CN109945839B - Method for measuring attitude of butt-jointed workpiece - Google Patents
Method for measuring attitude of butt-jointed workpiece Download PDFInfo
- Publication number
- CN109945839B CN109945839B CN201711401072.7A CN201711401072A CN109945839B CN 109945839 B CN109945839 B CN 109945839B CN 201711401072 A CN201711401072 A CN 201711401072A CN 109945839 B CN109945839 B CN 109945839B
- Authority
- CN
- China
- Prior art keywords
- workpiece
- butt joint
- measuring
- joint end
- offset
- 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
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a method for measuring the attitude of a butted workpiece, which comprises the following steps: the method comprises the following steps: sticking a characteristic graphic label on the workpiece by using a calibration tool; step two: disassembling the calibration tool, and moving the butt joint end workpiece to a butt joint station; step three: measuring by a measuring camera, and calculating the y-axis and z-axis direction offset between the two workpieces and the angle deviation value alpha around the x axis by the system according to the measured longitudinal offset; step four: moving the butt joint end workpiece to eliminate the deviation in the third step; step five: measuring by a measuring camera, and calculating an angle deviation value beta of the butt joint end workpiece around a y axis and an angle deviation value theta of the butt joint end workpiece around a z axis by a system according to the measured transverse offset; step six: moving the butt joint end workpiece to eliminate the deviation in the step five; step seven: measuring by a measuring camera, and calculating the offset of the system in the x-axis direction between the two workpieces according to the measured transverse offset; step eight: and the deviation in the step seven is eliminated by moving the butt joint end workpiece. The invention has greatly improved measurement and adjustment precision and flexible use.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to a method for measuring the attitude of a butted workpiece.
Background
At present, a plurality of groups of laser displacement sensors are generally adopted for external positioning and measurement of six-degree-of-freedom automatic butt joint of two workpieces, but when the laser displacement sensors are adopted for measurement, each group of sensors can only be used for detecting one degree of freedom change of a moving workpiece, the measurement method limits the installation position of the sensors, the requirement on the shape machining precision of the measured workpiece is strict, when the shape of the workpiece is irregular or the shape machining precision is low, the position posture relation between the two workpieces is difficult to accurately give, and particularly when pins and pin holes used for positioning are arranged in the workpiece and are not convenient to detect, the traditional measurement method is difficult to implement. In the past, the workpiece butt joint process often depends on manual observation, accurate butt joint can be achieved through repeated adjustment, multiple workers are required to cooperate together, the adjusting time is long, and the measuring precision is greatly influenced by visual observation.
Disclosure of Invention
The invention aims to provide a method for measuring the postures of butted workpieces, which comprises the steps of translating the position relation of a pin and a pin hole to be butted to the outer surface of the workpiece through a calibration tool, completing measurement through three groups of measuring cameras, and providing transverse and longitudinal distance data of a characteristic graph label on the outer surface of the workpiece by each group of measuring cameras, thereby calculating and adjusting the integral posture difference of the two workpieces.
