CN110460002B - Flight type cable deicing robot - Google Patents

Flight type cable deicing robot Download PDF

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Publication number
CN110460002B
CN110460002B CN201910887705.2A CN201910887705A CN110460002B CN 110460002 B CN110460002 B CN 110460002B CN 201910887705 A CN201910887705 A CN 201910887705A CN 110460002 B CN110460002 B CN 110460002B
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China
Prior art keywords
deicing
ratchet wheel
shaped frame
groove
cable
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CN201910887705.2A
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CN110460002A (en
Inventor
路懿
路扬
叶妮佳
常泽锋
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Yanshan University
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Yanshan University
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G7/00Overhead installations of electric lines or cables
    • H02G7/16Devices for removing snow or ice from lines or cables

Abstract

The invention relates to a flying type cable deicing robot, and belongs to the technical field of robots. The deicing device comprises two symmetrical swing arms which are formed by a groove-shaped frame and inclined plates into a whole, a plurality of ratchet wheel deicing devices which are arranged on the swing arms and used for deicing, a plurality of rotor helicopters which are arranged on the swing arms and used for flying, a power supply and a control device; the two swing arms are rotationally connected by a pin shaft; the ratchet wheel deicer comprises a low-speed motor and a deicing ratchet wheel driven by the low-speed motor; the rotor helicopter comprises a high-speed motor fixed below the inclined plate and a rotor arranged on the inclined plate and connected with an output shaft of the high-speed motor; the helicopter also comprises a U-shaped frame which is fixed with the groove-shaped frame and covers the rotor helicopter. Under control of the control device, the aerial cable automatic flying robot can automatically fly to an overhead cable operation position from the ground, can automatically fly over obstacles such as a cable electric hammer and the like, can perform electrified deicing operation on an overhead power transmission line, can efficiently deice cables, is low in energy consumption, easy to control, portable to carry, capable of walking quickly and good in use effect.

