CN110125648A - Automotive gear shifter pin Intelligent assembly machine and method - Google Patents
Automotive gear shifter pin Intelligent assembly machine and method Download PDFInfo
- Publication number
- CN110125648A CN110125648A CN201910360613.9A CN201910360613A CN110125648A CN 110125648 A CN110125648 A CN 110125648A CN 201910360613 A CN201910360613 A CN 201910360613A CN 110125648 A CN110125648 A CN 110125648A
- Authority
- CN
- China
- Prior art keywords
- pin
- voice coil
- selector
- gear shifter
- coil motor
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of automotive gear shifter pin Intelligent assembly machine and methods, belong to automotive gear shifter production technical field, including being arranged on the rack and for carrying out the mechanical arm that pin is pressed operation by press-loading apparatus to selector, rack side and the conveying device for accepting and transmitting selector blowing after being pressed operation are set, it is arranged on a conveyor and is used to fix the clamping device of selector, press-loading apparatus is by locking head, compression bar, voice coil motor, rotating electric machine, boost motor composition, the stator of voice coil motor is gone up and down by boost motor on mechanical arm, the mover of voice coil motor is fixedly connected with compression bar, compression bar is arranged with locking head in one end away from voice coil motor, and locking head passes through the rotating electric machine transmission connection being arranged on voice coil motor stator and rotates connection in voice coil motor stator bottom.Assembly machine of the present invention can be automatically performed to the pin press fitting of selector and conveying operation, have compact-sized, efficient, stable, the safe and reliable feature of movement.
Description
Technical field
The invention belongs to automotive gear shifter production technical field, it is related to a kind of automotive gear shifter pin Intelligent assembly machine and side
Method.
Background technique
Requirement recently as industrial circle to the degree of automation is continuously improved, the demand to high-quality automatic production line
Also growing day by day.Automotive gear shifter pin press-loading apparatus in the prior art is pressed by the hand steered pin of operator, and new
After upgrading improves, length of pin used shortens type automotive gear shifter, causes manual operation inconvenient and is easy to happen danger, closely
Cause operator's injuries to emerge one after another due to the design problem of production line over year, it is contemplated that the safety problem of worker and
Production efficiency problem, the pin press-loading apparatus urgent need on automotive gear shifter production line improve.
Summary of the invention
In view of this, technical problem to be solved by the invention is to provide a kind of automobiles time saving and energy saving, work efficiency is high
Selector pin Intelligent assembly machine and method can flexibly quickly finish the pin press fitting operation for treating assembly parts.
In order to achieve the above objectives, the present invention provides the following technical scheme that
The present invention provides a kind of automotive gear shifter pin Intelligent assembly machine, including is arranged on the rack and is used for selector
Pin, which is carried out, by press-loading apparatus is pressed the mechanical arm of operation, setting in rack side and for accepting and transmitting selector warp
The conveying device of blowing, the clamping device for being arranged on a conveyor and being used to fix selector, the press fitting after press fitting operation
Device is made of locking head, compression bar, voice coil motor, rotating electric machine, boost motor, the stator of voice coil motor by boost motor go up and down in
On mechanical arm, the mover of voice coil motor is fixedly connected with compression bar, and compression bar is arranged with locking head in one end away from voice coil motor,
And locking head passes through the rotating electric machine transmission connection being arranged on voice coil motor stator and rotates company in voice coil motor stator bottom
It connects, for locking the pin in pin feeder.
Further, the boost motor uses hydraulic cylinder or cylinder.
Further, the conveying device is successively arranged using multiple independent belt conveyors, and single belt conveyor is equal
It is provided with driving device.
Further, the mechanical arm is four shaft mechanical arms.
It further, further include being arranged on press-loading apparatus and accurately determining for being aided in pin press fitting operation to selector
The CCD vision positioning device of position.
It further, further include being arranged on the rack and for providing the pin feeder of press fitting pin for press-loading apparatus.
Further, the locking head includes outer sleeve, inner sleeve and the cam lock holding mechanism between inner and outer sleeves.
Further, the output shaft of the rotating electric machine is equipped with small tooth driving wheel, and the outer sleeve is equipped with to be driven with small tooth
Take turns the canine tooth driven wheel of engaged transmission.