The purpose of the invention is realized by the following technical scheme:
a method for measuring the posture of a butt joint workpiece is characterized in that the butt joint end workpiece is a six-degree-of-freedom moving workpiece, a reference end workpiece is a fixed workpiece, and the method comprises a calibration tool, a feature pattern label and three groups of measuring cameras, and comprises the following steps:
the method comprises the following steps: respectively installing a calibration tool on a butt joint end workpiece and a reference end workpiece to be butted, and sticking characteristic graphic labels on the butt joint end workpiece and the reference end workpiece according to the position corresponding to a reference line on the calibration tool;
step two: disassembling the lower calibration tool, and moving the butt joint end workpiece to a butt joint station;
step three: carrying out first measurement through three groups of measuring cameras arranged on the left side, the lower side and the right side of the docking station, detecting the position relation of the corresponding feature pattern labels, outputting the transverse (x-axis direction) and longitudinal (y-axis direction) coordinate data and offset of each feature pattern label, and calculating the offset in the y-axis direction and the z-axis direction between the two workpieces and the angle deviation value alpha of the docking end workpiece (1) around the x axis by the system according to the longitudinal offset measured by each group of measuring cameras;
step four: moving the butt joint end workpiece to eliminate the offset between the two workpieces in the y-axis direction and the z-axis direction, and rotating to eliminate the angle deviation alpha of the butt joint end workpiece around the x axis;
step five: each measuring camera carries out second measurement, and the system calculates the angle deviation value beta of the butt joint end workpiece around the y axis and the angle deviation value theta of the butt joint end workpiece around the z axis according to the transverse offsets measured by the three groups of measuring cameras;
step six: moving the butt joint end workpiece to eliminate an angle deviation value beta of the butt joint end workpiece around a y axis and an angle deviation value theta of the butt joint end workpiece around a z axis;
step seven: measuring for the third time by each measuring camera, and calculating the offset of the system in the x-axis direction between the two workpieces according to the transverse offset measured by each group of measuring cameras;
step eight: and moving the butt joint end workpiece to eliminate the offset between the two workpieces in the x-axis direction and finish the adjustment.
In the third step, a common deviation value is calculated according to the longitudinal offsets output by the three groups of measuring cameras to be used as a rolling amount a, the rolling amount a is subtracted from the ordinate data measured by the lower measuring camera to be used as the offset of the two workpieces in the y-axis direction, the rolling amount a is subtracted from the ordinate data measured by the left measuring camera and the right measuring camera to be used as the offset of the two workpieces in the z-axis direction, and the angle deviation value alpha of the butt joint end workpiece around the x axis is
Wherein D is the butt end workpiece diameter.
In the fifth step, the lateral offset measured by the left side measuring camera and the right side measuring camera is averaged, then the average value is subtracted from the lateral offset measured by the lower side measuring camera to obtain a crack difference b generated by a beta inclination angle at the lower side of the workpiece, and the angle deviation value of the butt joint end workpiece around the y axis
The average value of the lateral deviation measured by the left side measuring camera and the right side measuring camera is the crack difference c generated by the theta dip angle on the left side and the right side of the workpiece, and the angle deviation value of the butt joint end workpiece around the z axis
Wherein D is the butt end workpiece diameter.
And step seven, taking the average value of the transverse offset measured by each group of measuring cameras as the offset of the two workpieces in the x-axis direction.
The calibration tool is characterized in that reference lines are arranged on the left side, the lower side and the right side of the calibration tool, a pasting reference line is arranged on the characteristic graph label, and the pasting reference line is aligned with the corresponding reference line on the calibration tool when the characteristic graph label is pasted.
And the characteristic graph label is provided with a position detection graph, a positioning point and a pasting datum line.
The left side, the lower side and the right side of the docking station are all provided with measuring cameras, and the distances between the left measuring camera, the lower side measuring camera and the right side measuring camera and the workpiece are equal.
The invention has the advantages and positive effects that:
1. according to the invention, the position relation between the pin and the pin hole to be butted is translated to the outer surface of the workpiece through the calibration tool, and the transverse and longitudinal distance data of the characteristic graphic label on the outer surface of the workpiece are measured through the three groups of measuring cameras, so that the integral attitude difference of the two workpieces is calculated and adjusted, and the measurement and adjustment precision is greatly improved.
2. The tool used by the invention comprises a calibration tool, a characteristic pattern label and three groups of measuring cameras, and compared with modes such as a laser displacement sensor and the like, the tool has the advantages of less used equipment and flexible use.
Drawings
Figure 1 is a schematic view of the present invention,
fig. 2 is a schematic view of the feature graphic label of fig. 1.
