered by direction of advance is less than the frictional force suffered by direction of retreat, and the difference in the same annular flange
Directionality texture on fin ray can generate anisotropy friction, climb the underwater anisotropy that wall end equipment is capable of anti-creep rock loach
Strong friction and reversible adsorption, can in wet environment or it is underwater realize absorption and desorption, reach and climb wall purpose, device is whole
Structure is simple, small in size, and applied widely.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram for climbing wall end equipment in the present invention；
Fig. 2 is a kind of A-A cross-sectional view for climbing wall end equipment in Fig. 1；
Fig. 3 is a kind of structural schematic diagram for climbing wall end equipment fin in the present invention；
Fig. 4 is a kind of B-B cross-sectional view for climbing wall end equipment fin in Fig. 3；
Fig. 5 is a kind of structural schematic diagram of climbing robot in the present invention；
Fig. 6 is a kind of structural schematic diagram of climbing robot elongation state in the present invention；
Fig. 7 is a kind of structural schematic diagram of climbing robot shortening state in the present invention；
In figure: 1- absorption cavity body, 2- annular flange, 3- fin ray, 4- film layer, 5- directionality texture, 6- climb wall end
The flexible driving body of device, 7-.
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.
The object of the present invention is to provide one kind to climb wall end equipment, of the existing technology to solve the problems, such as, makes to climb wall end
End device structure is simple, at low cost, and applied widely.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention provides one kind to climb wall end equipment 6, as shown in Figs 1-4, including absorption cavity body 1 and annular flange 2,
The circumferential edge of absorption cavity body 1 extends outward to form annular flange 2, and absorption cavity body 1 is that hard material adsorbs cavity body 1,
Cavity body can be adsorbed for plastic material or metal material adsorbs cavity body, and annular flange 2 is pliable material loop flange, can
Think silica gel annular flange or rubber annular flange, and the thickness of annular flange 2 is less than the thickness of absorption cavity body 1, annular
The thickness of flange 2 successively decreases from the inside to the outside.In addition, annular flange 2, which is used to contact on the surface of wall surface, is symmetrically arranged with a pair of of fin,
Fin is sector structure, and fin includes 14 fin ray 3 and 15 film layers 4, and two neighboring fin ray 3 is linked together by film layer 4,
It is additionally provided with directionality texture 5 on the surface that fin ray 3 is in contact with wall surface, the orientation with uniformity of directionality texture 5, preferably
Ground, directionality texture 5 is column structure, and the outer end of directionality texture 5 forms bending part, the directionality texture on single fin ray
The overbending direction of 5 bending parts is identical, and directionality texture 5 is one in micron texture, nanometer texture or micro-nano compound texture
Kind, the orientation with uniformity of directionality texture 5 is so that climb frictional force of the wall end equipment 6 relative to wall surface suffered by direction of advance
The directionality texture 5 on different fin rays 3 less than the frictional force suffered by direction of retreat, and in the same annular flange 2 can
Anisotropy friction is generated, anisotropy refers to that the properties such as all or part of physics of object, chemistry are each with the difference in direction
Directionality texture 5 from the different fin rays 3 in the characteristic for showing certain difference, the present invention in the same annular flange 2
The effect for the directionality texture 5 that anisotropy friction refers on the different fin rays 3 in the same annular flange 2 can be generated
Under, wall end equipment 6, which is climbed, relative to frictional force of the wall surface suffered by direction of advance is always less than frictional force suffered by direction of retreat,
Wall end equipment 6 provided by the invention of climbing can imitate the underwater anisotropic strong friction and reversible adsorption for climbing rock loach, Neng Gou
In wet environment or underwater realize is adsorbed and is desorbed, and reaches and climbs wall purpose, and device overall structure is simple, small in size, and is applicable in
Range is wide.