Further, the pressure arm for pressing clamping device is additionally provided in the rack, the pressure arm is mechanical pressure arm.
Using the above scheme, the clamping device for being fixed with selector is transmitted to press fitting operation by conveying device by the present invention
Position, and will be in the locking head of press-loading apparatus after loading pin by mechanical arm, being positioned at selector by CCD vision positioning device needs
It is pressed the top of pin position, then locking head is pushed to by press fitting pin position by boost motor, pressure is finally passed through by voice coil motor
Pin is pressed into selector by bar, is realized that selector pin is pressed operation, in entire production process, is passed through CCD vision positioning device
Press fitting pin position is found in cooperation with boost motor accurately, then is made by the press fitting pin that is rapidly completed of voice coil motor short distance, large impact
Industry.
The present invention also provides a kind of automotive gear shifter pin Intelligent assembly methods, using above-mentioned automotive gear shifter pin intelligence
Energy assembly machine, the assembly method includes: selector to be fixed on clamping device, and convey the clamping device by transmission line
Below to press-loading apparatus, then the press-loading apparatus is controlled by mechanical arm, pin press fitting is implemented to selector.
The beneficial effects of the present invention are: Intelligent assembly machine of the invention can be automatically performed to the press fitting of the pin of selector and from
The series of processes such as dynamic dress pin, transmission.The present invention is practical, and instead of manual work process, whole process is from feeding, pressure
Dress, blanking can realize flexibly quick manufacturing procedure to selector by assembly machine completion, have compact-sized, movement height
Effect, stable, safe and reliable, time saving and energy saving, the characteristics of work efficiency is high.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target of the invention and other advantages can be realized by following specification and
It obtains.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing excellent
The detailed description of choosing, in which:
Fig. 1 is the structural upright schematic diagram of assembly machine of the present invention；
Fig. 2 is the press-loading apparatus partial structure diagram of assembly machine of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that diagram provided in following embodiment is only to show
Meaning mode illustrates basic conception of the invention, and in the absence of conflict, the feature in following embodiment and embodiment can phase
Mutually combination.
The element numbers in attached drawing respectively indicate referring to FIG. 1-2: press-loading apparatus 1, mechanical arm 2, conveying device 3, folder
Hold device 4, selector 5, rack 6, CCD vision positioning device 7, pin feeder 8；Locking head 1-1, compression bar 1-2, voice coil motor 1-
3, rotating electric machine 1-4, boost motor 1-5；Outer sleeve 1-1a, inner sleeve 1-1b, small tooth driving wheel 1-1c, canine tooth driven wheel 1-1d.
Embodiment is substantially as shown in the picture: the present embodiment provides a kind of automotive gear shifter pin Intelligent assembly machines, main to wrap
Press-loading apparatus 1, mechanical arm 2, conveying device 3, clamping device 4, selector 5, rack 6, CCD vision positioning device 7, pin is included to supply
To device 8, wherein be arranged in rack 6 for carrying out the mechanical arm 2 that pin is pressed operation by press-loading apparatus 1 to selector 5
With for providing the pin feeder 8 of press fitting pin for press-loading apparatus 1, which is four shaft mechanical arms, in rack
The conveying device 3 for accepting and transmitting the blowing after being pressed operation of selector 5 is arranged in 6 sides, and the conveying device 3 is using multiple
Independent belt conveyor is successively arranged, and single belt conveyor is provided with driving device, i.e., when being pressed operation area, clamping
After device walking in place, which can fix tentatively conveying, so as to press-loading apparatus work；It is set in conveying device 3
The clamping device 4 for fixing selector 5 is set, on press-loading apparatus 1 and for being aided in pin press fitting operation to selector 5
Pinpoint CCD vision positioning device 7, the press-loading apparatus 1 is by locking head 1-1, compression bar 1-2, voice coil motor 1-3, rotating electric machine
1-4, boost motor 1-5 composition, the stator of voice coil motor 1-3 are gone up and down by boost motor 1-5 on mechanical arm 2, voice coil motor
The mover of 1-3 is fixedly connected with compression bar 1-2, and compression bar 1-2 is arranged with locking head 1-1 in one end away from voice coil motor 1-3, and locks