The system comprises a butt joint end workpiece 1, a butt joint end workpiece 2, a butt joint end workpiece butt joint face 3, a calibration tool 4, a pin, a datum end workpiece butt joint face 5, a pin hole 6, a characteristic graph label 7, a position detection graph 71, a positioning point 72, a pasting datum line 73, a right side measuring camera 8, a datum end workpiece 9, a left side measuring camera 10 and a lower side measuring camera 11.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention includes a calibration fixture 3, a feature pattern tag 7, and three sets of measuring cameras, and is used for implementing a butt joint between two workpieces, where a butt joint end workpiece 1 is a workpiece that can move in six degrees of freedom, for example, the movement is controlled by a six-degree-of-freedom linear unit mechanism, a device for driving the butt joint end workpiece 1 to move is known in the art, and a reference end workpiece 9 is a fixed workpiece. The purpose of the measurement of the invention is to ensure that the butt joint end workpiece butt joint surface 2 with the pin 4 is in butt joint with the reference end workpiece butt joint surface 5 with the pin hole 6, and due to the processing precision of the workpiece surface, the clear corresponding relation between the workpiece surface and the internal pin and pin hole cannot be ensured, namely the measurement of the posture cannot be realized through the three-dimensional graph detection of the workpiece surface.
As shown in fig. 1, a group of pin holes corresponding to the pins 4 on the butt end workpiece 1 are formed in the calibration tool 3, reference lines are arranged on the left side, the lower side and the right side of the calibration tool 3 and used for determining the pasting positions of the characteristic graphic labels 7 on the butt end workpiece 1 and the reference end workpiece 9, and in three straight lines formed by connecting the reference lines on the calibration tool 3 with the center of the tool, the included angles of any two adjacent straight lines are right angles. The calibration tool 3 is used for high-precision machining, and the reference line position corresponds to the pin and pin hole positions on the workpiece.
As shown in fig. 2, the characteristic pattern label 7 is provided with a position detection pattern 71, an alignment point 72 and a pasting reference line 73, wherein when the characteristic pattern label 7 is pasted on the workpiece 7, the pasting reference line 73 is aligned with the reference line on the calibration tool 3.
As shown in fig. 1, in the docking station, the left side, the lower side and the right side of the two workpieces are provided with the measuring cameras, and the distances between the left measuring camera 10, the lower measuring camera 11 and the right measuring camera 8 and the workpieces are equal and are to be ensured to be perpendicular to each other, each measuring camera corresponds to the feature pattern label 7 on the left side, the lower side and the right side of the workpiece, each measuring camera can provide the horizontal and longitudinal coordinate data and the horizontal and longitudinal offset of the positioning point 72 on the feature pattern label 7, wherein the narrow side direction (x-axis direction) of the camera housing is a horizontal detection result, and the long side direction (y-axis direction) of the camera housing is a vertical detection result. The measuring camera is well known in the art.
The measuring steps of the invention are as follows:
the method comprises the following steps: and respectively installing the calibration tool 3 on two workpieces to be butted, and pasting the characteristic graphic label 7 according to the reference line on the calibration tool 3. The calibration tool 3 can be directly placed on the butt joint end workpiece butt joint surface 2 with the pin 4, and when the calibration tool 3 is placed on the reference end workpiece butt joint surface 5, the calibration tool 3 can be fixed on the reference end workpiece butt joint surface 5 by inserting a plurality of auxiliary pins and then is pasted.
Step two: after the characteristic pattern label 7 is pasted, the lower calibration tool 3 is detached, the butt joint end workpiece 1 moves forward to enable the pin 4 on the butt joint end workpiece butt joint face 2 and the pin hole on the reference end workpiece butt joint face 5 to be located at a butt joint station close to a butt joint state, and due to the fact that the detection range of the measuring camera is limited and the detection range is enlarged, the measuring accuracy is reduced, it is guaranteed that two workpieces to be butted are close to and placed on the same axis.