The present invention also provides a kind of climbing robots, as shown in figure 5, including retractable driving device and multiple climbing wall end
Device 6, retractable driving device include control system and flexible driving body 7, and the driving body 7 that stretches is column, and flexible driving body 7 is adopted
It is made of electrostriction material, the outer surface of flexible driving body 7 is provided with helicla flute, climbs wall end equipment 6 and is set to flexible drive
The both ends of kinetoplast 7, and being arranged circumferentially along flexible driving body 7 of wall end equipment 6, control system packet are climbed positioned at the same end
Lithium battery and controller are included, lithium battery is electrically connected with the controller, and controller is electrically connected with flexible driving body 7 for controlling flexible drive
The movement of kinetoplast 7, by the elongation and shortening of the controllable flexible driving body 7 of controller, while wall end equipment 6 is climbed in cooperation, can
Make climbing robot in wet environment or be easily accomplished climbing motion under water, it is steady to climb wall, and it is fast to climb wall speed.
Control system is with the flexible and flexible of flexible driving body 7 in order to prevent, and set-up of control system is in flexible driving body 7
One end.
The climbing robot climbing motion in specific work process the following steps are included:
Step 1, original state, the driving body 7 that stretches are shortening state, climb modular walls for two and are artificially attached to moist erect
Straight substrate surface.
Step 2, flexible driving body 7 are excited to extend, as shown in fig. 6, wall end equipment 6 is climbed relatively in flexible 7 front end of driving body
Has the tendency that advance in wall surface, compared with flexible 7 shortening state of driving body, wall action climbs wall in flexible 7 front end of driving body
The frictional force of end equipment 6 becomes smaller, so that flexible 7 front end of driving body climbs angle between adjacent two fin ray 3 of wall end equipment 6 and becomes smaller
Film layer 4 is shunk, and fluid is squeezed into absorption cavity body 1 makes to adsorb negative pressure reduction in cavity body 1, and wall is climbed in flexible 7 front end of driving body
End equipment 6 and wall surface are desorbed；Flexible 7 rear end of driving body, which climbs wall end equipment 6, has the tendency that retrogressing relative to wall surface, and flexible
7 shortening state of driving body is compared, and 6 stress of wall end equipment of climbing of flexible 7 rear end of driving body becomes larger so that adjacent two fin ray 3 it
Between angle become larger film layer 4 expansion exclude absorption 1 internal flow of cavity body make adsorb cavity body 1 in negative pressure increase, stretch driving
Wall end equipment 6 and wall adsorption are climbed in 7 rear end of body, and with the elongation of flexible driving body 7, wall end is climbed in flexible 7 front end of driving body
Skidding distance of the end device 6 in substrate be much larger than flexible 7 rear end of driving body climb sliding of the wall end equipment 6 in substrate away from
From.
Step 3, flexible driving body 7 are excited to shorten, as shown in fig. 7, wall end equipment 6 is climbed relatively in flexible 7 front end of driving body
Have the tendency that retrogressing in wall surface, compared with flexible 7 elongation state of driving body, flexible 7 front end of driving body climb wall end equipment 6 by
Power becomes larger, so that the angle expansion of film layer 4 that becomes larger excludes absorption 1 internal flow of cavity body and keeps absorption empty between adjacent two fin ray 3
Negative pressure increases in cavity 1, and wall end equipment 6 and wall adsorption are climbed in flexible 7 front end of driving body；Wall end is climbed in flexible 7 rear end of driving body
End device 6 has the tendency that advance relative to wall surface, and compared with flexible 7 shortening state of driving body, wall action is in flexible driving body 7
The frictional force for climbing wall end equipment 6 of rear end becomes smaller so that flexible 7 front end of driving body climb adjacent two fin ray 3 of wall end equipment 6 it
Between angle become smaller film layer 4 contraction, adsorb cavity body 1 in squeeze into fluid make adsorb cavity body 1 in negative pressure reduce, stretch driving body
Wall end equipment 6 is climbed in 7 rear ends and wall surface is desorbed, and with the shortening of flexible driving body 7, wall end is climbed in flexible 7 rear end of driving body
Skidding distance of the device 6 in substrate be much larger than flexible 7 front end of driving body climb sliding of the wall end equipment 6 in substrate away from
From.