Tight head 1-1 passes through the rotating electric machine 1-4 transmission connection being arranged on voice coil motor 1-3 stator and at voice coil motor 1-3 stator bottom
Portion's rotation connection, for locking the pin in pin feeder 8, boost motor 1-5 uses hydraulic cylinder or cylinder, the voice coil motor
It is mainly made of stator, rotor, pedestal, coil, spring etc., coil is wound on rotor, passes through the electrically operated realization rotor of gain and loss
Relative to the linear motion of stator, pedestal is used for fixed stator, and is arranged on boost motor, is additionally provided on pedestal for voice coil
Motor reducible spring after power loss.Locking head 1-1 include outer sleeve 1-1a, inner sleeve 1-1b and be set to inner and outer sleeves
Between cam lock holding mechanism etc., inner sleeve is fixed on base bottom, and outer sleeve and pedestal are rotatablely connected, and axial in interior sleeve
Front end is equipped with the resigning groove for changing its internal diameter, may make the inner and outer sleeves mutually rotated by cam lock holding mechanism in this way
Inner sleeve diameter generate variation, to lock pin, specifically, the output shaft of rotating electric machine 1-4 is equipped with small tooth driving wheel 1-
1c, outer sleeve 1-1a are equipped with the canine tooth driven wheel 1-1d with small tooth driving wheel 1-1c engaged transmission, the output shaft of rotating electric machine
It is upper to have brake, drive outer sleeve to make rotating motion relative to inner sleeve by rotating electric machine, it is big to change inner sleeve internal diameter
Small, using cam lock holding mechanism in different embodiments certainly is not exclusive architecture, can also be arranged between inner and outer sleeves
Tensioning piece also can achieve the purpose for changing inner sleeve diameter.In addition, the inner sleeve diameter by locking head changes come locking pin
When nail, only pin is needed not fall off, therefore the coupling mechanism force of locking head is little, i.e., during locking head is locked, can not influenced
Compression bar does straight line ramming motion in inner sleeve, or can also be anti-by rotating electric machine when locking head is resisted against on selector
It is unclamped after turning and pin is locked, so that voice coil motor drives compression bar punching press pin.
When work, the clamping device 4 for being fixed with selector 5 is transmitted to by press fitting operation position by conveying device 3 first, and
After the locking head 1-1 of press-loading apparatus 1 to be locked to the pin in pin feeder 8 by mechanical arm 2 by rotating electric machine 1-4,
The top that selector 5 needs to be pressed pin position is positioned at by CCD vision positioning device 7, then passes through boost motor 1-5 for locking head 1-1
Press fitting pin position is pushed to, allows the pin in locking head to be positioned at the pin press fitting position on selector, finally by voice coil motor 1-3
Pin is pressed into selector 5 by compression bar 1-2, realizes that selector pin is pressed operation, in entire production process, passes through CCD
The cooperation of vision positioning device 7 and boost motor 1-5 find accurately press fitting pin position, then by voice coil motor 1-3 short distance, large impact it is fast
Speed, disposable completion press fitting pin operation.
In the present embodiment, the pressure arm (not shown) for pressing clamping device 4 is additionally provided in the rack 6, which is machine
Tool pressure arm, it is ensured that the degree of stability of clamping device on a conveyor, so that press-loading apparatus implements pin press fitting to selector
Operation.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. automotive gear shifter pin Intelligent assembly machine, which is characterized in that including being arranged on rack (6) and for selector
(5) pin is carried out by press-loading apparatus (1) and is pressed the mechanical arm (2) of operation, setting in rack side and for accepting and passing
The conveying device (3) of defeated selector blowing after being pressed operation, the clamping for being arranged on a conveyor and being used to fix selector
Device (4), the press-loading apparatus is by locking head (1-1), compression bar (1-2), voice coil motor (1-3), rotating electric machine (1-4), boosting
The stator of device (1-5) composition, voice coil motor is gone up and down by boost motor on mechanical arm, and mover and the compression bar of voice coil motor are fixed
Connection, compression bar is arranged with locking head in one end away from voice coil motor, and locking head is by being arranged on voice coil motor stator
Rotating electric machine transmission connection simultaneously rotates connection in voice coil motor stator bottom, for locking the pin in pin feeder.