Step three: according to the machine vision principle, three groups of measuring cameras arranged on the left side, the lower side and the right side of the workpiece are used for carrying out first measurement, the position relation of the corresponding characteristic pattern label 7 is detected, and the three groups of measuring cameras respectively output the transverse (x-axis direction) coordinate data and the longitudinal (y-axis direction) coordinate data and the offset of the characteristic pattern label 7 at the moment. Because the distance deviation and the angle deviation of the two workpieces exist in the y-axis direction and the z-axis direction, the feature pattern labels 7 on the different workpieces to be detected do not completely correspond to each other, which results in the reduction of the precision of the measurement result, the calculation needs to be performed according to the returned measurement data, and the butt joint end workpiece 1 is driven to move, so that the distance deviation and the angle deviation between the two workpieces in the y-axis direction and the z-axis direction are eliminated.
The method comprises the following specific steps: the system calculates a common deviation value as a rolling amount a according to the longitudinal (y-axis direction) offset output by the three groups of measuring cameras, and the angle deviation value alpha of the butt joint end workpiece 1 around the x axis is
Wherein D is the diameter of the butt end workpiece 1, the offset of the two workpieces in the y-axis direction is determined by subtracting the roll amount a from the ordinate data measured by the lower side measuring camera 11, and the offset of the two workpieces in the z-axis direction is determined by taking the average value of the roll amount a subtracted from the ordinate data measured by the left side measuring camera 10 and the right side measuring camera 8.
Step four: firstly, moving the butt joint end workpiece 1 along the y-axis direction and the z-axis direction to eliminate the offset between the two workpieces in the y-axis direction and the z-axis direction, and then driving the butt joint end workpiece 1 to rotate to eliminate the angle deviation value alpha around the x-axis.
Step five: each measuring camera carries out the second measurement, and the system calculates the angular deviation value beta of the butt joint end workpiece 1 around the y axis and the angular deviation value theta of the butt joint end workpiece 1 around the z axis according to the transverse offsets measured by the three groups of measuring cameras, and the method specifically comprises the following steps: the lateral (x-axis direction) offsets measured by the left side measuring camera 10 and the right side measuring camera 8 are averaged, then the average value is subtracted from the lateral (x-axis direction) offsets measured by the lower side measuring camera 11 to obtain a crack difference b generated by a beta inclination angle at the lower side of the workpiece, and an angle deviation value of the butt joint end workpiece 1 around the y axis
The average value of the transverse (x-axis direction) deviation measured by the left side measuring camera 10 and the right side measuring camera 8 is the crack difference c generated by the theta dip angle on the left side and the right side of the workpiece, and the angle deviation value of the butt joint end workpiece 1 around the z axis
Step six: and eliminating the angle deviation value beta of the butt joint end workpiece 1 around the y axis and the angle deviation value theta of the butt joint end around the z axis by driving the butt joint end workpiece 1 to move.
Step seven: and measuring for the third time by each measuring camera, and taking the average value of the transverse (x-axis direction) offset measured by each group of measuring cameras as the offset of the two workpieces in the x-axis direction.
Step eight: and the offset in the x-axis direction is eliminated by moving the butt joint end workpiece 1 forward, so that the attitude measurement and adjustment are completed.