Step 4, step 2 to step 3 is one and climbs wall displacement action, and repeating step 2 can make to climb wall to step 3
Robot easily slides into designated position in wet environment or under water.
It should be noted that the material of flexible driving body 7 is not limited in electrostriction material, it is also possible to other materials
Material, such as magnetostriction materials, the shape of directionality texture 5 are also not limited to column structure and in the outer of directionality texture 5
End forms bending part, any that the orientation with uniformity of directionality texture 5 can be made to exist so that climbing wall end equipment 6 relative to wall surface
Frictional force suffered by direction of advance is less than the structure of the frictional force suffered by direction of retreat, such as the cross of directionality texture 5
Section is triangular structure, and on climbing robot can the structures such as integrated camera, sensor, manipulator, climbing robot function
Can be various, it is applied widely.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (10)
1. one kind climbs wall end equipment, it is characterised in that: including absorption cavity body and annular flange, the absorption cavity body is circumferential
Edge extend outward to form the annular flange, the annular flange is used to contact on the surface of wall surface and is symmetrically arranged with fin
Portion, the fin include multiple fin rays and multiple film layers, and the two neighboring fin ray is linked together by the film layer, described
Directionality texture is additionally provided on the surface that fin ray is in contact with wall surface, the directionality texture orientation with uniformity is described
The consistent sexual orientation of directionality texture makes that described to climb wall end equipment small relative to frictional force of the wall surface suffered by direction of advance
The directionality texture energy on the difference fin ray in the frictional force suffered by direction of retreat, and in the same annular flange
Enough generate anisotropy friction.
2. according to claim 1 climb wall end equipment, it is characterised in that: the fin is sector structure, and the ring
Shape flange is used to contact on the surface of wall surface and is symmetrically arranged with a pair of of fin.
3. according to claim 1 climb wall end equipment, it is characterised in that: the absorption cavity body is hard material absorption
Cavity body, the annular flange are pliable material loop flange, and the thickness of the annular flange is less than the absorption cavity body
Thickness, and the thickness of the annular flange successively decreases from the inside to the outside.
4. according to claim 1 climb wall end equipment, it is characterised in that: the directionality texture is column structure, and
The outer end of the directionality texture forms bending part, the overbending direction of the directionality texture bending part on the single fin ray
It is identical, and the directionality texture is one of micron texture, nanometer texture or micro-nano compound texture.
5. a kind of climbing robot, it is characterised in that: including retractable driving device and multiple as described in claim any one of 1-4
Climb wall end equipment, the wall end equipment of climbing is fixed on the different location of the retractable driving device telescopic direction.
6. climbing robot according to claim 5, it is characterised in that: the retractable driving device include control system and
Flexible driving body, the control system are used to control the movement of the flexible driving body.
7. climbing robot according to claim 6, it is characterised in that: the flexible driving body is column, described to stretch
The both ends of contracting driving body are each provided with described at least one and climb wall end equipment, positioned at climbing wall end equipment edge described in the same end
Circumferentially, and the flexible driving body is made the flexible driving body of electrostriction material, the flexible driving body
Outer surface be provided with helicla flute.
8. climbing robot according to claim 7, it is characterised in that: the set-up of control system is in the flexible driving
One end of body.
9. climbing robot according to claim 7, it is characterised in that: the control system includes power supply and controller,
The power supply is electrically connected with the controller, and the controller is electrically connected with the flexible driving body for controlling the flexible drive
Kinetoplast movement.