2. automotive gear shifter pin Intelligent assembly machine according to claim 1, which is characterized in that the boost motor uses liquid
Cylinder pressure or cylinder.
3. automotive gear shifter pin Intelligent assembly machine according to claim 1, which is characterized in that the conveying device uses
Multiple independent belt conveyors are successively arranged, and single belt conveyor is provided with driving device.
4. automotive gear shifter pin Intelligent assembly machine according to claim 1, which is characterized in that the mechanical arm is four
Shaft mechanical arm.
5. automotive gear shifter pin Intelligent assembly machine according to claim 1, which is characterized in that further include that setting is being pressed
On device and for being aided with pinpoint CCD vision positioning device (7) in pin press fitting operation to selector.
6. automotive gear shifter pin Intelligent assembly machine according to claim 1, which is characterized in that further include being arranged in rack
It goes up and is used for and provide the pin feeder (8) of press fitting pin for press-loading apparatus.
7. automotive gear shifter pin Intelligent assembly machine according to claim 1, which is characterized in that the locking head includes outer
Sleeve (1-1a), inner sleeve (1-1b) and the cam lock holding mechanism between inner and outer sleeves.
8. automotive gear shifter pin Intelligent assembly machine according to claim 7, which is characterized in that the rotating electric machine it is defeated
Shaft is equipped with small tooth driving wheel (1-1c), and the outer sleeve is equipped with the canine tooth driven wheel (1- with small tooth driving wheel engaged transmission
1d)。
9. automotive gear shifter pin Intelligent assembly machine according to claim 1, which is characterized in that be additionally provided in the rack
For pressing the pressure arm of clamping device, the pressure arm is mechanical pressure arm.
10. a kind of automotive gear shifter pin Intelligent assembly method, which is characterized in that described in any item using claim 1-9
Automotive gear shifter pin Intelligent assembly machine, the assembly method include: selector to be fixed on clamping device, and pass through transmission
Line conveys below the clamping device to press-loading apparatus, then controls the press-loading apparatus by mechanical arm and implement pin pressure to selector
Dress.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910360613.9A CN110125648B (en) | 2019-04-30 | 2019-04-30 | Intelligent assembling machine and method for pins of automobile gear shifter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910360613.9A CN110125648B (en) | 2019-04-30 | 2019-04-30 | Intelligent assembling machine and method for pins of automobile gear shifter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110125648A true CN110125648A (en) | 2019-08-16 |
| CN110125648B CN110125648B (en) | 2020-04-21 |
Family
ID=67575958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910360613.9A Active CN110125648B (en) | 2019-04-30 | 2019-04-30 | Intelligent assembling machine and method for pins of automobile gear shifter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125648B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112191449A (en) * | 2020-09-30 | 2021-01-08 | 重庆广建金属制品有限公司 | Automatic dispensing equipment and method for notebook computer accessories |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004306252A (en) * | 2003-03-24 | 2004-11-04 | Seiko Epson Corp | Component press-fit method and device, watch manufacturing method, and watch |
| JP2006116669A (en) * | 2004-10-22 | 2006-05-11 | Toyota Motor Corp | Press-in device and press-in method |
| CN104015027A (en) * | 2013-02-28 | 2014-09-03 | 苏州工业园区高登威科技有限公司 | Pin press fitting device |
| CN106736421A (en) * | 2016-12-06 | 2017-05-31 | 无锡明珠增压器制造有限公司 | Pin press-in device |
| CN206356853U (en) * | 2016-12-06 | 2017-07-28 | 无锡明珠增压器制造有限公司 | A kind of pin jack unit |
| CN107627090A (en) * | 2017-10-27 | 2018-01-26 | 重庆市灵龙自动化设备有限公司 | Four axle assembly machines of intelligence |
