CN109660100A - A kind of straight line rotation two-freedom magneto - Google Patents
A kind of straight line rotation two-freedom magneto Download PDFInfo
- Publication number
- CN109660100A CN109660100A CN201910066676.3A CN201910066676A CN109660100A CN 109660100 A CN109660100 A CN 109660100A CN 201910066676 A CN201910066676 A CN 201910066676A CN 109660100 A CN109660100 A CN 109660100A
- Authority
- CN
- China
- Prior art keywords
- straight line
- stator
- winding
- permanent magnet
- freedom
- 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.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
- H02K1/148—Sectional cores
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
The invention discloses a kind of straight lines to rotate two-freedom magneto, including stator and mover, there are following characteristics, the stator is constituted by stator unit is axially aligned, stator unit is provided with stator magnetism-isolating loop between any two, and stator unit is along the circumferential direction arranged by several stator tooth modules；It is arranged on the stator tooth unit by winding, winding is divided into straight line winding and rotation winding；The mover is made of mover yoke and permanent magnet blocks, and permanent magnet blocks are arranged on mover yoke surface.A kind of straight line of the invention rotates two-freedom magneto, using unique stator toothing and two sets of armature winding, straight line, rotation and the screw of motor are realized, has stator eddy-current loss small, output torque and the high characteristic of thrust, and fabricate and be easy.
Description
Technical field
The present invention relates to a kind of straight lines to rotate two-freedom magneto, is applicable to straight line, rotation and screw
The application of driving belongs to specific type of electric machine technical field.
Background technique
With the raising of increase and the driving required precision of industrial drives system complexity, the application of two-freedom driving is got over
Come it is more extensive, such as human joint, robotic arm, high-grade lathe, naval vessel propulsion, cannon turntable, multi-axis machining, Satellite Tracking day
Line, electric gyro etc., the requirement that especially some precision apparatus drive two-freedom is more more and more urgent, the list of motion in one dimension
Freedom motor is unable to satisfy driving and requires, and needs the motor and its driving mechanism of a large amount of two-dimensional motions.
Straight line rotation two-freedom motion motor be it is a kind of can be realized straight line, rotation and the two-freedom of screw electricity
Machine is the Typical Representative of two-dimensional motion motor.It has passed through the development of more than ten years, the research that straight line rotates two-freedom motor obtains
Certain achievement.The straight line rotation two-freedom motor of many structure types is constantly suggested, such as sped structure, combination
Formula structure and integrated structure etc., and it is applied to various occasions.But existing straight line rotation two-freedom motor structure and property
Can still there are many places to have to be optimized.
Summary of the invention
The object of the present invention is to provide a kind of straight lines to rotate two-freedom magneto, realizes rotation and traveling wave in single air gap
The coupling in magnetic field, and then output torque and thrust, and overcome existing straight line rotation two-freedom magneto power density it is small,
The low disadvantage of complex process reliability reduces core loss and eddy-current loss, improves power density, improves the workability of motor
Can, and simplify processing technology, improve motor reliability.
The technical scheme is that a kind of straight line rotates two-freedom magneto, including stator and mover, Ke Yishi
Existing straight line, rotation and screw, the stator are constituted by m stator unit is axially aligned, the stator unit two-by-two it
Between be provided with stator magnetism-isolating loop (3-2), the stator unit is along the circumferential direction arranged by n stator tooth module, stator tooth
It (1) is Pisces fork overlapping connected structure.
Further, Pisces fork overlapping connected component is the smooth micro- arch-shaped ridge of radian；The axial cross section of ridge is square
Shape, circle circumferential cross-section are segment annulus.
Further, winding is provided on stator tooth (1) unit, the winding is divided into straight line winding (2-2) and rotation
Winding (2-1).
Further, the straight line winding (2-2) is wound on stator tooth (1) unit ridge, in the circumferential direction n straight line
For winding (2-2) using being connected in series, the straight line winding (2-2) is centralized coiling.
Further, stator tooth splicing is in the slot that bottom is formed in the axial direction for rotation winding (2-1) coiling, institute
Rotation winding (2-1) is stated as centralized coiling.
Further, the mover is made of mover yoke (5), permanent magnet blocks (4) and mover every magnetic patch (3-1), the permanent magnetism
Body block (4) setting is successively discharged along the circumferential direction and along axial direction side respectively on mover yoke (5) surface, two-by-two permanent magnet blocks
(4) along the circumferential direction between be provided with mover every magnetic patch (3-1)；Permanent magnet blocks (4) number is several in the circumferential direction；Edge
Axial aspect permanent magnet blocks (4) number is several.