Claims (4)
1. A method for measuring the attitude of a butt joint workpiece is characterized in that the butt joint end workpiece is a six-freedom-degree moving workpiece, and a reference end workpiece is a fixed workpiece, and the method comprises the following steps: the device comprises a calibration tool (3), a feature graph label (7) and three groups of measuring cameras, wherein the left side, the lower side and the right side of two workpieces are respectively provided with the measuring cameras on a butt joint station, the distances between the left side measuring camera (10), the lower side measuring camera (11) and the right side measuring camera (8) and the workpieces are equal and are to be ensured to be perpendicular to each other, each measuring camera respectively corresponds to the feature graph label (7) on the left side, the lower side and the right side of the workpiece, the left side, the lower side and the right side of the calibration tool (3) are respectively provided with a datum line, the feature graph label (7) is provided with a position detection graph (71), a positioning point (72) and a pasting datum line (73), the pasting datum line (73) is aligned with the corresponding datum line on the calibration tool (3) during pasting, and each measuring camera provides transverse and longitudinal coordinate data and transverse and longitudinal offset of the positioning point (72, the measuring method comprises the following steps:
the method comprises the following steps: respectively installing a calibration tool (3) on a butt joint end workpiece (1) and a reference end workpiece (9) to be butted, and sticking a characteristic graph label (7) on the butt joint end workpiece (1) and the reference end workpiece (9) according to the position corresponding to a reference line on the calibration tool (3);
step two: disassembling the calibration tool (3), and moving the butt joint end workpiece (1) to a butt joint station;
step three: carrying out first measurement through three groups of measuring cameras arranged on the left side, the lower side and the right side of the docking station, detecting the position relation of the corresponding characteristic pattern label (7), outputting coordinate data and offset of each characteristic pattern label (7) in the transverse direction, namely the x-axis direction, and the longitudinal direction, namely the y-axis direction, the system calculates the offset between the two workpieces in the y-axis direction and the z-axis direction according to the longitudinal offset measured by each group of measuring cameras, and calculating the angle deviation value alpha of the docking end workpiece (1) around the x axis;
step four: the butt joint end workpiece (1) moves to eliminate the offset between the two workpieces in the y-axis direction and the z-axis direction, and the angle deviation value alpha of the butt joint end workpiece (1) around the x axis is eliminated in a rotating mode;
step five: each measuring camera carries out second measurement, and the system calculates the angle deviation value beta of the butt joint end workpiece (1) around the y axis and the angle deviation value theta of the butt joint end workpiece (1) around the z axis according to the transverse offset measured by the three groups of measuring cameras;
step six: moving the butt joint end workpiece (1) to eliminate an angle deviation value beta of the butt joint end workpiece (1) around a y axis and an angle deviation value theta of the butt joint end workpiece (1) around a z axis;
step seven: measuring for the third time by each measuring camera, and calculating the offset of the system in the x-axis direction between the two workpieces according to the transverse offset measured by each group of measuring cameras;
step eight: and the butt joint end workpiece (1) moves to eliminate the offset between the two workpieces in the x-axis direction, so that the adjustment is completed.
2. The attitude measurement method of a butted workpiece as recited in claim 1, wherein: in the third step, a common deviation value is calculated according to the longitudinal offset output by the three groups of measuring cameras to be used as a rolling amount a, the rolling amount a is subtracted from the ordinate data measured by the lower measuring camera (11) to be used as the offset of the two workpieces in the y-axis direction, the rolling amount a is subtracted from the ordinate data measured by the left measuring camera (10) and the right measuring camera (8) to be used as the offset of the two workpieces in the z-axis direction, and the angular offset value alpha of the butt joint end workpiece (1) around the x axis is
Wherein D is the diameter of the butt joint end workpiece (1).
3. The attitude measurement method of a butted workpiece as recited in claim 1, wherein: in the fifth step, the transverse offset values measured by the left side measuring camera (10) and the right side measuring camera (8) are averaged, then the average value is subtracted from the transverse offset value measured by the lower side measuring camera (11) to obtain a crack difference b generated by a beta inclination angle at the lower side of the workpiece, and the angle deviation value of the butt joint end workpiece (1) around the y axis
The average value of the lateral deviation measured by the left side measuring camera (10) and the right side measuring camera (8) is the crack difference c generated by the theta dip angle on the left side and the right side of the workpiece, and the angle deviation value of the butt joint end workpiece (1) around the z axis
Wherein D is the diameter of the butt joint end workpiece (1).