Description

Flight type cable deicing robot
Technical Field
The invention belongs to the technical field of deicing robots, and particularly relates to a flying type cable deicing robot.
Background
A high-voltage cable deicing robot is a special robot developed based on general robot technology. In rainy and snowy mixed weather, the high-voltage cable is easy to freeze, and if the high-voltage cable is not timely deiced, the transmission line is broken and the iron tower collapses due to overweight loading of snow and ice, so that great disasters and economic losses are brought to human beings. Because the cable deicing robot can timely deice the cable, the research on the cable deicing robot in various countries in the world for many years is very important, the multiple technologies are integrated, the structure is simple, the weight is light, the control is easy, and obstacles such as efficient deicing, fast walking, electric hammer crossing and the like are always the development direction of the research on the cable deicing robot. Various cable deicing techniques and corresponding machines have been developed to date. In 2008, south China suffers from severe ice and snow attacks, so that a plurality of cables are severely frozen and towers collapse, and some Chinese experts are motivated to provide the following invention technology, the Chinese invention patent (patent number CN 200810124321.7) discloses a cable deicing robot, which comprises a rack, a deicing shield, a power supply, a clamping mechanism and a travelling mechanism, wherein a clamping guide wheel is adopted, and the travelling mechanism comprises a travelling motor and a cable driving wheel. Although the invention has the cable deicing function, the obstacle crossing is realized, so that the cable deicing robot has the obstacle advantages of simple structure, portability, easy control, high-efficiency deicing, quick walking, automatic electric hammer crossing and the like, and the obstacle crossing is not solved.
Disclosure of Invention
The invention aims to provide a flying type cable deicing robot which has the functions of efficiently deicing, quickly walking, automatically crossing electric hammers and other obstacles, is simple in structure, is portable and is easy to control.
In order to achieve the purpose, the invention adopts the technical scheme that:
a flying type cable deicing robot comprises two symmetrical swing arms, a plurality of ratchet wheel deicers, a plurality of rotary wing helicopters, a power supply and a control device, wherein the swing arms are formed by a groove-shaped frame and an inclined plate into a whole; the two swing arms are rotationally connected by a pin shaft; the ratchet wheel deicer comprises a low-speed motor and a deicing ratchet wheel driven by the low-speed motor; the rotor helicopter comprises a high-speed motor fixed below the inclined plate and a rotor arranged on the inclined plate and connected with an output shaft of the high-speed motor; the helicopter also comprises a U-shaped frame which is fixedly connected with the groove-shaped frame and coats the rotor helicopter.
The technical scheme of the invention is further improved as follows: the upper part of the groove-shaped frame is provided with a plurality of ratchet wheel deicers for deicing the cables, and the lower part of the groove-shaped frame is provided with a plurality of ratchet wheel deicers for deicing the cables; the upper end of the inclined plate is fixedly connected with the lower end of the groove-shaped frame.
The technical scheme of the invention is further improved as follows: the number of the ratchet deicer is 6.
The technical scheme of the invention is further improved as follows: 2 ratchet wheel deicers are arranged at the upper part of each groove-shaped frame, and 1 ratchet wheel deicers are arranged at the lower part of each groove-shaped frame.
The technical scheme of the invention is further improved as follows: the ratchet deicer at the lower part of the two groove-shaped frames are arranged oppositely; the four ratchet wheel ice removers positioned at the upper part of the groove-shaped frame are arranged in a staggered mode, and every two ratchet wheel ice removers are respectively positioned at two sides of the ratchet wheel ice removers at the lower part of the groove-shaped frame.
The technical scheme of the invention is further improved as follows: the rotor helicopter is provided with two pluralities, and the rotor helicopter is uniformly distributed on two inclined plates of the swing arm.
The technical scheme of the invention is further improved as follows: the rotor helicopter is arranged symmetrically on the two swing arms, and the rotor helicopter is arranged into 4, 6 or 8.
The technical scheme of the invention is further improved as follows: the U-shaped frame is a U-shaped thin plate with meshes, coats the rotor and forms a cable inclined guide surface.
The technical scheme of the invention is further improved as follows: the deicing ratchet wheel is a frustum ratchet wheel.
Due to the adoption of the technical scheme, the invention has the following technical effects:
1. because the invention adopts the rotor helicopter, the deicing robot can automatically and directly fly to the overhead cable operation position from the ground under the control of the control device, and can automatically fly over obstacles such as a cable electric hammer and the like.