Further, the angle center of circle angle that the permanent magnet blocks (4) are along the circumferential direction distributed is tc=(0.6~1) * 360/
2P1, P1 are circumferencial direction permanent magnet pole logarithm；The length that permanent magnet blocks (4) are in axial direction distributed is tl=(0.5~1) τ,
(τ is axial direction mover pole span), it is also N along axial direction that the permanent magnet blocks (4), which are along the circumferential direction alternately arranged for the pole N and the pole S,
Pole and the pole S are alternately arranged.
A kind of straight line of the invention rotates two-freedom magneto, has the advantages that
1) straight line and rotating armature magnetic field are realized using double winding, and straight line winding and rotation winding magnetic flux path are mutual
Vertically, it can be realized the decoupling drive control of preferable straight line and rotary motion.
2) unique stator toothing is used, stator eddy-current loss is reduced, so that motor output torque and thrust improve,
Efficiency with higher.
3) magnet structure is embedded in using mover surface, it is easy to process, so that power of motor density improves.
Detailed description of the invention
Fig. 1 is linear rotation permanent magnet motor structure sectional view.
Fig. 2 is front view.
Fig. 3 is side view cutaway drawing.
Fig. 4 is stator toothing.
In figure: 1 is stator tooth, and 2-1 is rotation winding, and 2-2 is straight line winding, and 3-1 is mover every magnetic patch, and 3-2 is stator
Magnetism-isolating loop, 4 be permanent magnet blocks, and 5 be mover yoke.
Specific embodiment
Below by way of specific embodiment, the present invention is further elaborated.
As shown in Figure 1, a kind of straight line rotates two-freedom magneto, including stator and mover, straight line, rotation may be implemented
Turn and screw, the stator are constituted by m stator unit is axially aligned, the stator unit is provided with fixed between any two
Sub- magnetism-isolating loop (3-2), the stator unit are along the circumferential direction arranged by n stator tooth module, and stator tooth (1) therein is
Pisces fork overlapping connected structure.
As shown in figure 4, Pisces fork overlapping connected component is the smooth micro- arch-shaped ridge of radian；The axial cross section of ridge is
Rectangle, circle circumferential cross-section are segment annulus, and the bottom end of Pisces fork is to be adapted with mover excircle radian close to the position of mover
Annulus substrate.
Winding is provided on stator tooth (1) unit, the winding is divided into straight line winding (2-2) and rotation winding (2-
1)。
The straight line winding (2-2) is wound on stator tooth (1) unit ridge, in the circumferential direction n straight line winding (2-
2) using being connected in series, the straight line winding (2-2) is centralized coiling.
(i.e. Pisces is pitched in the slot that bottom is formed for stator tooth splicing in the axial direction for rotation winding (2-1) coiling
In the slot of bottom), the rotation winding (2-1) is centralized coiling.
The mover is made of mover yoke (5), permanent magnet blocks (4) and mover every magnetic patch (3-1), the permanent magnet blocks (4)
Setting is successively discharged along the circumferential direction and along axial direction side respectively on mover yoke (5) surface, and permanent magnet blocks (4) are circumferentially two-by-two
Mover is provided between direction every magnetic patch (3-1)；Permanent magnet blocks (4) number is several in the circumferential direction；Along axial aspect
Permanent magnet blocks (4) number is several.
The angle center of circle angle that the permanent magnet blocks (4) are along the circumferential direction distributed is tc=(0.6~1) * 360/2P1, P1
For circumferencial direction permanent magnet pole logarithm；The length that permanent magnet blocks (4) are in axial direction distributed is tl=(0.5~1) τ, and (τ is axis
To direction mover pole span), it is also the pole N and S along axial direction that the permanent magnet blocks (4), which are along the circumferential direction alternately arranged for the pole N and the pole S,
Pole is alternately arranged.
As shown in Figure 1-3, being one embodiment of the present of invention, which is 8 pole, 12 slot structure, directly
Line movement is 7 pole, 4 slot structure.The stator is constituted by stator unit is axially aligned, and the stator unit is arranged between any two
There is stator magnetism-isolating loop, the stator unit is along the circumferential direction arranged by 12 stator tooth modules.
On the stator tooth unit be arranged by winding, the winding be divided into straight line winding and rotation winding, the straight line around
Group is wound on stator tooth unit ridge, and 12 straight line windings are using being connected in series in the circumferential direction, the rotation winding around
It makes in the splicing of stator tooth two-by-two in the slot being along the circumferential direction distributed that bottom is formed, the straight line winding and rotation winding are
Centralized coiling.