| CN207026905U (en) * | 2017-07-14 | 2018-02-23 | 东莞市益诚自动化设备有限公司 | Antenna for mobile phone feed point position and bonnet assembling mechanism |
| CN109366146A (en) * | 2018-12-04 | 2019-02-22 | 佳奕筱安(上海)机器人科技有限公司 | Compressor operation station and its application method with domain controller |
| CN109420891A (en) * | 2017-09-04 | 2019-03-05 | 中国科学院沈阳自动化研究所 | Automotive gear shifter production line pin press-loading apparatus |
| CN208744108U (en) * | 2018-08-06 | 2019-04-16 | 临海市鼎业眼镜设备厂 | A kind of lock screws apptss |
-
2019
- 2019-04-30 CN CN201910360613.9A patent/CN110125648B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004306252A (en) * | 2003-03-24 | 2004-11-04 | Seiko Epson Corp | Component press-fit method and device, watch manufacturing method, and watch |
| JP2006116669A (en) * | 2004-10-22 | 2006-05-11 | Toyota Motor Corp | Press-in device and press-in method |
| CN104015027A (en) * | 2013-02-28 | 2014-09-03 | 苏州工业园区高登威科技有限公司 | Pin press fitting device |
| CN106736421A (en) * | 2016-12-06 | 2017-05-31 | 无锡明珠增压器制造有限公司 | Pin press-in device |
| CN206356853U (en) * | 2016-12-06 | 2017-07-28 | 无锡明珠增压器制造有限公司 | A kind of pin jack unit |
| CN207026905U (en) * | 2017-07-14 | 2018-02-23 | 东莞市益诚自动化设备有限公司 | Antenna for mobile phone feed point position and bonnet assembling mechanism |
| CN109420891A (en) * | 2017-09-04 | 2019-03-05 | 中国科学院沈阳自动化研究所 | Automotive gear shifter production line pin press-loading apparatus |
| CN107627090A (en) * | 2017-10-27 | 2018-01-26 | 重庆市灵龙自动化设备有限公司 | Four axle assembly machines of intelligence |
| CN208744108U (en) * | 2018-08-06 | 2019-04-16 | 临海市鼎业眼镜设备厂 | A kind of lock screws apptss |
| CN109366146A (en) * | 2018-12-04 | 2019-02-22 | 佳奕筱安(上海)机器人科技有限公司 | Compressor operation station and its application method with domain controller |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112191449A (en) * | 2020-09-30 | 2021-01-08 | 重庆广建金属制品有限公司 | Automatic dispensing equipment and method for notebook computer accessories |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110125648B (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110153722A (en) | A kind of automobile brake disc automatic processing device | |
| CN108067871A (en) | A kind of grading ring automatic welding sander | |
| CN110125648A (en) | Automotive gear shifter pin Intelligent assembly machine and method | |
| CN201645310U (en) | Polishing machine for inner wall of steel pipe | |
| CN209503848U (en) | A kind of automatic abrasive belt machine | |
| CN208696206U (en) | A kind of multistation riveting machine | |
| CN204935363U (en) | The clamp system of numerical control external cylindrical grinding machine | |
| CN206512396U (en) | A kind of Full-automatic linear sewing machine | |
| CN203904399U (en) | Fixture system for sucker rod quench machining tool | |
| CN207656248U (en) | A kind of automatic cutting hank knotting all-in-one machine | |
| CN205166052U (en) | Automatic chamfering machine | |
| CN212496431U (en) | Combined tool for turning outer circle and drilling center | |
| CN108166166A (en) | A kind of swivel feeding device and double-station ELASTIC SEWING MACHINE | |
| CN107457567A (en) | A kind of surface trimming hank knotting all-in-one and its processing method | |
| CN212470688U (en) | Positioning rotary table feeding mechanism | |
| CN210245308U (en) | Magnetic ring winding machine | |
| CN107150251A (en) | A kind of shaft-like intelligent Hardware fitting processing clamping device | |
| CN103147235B (en) | Sewing machine with mechanical pulling mechanism and using method thereof | |
| CN110158241A (en) | A kind of gloves production equipment | |
| CN207770858U (en) | A kind of tailstock | |
| CN202336552U (en) | Full-automatic acupuncture needle handle winding machine | |
| CN109758833A (en) | Cloth-pressing device and automatic filter core cloth-wrapping machine | |
| CN109382471A (en) | A kind of Rectangular Section Spring manufacture tool | |
| CN208532854U (en) | A kind of novel no slide unit heat treatment machine | |
| CN109822377A (en) | A kind of intermediate axis processing machine head and the machining tool using it |
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 |