2. The invention adopts the ratchet wheel deicer, so that ratchet wheels with different specifications can be replaced according to the diameter of the cable, the deicing of the cables with different specifications can be realized, and due to the special structure of the frustum ratchet wheel, the deicing ratchet wheel can stand on the frozen cable, and under the action of gravity, 6 frustum ratchet wheels surround the cable to rotate and walk to deice, so that all ice on the frozen cable can be completely removed, and the deicing is efficient.
3. The flying type cable deicing robot adopts the groove-shaped frame, the inclined plate and the U-shaped frame structure, and is ingenious and reasonable in structural arrangement, so that the flying type cable deicing robot is simple in structure, portable in carrying and capable of rapidly walking. The swing arm is connected in a rotating mode through the pin shaft and can rotate around the pin shaft relatively, and the flexible rotation of the swing arm can meet the flight state and the functional requirements of the deicing state of the deicer.
4. The invention adopts the low-speed motor to drive the deicing ratchet wheel to automatically rotate, and the high-speed motor to drive the rotor wing to fly, and the whole robot has simple structure and is portable, so the flying type cable deicing robot has low energy consumption in the deicing process or during flying.
4. The invention adopts the storage battery as the power supply, and the control device is used for controlling, so that the electrified deicing operation of the overhead power transmission line can be carried out, and the safety of the cable is ensured.
5. The invention adopts the U-shaped frame structure, and the U-shaped frame is used for forming the inclined guide surface of the positioning cable, protecting the rotor wing and the landing support, thereby ensuring the safety of the deicing robot.
Drawings
FIG. 1 is a schematic front view of a deicing condition of the present invention;
FIG. 2 is a schematic side view of the deicing condition of the present invention;
FIG. 3 is a schematic top plan view of the deicing condition of the present invention;
fig. 4 is a schematic front view of the present invention in a non-ice-removing state.
The deicing device comprises a swing arm 1, a groove-shaped frame 1-2, an inclined plate 2, a ratchet wheel deicer 2-1, a low-speed motor 2-2, a deicing ratchet wheel 3, a rotor helicopter 3-1, a high-speed motor 3-2, a rotor 4, a pin shaft 5, a cable 6 and a U-shaped frame.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific embodiments:
the invention discloses a flying type cable deicing robot, and particularly relates to a deicing robot which can automatically fly to an overhead cable operation position from the ground directly, can automatically fly over obstacles such as a cable electric hammer and the like, and can perform electrified deicing operation on an overhead power transmission line. The structure thereof will be described in detail below.
As shown in fig. 1, 2, 3 and 4, the flying type cable deicing robot comprises two symmetrical swing arms 1 which are formed by a groove-shaped frame 1-1 and an inclined plate 1-2 into a whole, a plurality of ratchet wheel deicing devices 2 which are arranged on the swing arms 1 and used for deicing, a plurality of rotary wing helicopters 3 which are arranged on the swing arms 1 and used for flying, a power supply and a control device. Wherein, two swing arms 1 use round pin axle 4 to rotate and connect, can rotate around round pin axle 4 relatively. The groove-shaped frame 1-1 and the inclined plate 1-2 form an integrated swing arm 1 as a main bracket for mounting other functional components. The ratchet wheel deicer 2 comprises a low-speed motor 2-1 and a deicing ratchet wheel 2-2 driven by the low-speed motor 2-1; the rotor helicopter 3 comprises a high-speed motor 3-1 fixed below the inclined plate 1-2 and a rotor 3-2 arranged on the inclined plate 1-2 and connected with an output shaft of the high-speed motor 3-1; and the U-shaped frame 6 is fixedly connected with the groove-shaped frame 1-1 and covers the rotor wing helicopter 3.
The swing arm 1 is formed by a groove-shaped frame 1-1 and an inclined plate 1-2 into a whole, the upper part of the groove-shaped frame 1-1 is provided with two parallel through holes and two orthogonal longitudinal through holes which are parallel to each other, and the lower part of the groove-shaped frame 1-1 is provided with a vertical through hole which is used for installing a low-speed motor and a ratchet wheel deicer. As shown in fig. 3, the upper end of the groove-shaped frame 1-1 is further provided with an ear plate orthogonal to the longitudinal through holes of the two parallel through holes, the pin 4 passes through the longitudinal through holes on the ear plate to rotate the two swing arms 1 to form a symmetrical revolute pair connection, and the pin 4 is parallel to the cable 5.
The low-speed motor 2-1 is coaxially and fixedly connected with 2 parallel through holes at the upper part and a vertical through hole at the lower part of the groove-shaped frame 1-1 of the swing arm 1 respectively, and a driving shaft of the low-speed motor is coaxially connected with the deicing ratchet wheel 2-2.