The mover is made of mover yoke and permanent magnet blocks, and the permanent magnet blocks are arranged on mover yoke surface；Along circle
The permanent magnet blocks number of circumferential direction is 8；The permanent magnet blocks are provided between along the circumferential direction every magnetic patch；7 permanent magnetism
Body block is successively discharged along axial aspect.The angle center of circle angle that permanent magnets are along the circumferential direction distributed is 25 °, and permanent magnet is along axial direction side
It is 10mm to the length of distribution.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (7)
1. a kind of straight line rotates two-freedom magneto, which is characterized in that including stator and mover, straight line, rotation may be implemented
Turn and screw, the stator are constituted by m stator unit is axially aligned, the stator unit is provided with fixed between any two
Sub- magnetism-isolating loop (3-2), the stator unit are along the circumferential direction arranged by n stator tooth module, and stator tooth (1) therein is
Pisces fork overlapping connected structure.
2. a kind of straight line according to claim 1 rotates two-freedom magneto, which is characterized in that Pisces fork overlapping phase
Even part is the smooth micro- arch-shaped ridge of radian；The axial cross section of ridge is rectangle, and circle circumferential cross-section is segment annulus.
3. a kind of straight line according to claim 1 rotates two-freedom magneto, which is characterized in that the stator tooth
(1) winding is provided on unit, the winding is divided into straight line winding (2-2) and rotation winding (2-1).
4. a kind of straight line according to claim 3 rotates two-freedom magneto, which is characterized in that the straight line winding
(2-2) is wound on stator tooth (1) unit ridge, and n straight line winding (2-2) is described using series connection in the circumferential direction
Straight line winding (2-2) is centralized coiling.
5. a kind of straight line according to claim 3 rotates two-freedom magneto, which is characterized in that the rotation winding
(2-1) coiling in the axial direction stator tooth splicing in the slot that bottom is formed, the rotation winding (2-1) for it is centralized around
System.
6. a kind of straight line according to claim 1 rotates two-freedom magneto, which is characterized in that the mover is by moving
Sub- yoke (5), permanent magnet blocks (4) and mover are constituted every magnetic patch (3-1), and the permanent magnet blocks (4) are arranged in mover yoke (5) table
Face along the circumferential direction and along axial direction side is successively discharged respectively, two-by-two permanent magnet blocks (4) be provided between along the circumferential direction mover every
Magnetic patch (3-1)；Permanent magnet blocks (4) number is several in the circumferential direction；It is several along axial aspect permanent magnet blocks (4) number
It is a.
7. a kind of straight line according to claim 6 rotates two-freedom magneto, which is characterized in that the permanent magnet blocks
(4) the angle center of circle angle being along the circumferential direction distributed is tc=(0.6~1) * 360/2P1, and P1 is circumferencial direction permanent magnet pole pair
Number；The length that permanent magnet blocks (4) are in axial direction distributed is tl=(0.5~1) τ, and (τ is axial direction mover pole span) is described
Permanent magnet blocks (4) are along the circumferential direction alternately arranged for the pole N and the pole S, are also that the pole N and the pole S are alternately arranged along axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910066676.3A CN109660100B (en) | 2019-01-24 | 2019-01-24 | Linear rotation two-degree-of-freedom permanent magnet motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910066676.3A CN109660100B (en) | 2019-01-24 | 2019-01-24 | Linear rotation two-degree-of-freedom permanent magnet motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109660100A true CN109660100A (en) | 2019-04-19 |
| CN109660100B CN109660100B (en) | 2020-11-03 |
Family
ID=66121215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910066676.3A Active CN109660100B (en) | 2019-01-24 | 2019-01-24 | Linear rotation two-degree-of-freedom permanent magnet motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109660100B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| CN111555474A (en) * | 2020-05-25 | 2020-08-18 | 安徽理工大学 | Linear rotary drilling motor |
| CN111786528A (en) * | 2020-07-06 | 2020-10-16 | 湖南大学 | Linear rotation voice coil motor |
| CN112234784A (en) * | 2020-09-28 | 2021-01-15 | 湖南大学 | Linear rotating motor for SMD picking and mounting |
| CN113315331A (en) * | 2021-07-28 | 2021-08-27 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
| CN113489282A (en) * | 2021-06-17 | 2021-10-08 | 江苏大学 | Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008096519A1 (en) * | 2007-02-08 | 2008-08-14 | Mitsubishi Electric Corporation | Rotary-linear motor |
| CN101997389A (en) * | 2010-11-11 | 2011-03-30 | 东南大学 | Linear-rotation permanent-magnet actuator |