4. The attitude measurement method of a butted workpiece as recited in claim 1, wherein: and step seven, taking the average value of the transverse offset measured by each group of measuring cameras as the offset of the two workpieces in the x-axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711401072.7A CN109945839B (en) | 2017-12-21 | 2017-12-21 | Method for measuring attitude of butt-jointed workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711401072.7A CN109945839B (en) | 2017-12-21 | 2017-12-21 | Method for measuring attitude of butt-jointed workpiece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109945839A CN109945839A (en) | 2019-06-28 |
| CN109945839B true CN109945839B (en) | 2021-04-13 |
Family
ID=67006222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711401072.7A Active CN109945839B (en) | 2017-12-21 | 2017-12-21 | Method for measuring attitude of butt-jointed workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109945839B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873103A (en) * | 2021-01-05 | 2021-06-01 | 航天科工空间工程发展有限公司 | Method and system for assembling satellite deck and satellite main body frame and adjusting device |
| CN114505858B (en) * | 2022-02-17 | 2023-08-18 | 北京极智嘉科技股份有限公司 | Cantilever shaft butt joint control method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102589424A (en) * | 2012-01-10 | 2012-07-18 | 天津大学 | On-line detection vision positioning method for combination surface hole group of engine cylinder |
| CN105627917A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Large-scale structural component assembly joining measurement method based on visual principle |
| US20170094251A1 (en) * | 2015-09-30 | 2017-03-30 | Faro Technologies, Inc. | Three-dimensional imager that includes a dichroic camera |
| CN106840106A (en) * | 2016-12-31 | 2017-06-13 | 重庆大学 | Base station type six degree of freedom joint location detection method |
-
2017
- 2017-12-21 CN CN201711401072.7A patent/CN109945839B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102589424A (en) * | 2012-01-10 | 2012-07-18 | 天津大学 | On-line detection vision positioning method for combination surface hole group of engine cylinder |
| CN105627917A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Large-scale structural component assembly joining measurement method based on visual principle |
| US20170094251A1 (en) * | 2015-09-30 | 2017-03-30 | Faro Technologies, Inc. | Three-dimensional imager that includes a dichroic camera |
| CN106840106A (en) * | 2016-12-31 | 2017-06-13 | 重庆大学 | Base station type six degree of freedom joint location detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109945839A (en) | 2019-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110370286B (en) | Method for identifying rigid body space position of dead axle motion based on industrial robot and monocular camera | |
| CN109794938B (en) | Robot hole-making error compensation device and method suitable for curved surface structure | |
| US9333654B2 (en) | Robot parts assembly on a workpiece moving on an assembly line | |
| JP5321532B2 (en) | Robot calibration apparatus and calibration method | |
| EP1607194A2 (en) | Robot system comprising a plurality of robots provided with means for calibrating their relative position | |
| CN111735390A (en) | Calibration block for line laser sensor and hand-eye calibration method | |
| US20130054172A1 (en) | Method of calibrating gear measuring device | |
| CN105526885B (en) | A kind of taper hole cone angle high-precision detecting method based on composite probe | |
| CN106989670B (en) | A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration | |
| US20150273694A1 (en) | Industrial robot system having sensor assembly | |
| US20180207755A1 (en) | Gear mechanism assembly apparatus and assembly method | |
| CN111531407B (en) | Workpiece attitude rapid measurement method based on image processing | |
| CN111964589B (en) | Laser displacement sensor calibration device and calibration method for normal detection | |
| Liu et al. | Binocular-vision-based error detection system and identification method for PIGEs of rotary axis in five-axis machine tool | |
| CN113146613B (en) | Three-dimensional self-calibration device and method for D-H parameters of industrial robot | |
| CN109945839B (en) | Method for measuring attitude of butt-jointed workpiece | |
| WO2023185550A1 (en) | Visual measurement guiding device, method and system for cylinder nested assembly centering | |
| Mendikute et al. | Self-calibration technique for on-machine spindle-mounted vision systems | |
| CN114459345B (en) | Aircraft fuselage position and posture detection system and method based on visual space positioning | |
| CN105241392A (en) | Full-surface three-dimensional measurement device of complex cylindrical workpiece, and measurement method thereof | |
| CN205482812U (en) | Big work piece high -precision laser measures numerical control device | |
| CN109530984A (en) | Vision positioning welding and assembling method | |
| CN112082483A (en) | Positioning method and application of object with edge characteristics only and precision evaluation method | |
| CN112828878B (en) | Three-dimensional measurement and tracking method for large-scale equipment in butt joint process | |
| CN115963112A (en) | Visual detection method based on real-time positioning information |
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 |