As shown in figure 1, 2 ratchet ice removers 2 for deicing cables 5 are arranged at the upper part of each channel-shaped frame 1-1, and the axes of the four ratchet ice removers 2 arranged at the upper parts of the two channel-shaped frames 1-1 are approximately in a horizontal state during deicing and are mainly used for deicing the upper parts of the cables 5. The lower part of each channel-shaped frame 1-1 is provided with 1 ratchet ice remover 2 for removing ice on the cable 5, and the axes of the two ratchet ice removers 2 arranged on the lower parts of the two channel-shaped frames 1-1 are approximately in a vertical state during ice removal, and are mainly used for removing ice on the side surfaces and the side lower parts of the cable 5. The number of the ratchet wheel deicers 2 is 6, and the ratchet wheel deicers 2 at the lower parts of the two groove-shaped frames 1-1 are arranged oppositely; the four ratchet wheel ice removers 2 positioned at the upper part of the groove-shaped frame 1-1 are arranged in a staggered mode and are arranged in pairs at two sides of the ratchet wheel ice removers 2 positioned at the lower part of the groove-shaped frame 1-1 respectively; the deicing ratchet wheel 2-2 is preferably set to be a frustum ratchet wheel, the frustum ratchet wheel can be detached and replaced according to the specification and the size of the cable, the frustum ratchet wheel can improve the contact surface with the cable, and the deicing effect is improved. The upper end of the inclined plate 1-2 is fixedly connected with the lower end of the groove-shaped frame 1-1.
The rotor helicopter 3 comprises a high-speed motor 3-1 and a rotor 3-2; as shown in fig. 2 and 3, the lower end of the inclined plate 1-2 is provided with a plurality of through holes fixedly connected with a mounting frame, the mounting frame comprises a mounting beam and a mounting plate, the mounting plate is blocky and is fixed on the outer side of the mounting beam, and the mounting plate is used for mounting a high-speed motor and a rotary-wing helicopter. Specifically, a high-speed motor 3-1 is coaxially and fixedly connected with through holes of a mounting plate on a mounting frame on an inclined plate 1-2 of a swing arm 1 respectively, and a driving shaft of the high-speed motor is connected with a rotor 3-2 in a coaxial manner; rotor helicopter 3 symmetry sets up on two swing arms 1, and rotor helicopter 3 sets up two several usually, can ensure that the flight is steady, can be 4, 6 or 8, also can set up more rotor helicopters 3 as required. The rotor helicopters 3 are uniformly distributed on the mounting frames at the end parts of the two inclined plates 1-2 of the swing arm 1.
The power supply adopts a storage battery, and the control device controls the running and the stopping of the low-speed motor 2-1 and the high-speed motor 3-1. The control device is typically a remote control.
The U-shaped frame 6 on the groove-shaped frame 1-1 is a U-shaped thin plate with meshes, the U-shaped frame 6 covers the rotor 3-2, and an inclined guide surface is formed on the inner side and is fixedly connected with the swing arm 1 at multiple positions. The inner side surfaces of the U-shaped frames 6 on the two groove-shaped frames 1-1 are arc inclined surfaces, and when the deicer is aligned to a cable above the cable and falls, the arc inclined surfaces can play a role in guiding. And when the aircraft descends on the ground after the operation is finished, the aircraft can play a role in protecting the rotor wings 3-2 and can also play a role in descending and supporting.
Example (b):
in the present embodiment, the rotary-wing helicopters 3 are provided in eight.
The control device controls and starts, the eight rotor helicopters 3 take off simultaneously, and the deicing robot directly flies to the overhead cable from the ground automatically to treat the deicing position.
During deicing, the control device controls, the eight rotor helicopters 3 stop flying, the 4 deicing ratchet wheels 2-2 are supported on the upper end face of the cable 5, and under the action of gravity, the six deicing ratchet wheels 2-2 surround the cable 5 to deice through autorotation walking. As shown in fig. 1, in the working state, the helicopter 3 is located entirely below the plane of the cable 5, so that the walking stability of the deicer can be ensured, and the self-gravity can be better exerted on the cable.
When the deicing is finished or a cable obstacle is met, the control device controls the eight rotor helicopters 3 to take off simultaneously, drives the 2 swing arms 1 to rotate reversely and open each other until the six deicing ratchet wheels 2-2 are separated from the cable 5, and then drives the cable deicing robot to fly to the ground or above the next section of cable 5 to be deiced. After positioning, the eight rotor helicopters 3 stop flying at the same time, and under the action of self weight, the two swing arms 1 drive the U-shaped frame 6 to force the six deicing ratchet wheels 2-2 to surround the cable 5 again for self-rotation walking deicing.
The invention relates to a flying type cable deicing robot, which comprises two symmetrical swing arms, six ratchet wheel deicers, eight rotary wing helicopters, a power supply and a control device, wherein the swing arms are formed by a groove-shaped frame and an inclined plate into a whole; the two swing arms are rotationally connected by a pin shaft; the ratchet wheel deicer comprises a low-speed motor and a deicing ratchet wheel driven by the low-speed motor; the rotor helicopter comprises a high-speed motor fixed below the inclined plate and a rotor arranged on the inclined plate and connected with an output shaft of the high-speed motor; still include with U-shaped frame of flute profile frame fixed connection to rotor helicopter cladding, can realize under controlling of controlling means that automatic by ground direct flight to overhead cable operation position, can fly over obstacles such as cable electric hammer automatically, can be to the electrified deicing operation of electric power overhead transmission line, can be high-efficient for cable deicing, the energy consumption is low, easily controls, carries lightly, walks fast, the result of use is better.