| CN207442675U (en) * | 2017-06-28 | 2018-06-01 | 河南理工大学 | A kind of motor of achievable straight line-rotation-screw |
| CN108631542A (en) * | 2018-05-31 | 2018-10-09 | 中国石油大学(华东) | A kind of cylinder type blocking transverse flux linear switched reluctance machines |
| CN109742874A (en) * | 2018-12-29 | 2019-05-10 | 江苏大学 | A kind of straight line rotation two-freedom flux switch permanent magnet motor |
-
2019
- 2019-01-24 CN CN201910066676.3A patent/CN109660100B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008096519A1 (en) * | 2007-02-08 | 2008-08-14 | Mitsubishi Electric Corporation | Rotary-linear motor |
| CN101997389A (en) * | 2010-11-11 | 2011-03-30 | 东南大学 | Linear-rotation permanent-magnet actuator |
| CN207442675U (en) * | 2017-06-28 | 2018-06-01 | 河南理工大学 | A kind of motor of achievable straight line-rotation-screw |
| CN108631542A (en) * | 2018-05-31 | 2018-10-09 | 中国石油大学(华东) | A kind of cylinder type blocking transverse flux linear switched reluctance machines |
| CN109742874A (en) * | 2018-12-29 | 2019-05-10 | 江苏大学 | A kind of straight line rotation two-freedom flux switch permanent magnet motor |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466302A (en) * | 2019-07-08 | 2019-11-19 | 江苏大学 | A kind of heavy vehicle linear rotating motor formula steering feed energy suspension |
| CN110466302B (en) * | 2019-07-08 | 2022-11-18 | 江苏大学 | Linear rotating motor type steering energy-feedback suspension for heavy vehicle |
| CN111555474A (en) * | 2020-05-25 | 2020-08-18 | 安徽理工大学 | Linear rotary drilling motor |
| CN111555474B (en) * | 2020-05-25 | 2022-05-10 | 安徽理工大学 | Linear rotary drilling motor |
| CN111786528A (en) * | 2020-07-06 | 2020-10-16 | 湖南大学 | Linear rotation voice coil motor |
| CN112234784A (en) * | 2020-09-28 | 2021-01-15 | 湖南大学 | Linear rotating motor for SMD picking and mounting |
| CN112234784B (en) * | 2020-09-28 | 2021-07-30 | 湖南大学 | Linear rotating motor for SMD picking and mounting |
| CN113489282A (en) * | 2021-06-17 | 2021-10-08 | 江苏大学 | Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof |
| CN113489282B (en) * | 2021-06-17 | 2022-09-16 | 江苏大学 | Steering suspension integrated five-phase permanent magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method thereof |
| CN113315331A (en) * | 2021-07-28 | 2021-08-27 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
| CN113315331B (en) * | 2021-07-28 | 2021-10-26 | 深圳双十科技有限公司 | Two-degree-of-freedom motor for Z axis and assembling method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109660100B (en) | 2020-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109660100A (en) | A kind of straight line rotation two-freedom magneto | |
| US9685828B2 (en) | Electric machine with multiple air gaps and a 3D magnetic flux | |
| WO2019161624A1 (en) | Asymmetric dual three-phase arc permanent magnet synchronous motor | |
| CN109742874A (en) | A kind of straight line rotation two-freedom flux switch permanent magnet motor | |
| CN111082551B (en) | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure | |
| US10141823B2 (en) | Motor, gimbal, and mechanical arm having the same | |
| CN211151791U (en) | Stator permanent magnet type annular winding two-degree-of-freedom motor | |
| CN102843015A (en) | Linearly-rotating two-degrees-of-freedom magnetic levitation bearing-free permanent magnetic actuator | |
| EP3386074A1 (en) | Motor, and pan-tilt and robotic arm having same | |
| CN103762759A (en) | Radial magnetic flux modularization polyphase motor having high magnetism-insulation capability | |
| CN108847725B (en) | Stator permanent magnet type sheet type bearingless switched reluctance motor | |
| CN103001337A (en) | Coil back yoke, coreless electromechanical device, mobile body, robot, and manufacturing method for coil back yoke | |
| CN109450204A (en) | A kind of outer Structure of mover straight line rotary actuator of block form bimorph transducer | |
| CN109600015B (en) | Stator excitation type linear rotating motor structure | |
| CN105471212A (en) | Rotation linear permanent magnetism motor | |
| CN103986301A (en) | High-dynamic moving-magnetic type linear rotation integrated two-degree-of-freedom motor | |
| CN114944737A (en) | Primary and secondary mixed excitation type double salient pole two-degree-of-freedom magnetic flux reverse motor | |
| CN102891585A (en) | Single-side moving magnet linear motor | |
| CN105656281B (en) | Three-phase magnetic resistance cylindrical linear motor with Exciting Windings for Transverse Differential Protection | |
| CN211063425U (en) | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure | |
| CN103280939A (en) | Double-stator linear rotation Hal Bach permanent magnetic actuator | |
| CN110474517B (en) | Rotor and suspension rotor motor | |
| CN108809021B (en) | Double-sheet five-degree-of-freedom bearingless switched reluctance motor | |
| CN208369436U (en) | A kind of moving-coil type unipolarity permanent magnet rotational alignment motor | |
| CN108462362B (en) | Sine wave power supply double-freedom-degree spiral motor with position self-locking function |
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 |