10. climbing robot according to claim 9, it is characterised in that: the power supply is lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562886.7A CN108674512B (en) | 2018-06-04 | 2018-06-04 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562886.7A CN108674512B (en) | 2018-06-04 | 2018-06-04 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108674512A CN108674512A (en) | 2018-10-19 |
| CN108674512B true CN108674512B (en) | 2019-08-27 |
Family
ID=63809838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810562886.7A Active CN108674512B (en) | 2018-06-04 | 2018-06-04 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108674512B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533066A (en) * | 2018-10-22 | 2019-03-29 | 武汉大学 | A kind of bionic soft robot |
| CN115056875B (en) * | 2022-07-27 | 2023-04-28 | 哈尔滨工业大学（深圳） | Earthworm bionic robot |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| JP2006326712A (en) * | 2005-05-24 | 2006-12-07 | Stella Giken Kk | Endless track system wall traveling robot having crossing-over mechanism |
| CN1792697A (en) * | 2005-12-28 | 2006-06-28 | 胡广怀 | Under water magnetic adsorption danger eliminating robot for submarine |
| CN100450856C (en) * | 2006-11-23 | 2009-01-14 | 北京航空航天大学 | Gecko-emulated robot |
| CN100554068C (en) * | 2008-07-31 | 2009-10-28 | 北京航空航天大学 | Multi-node wall-climbing worm type robot |
| CN201849550U (en) * | 2010-09-29 | 2011-06-01 | 九江精密测试技术研究所 | Composite adsorption wall-crawling mechanism for underwater ship body |
| CN102653289A (en) * | 2011-03-01 | 2012-09-05 | 中国科学院合肥物质科学研究院 | Wall climbing robot with biomimetic vibration absorbing and biomimetic adhesion structure |
| CN103253312B (en) * | 2013-05-31 | 2016-03-02 | 江苏科技大学 | Mode-switch under-water robot and control method thereof |
| CN204077842U (en) * | 2014-08-22 | 2015-01-07 | 中科新松有限公司 | All-around mobile climbing robot |
| KR101660119B1 (en) * | 2014-11-05 | 2016-09-27 | 영남대학교 산학협력단 | Climbing robot |
| CN106347607B (en) * | 2016-10-08 | 2018-01-05 | 海牧人（北京）科技有限公司 | Underwater climbing robot |
-
2018
- 2018-06-04 CN CN201810562886.7A patent/CN108674512B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108674512A (en) | 2018-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108674512B (en) | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this | |
| CN110270987B (en) | Pneumatic soft crawling robot and manufacturing and control method thereof | |
| CN205363953U (en) | Flexible mechanical arm of pneumatic rope accuse load type | |
| US20200156237A1 (en) | Climbing soft robotics | |
| US9797415B2 (en) | Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators | |
| CN108608420B (en) | Pneumatic soft robot with longitudinal muscle structure | |
| CN110465932B (en) | Pneumatic soft peristaltic robot structure | |
| CN204432823U (en) | A kind of all fours type wall climbing mechanism | |
| CN107756385A (en) | Variation rigidity software driver, software arm and software platform based on blocking mechanism | |
| CN203920959U (en) | Earthworm-type climbing robot | |
| CN110076808A (en) | A kind of external clamping fixture | |
| CN110216712A (en) | A kind of imitative looper software climbing robot of pneumatic suction formula | |
| CN111152210A (en) | Flexible electrohydrodynamic driver | |
| CN106240668B (en) | A kind of convex articular type climbing robot | |
| CN108582058B (en) | Negative pressure rotary artificial muscle | |
| CN111906811A (en) | Full-flexible pneumatic actuator | |
| CN110253602A (en) | A kind of inner bearing type fixture | |
| Qin et al. | Design, fabrication and experimental analysis of a 3-d soft robotic snake | |
| CN111558931A (en) | Magnetic fluid driven inchworm-imitating soft robot | |
| CN107457797A (en) | Porous twolayer fluid adaptive robot arm device | |
| Chen et al. | Design and fabrication of a multi-motion mode soft crawling robot | |
| CN105827145A (en) | Piezoelectric actuation-based three-base body actuator and working method | |
| Zhu et al. | A quadruped soft robot for climbing parallel rods | |
| CN109024168A (en) | The homogeneous thick painting waterproof coating constructing device of one kind and construction method | |
| Wu et al. | Pre-curved PVDF/PI unimorph structures for biomimic soft crawling actuators |
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 |