Claims (4)

1. A flight type cable deicing robot is characterized in that: the deicing device comprises two symmetrical swing arms (1) which are formed by a groove-shaped frame (1-1) and inclined plates (1-2) into a whole, a plurality of ratchet wheel deicing devices (2) which are arranged on the swing arms (1) and used for deicing, a plurality of rotor helicopters (3) which are arranged on the swing arms (1) and used for flying, a power supply and a control device; the two swing arms (1) are rotationally connected by a pin shaft (4); the ratchet wheel ice remover (2) comprises a low-speed motor (2-1) and an ice removing ratchet wheel (2-2) driven by the low-speed motor (2-1); the rotor helicopter (3) comprises a high-speed motor (3-1) fixed below the inclined plate (1-2) and a rotor (3-2) arranged on the inclined plate (1-2) and connected with an output shaft of the high-speed motor (3-1); the rotary wing helicopter also comprises a U-shaped frame (6) which is fixedly connected with the groove-shaped frame (1-1) and coats the rotary wing helicopter (3); the upper part of the groove-shaped frame (1-1) is provided with a plurality of ratchet wheel deicers (2) for deicing the cables (5), and the lower part of the groove-shaped frame (1-1) is provided with a plurality of ratchet wheel deicers (2) for deicing the cables (5); the upper end of the inclined plate (1-2) is fixedly connected with the lower end of the groove-shaped frame (1-1); the number of the ratchet wheel deicer (2) is 6; 2 ratchet wheel ice removers (2) are arranged at the upper part of each groove-shaped frame (1-1), and 1 ratchet wheel ice remover (2) is arranged at the lower part of each groove-shaped frame (1-1); the ratchet wheel ice removers (2) at the lower parts of the two groove-shaped frames (1-1) are arranged oppositely; the four ratchet wheel ice removers (2) positioned at the upper part of the groove-shaped frame (1-1) are arranged in a staggered mode, and every two ratchet wheel ice removers are respectively positioned at two sides of the ratchet wheel ice removers (2) at the lower part of the groove-shaped frame (1-1); the deicing ratchet wheel (2-2) is a frustum ratchet wheel.
2. A flying cable de-icing robot as claimed in claim 1, wherein: the rotor helicopters (3) are arranged in a plurality of pairs, and the rotor helicopters (3) are uniformly distributed on two inclined plates (1-2) of the swing arm (1).
3. A flying cable de-icing robot as claimed in claim 2, wherein: rotor helicopter (3) symmetry setting on two swing arms (1), rotor helicopter (3) set up to 4, 6 or 8.
4. A flying cable de-icing robot as claimed in claim 1, wherein: the U-shaped frame (6) is a U-shaped thin plate with meshes, coats the rotor wings (3-2) and forms an inclined guide surface of the cable (5).
CN201910887705.2A 2019-09-19 2019-09-19 Flight type cable deicing robot Active CN110460002B (en)

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CN110460002B true CN110460002B (en) 2020-12-01

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111799737A (en) * 2020-08-04 2020-10-20 武汉理工大学 Deicing unmanned aerial vehicle based on single-line and double-line operation

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WO2004070902A1 (en) * 2003-02-04 2004-08-19 Hydro-Quebec Remote-controlled vehicle which travels on conductors and which can pass over obstacles by means of temporary support rotors
CN110061469A (en) * 2019-04-18 2019-07-26 哈尔滨工程大学 A kind of multi-function robot for detection mobile on highwire class cable and operation

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CN103247990B (en) * 2013-04-17 2015-07-22 燕山大学 Double-ratchet-wheel cable deicing robot
CN206984347U (en) * 2017-07-26 2018-02-09 国家电网公司 A kind of patrol unmanned machine vertically movable hanging structure
CN208272587U (en) * 2018-04-29 2018-12-21 张景熙 A kind of high altitude operation cable deicing unmanned plane
CN109398702A (en) * 2018-11-06 2019-03-01 广东电网有限责任公司 A kind of line of fall device and its line of fall method dropproof based on unmanned plane
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Publication number Priority date Publication date Assignee Title
WO2004070902A1 (en) * 2003-02-04 2004-08-19 Hydro-Quebec Remote-controlled vehicle which travels on conductors and which can pass over obstacles by means of temporary support rotors
CN110061469A (en) * 2019-04-18 2019-07-26 哈尔滨工程大学 A kind of multi-function robot for detection mobile on highwire class cable and operation

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