CN110524221B - Automobile PTC water heater insert press-fitting device and press-fitting method thereof - Google Patents
Automobile PTC water heater insert press-fitting device and press-fitting method thereof Download PDFInfo
- Publication number
- CN110524221B CN110524221B CN201910852544.3A CN201910852544A CN110524221B CN 110524221 B CN110524221 B CN 110524221B CN 201910852544 A CN201910852544 A CN 201910852544A CN 110524221 B CN110524221 B CN 110524221B
- Authority
- CN
- China
- Prior art keywords
- electric cylinder
- clamping
- cylinder
- bottom plate
- press
- 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
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000010438 heat treatment Methods 0.000 claims description 35
- 230000000903 blocking effect Effects 0.000 claims description 11
- 230000002457 bidirectional effect Effects 0.000 claims description 7
- 230000009194 climbing Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
-
- 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 press-fitting device and a press-fitting method for an insert of an automobile PTC water heater, wherein the press-fitting device comprises the following components: the bottom plate is provided with a clamping mechanism, a moving mechanism and a pressing mechanism; the insert press fitting is automatically completed, the automation degree is high, and the working efficiency is high.
Description
Technical Field
The invention belongs to the technical field of automobile PTC water heater assembly, and particularly relates to an automobile PTC water heater insert press-fitting device and a press-fitting method thereof.
Background
In carrying out the invention, the inventors have found that the prior art has at least the following problems: in the prior art, the insert press-fitting process of the automobile PTC water heater is completed manually, so that the working efficiency is low, and the automation degree is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing an insert press-fitting device for an automobile PTC water heater and a press-fitting method thereof, wherein the insert press-fitting device is capable of automatically completing insert press-fitting, and is high in automation degree and high in working efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme: an automotive PTC water heater insert press-fitting apparatus having:
the bottom plate is provided with a clamping mechanism, a moving mechanism and a pressing mechanism;
the clamping mechanism has:
the bracket is arranged on the bottom plate;
a clamping moving cylinder mounted on the bracket;
the clamping moving seat is slidably arranged on the bracket, and a push rod of the clamping moving cylinder is connected with the clamping moving seat;
the clamping lifting cylinder is arranged on the clamping moving seat;
the bidirectional electric cylinder is connected with the push rod of the clamping lifting electric cylinder;
the two clamping arms are respectively connected with the two push rods of the bidirectional electric cylinder, and can clamp the heating seat;
the moving mechanism has:
an X-direction electric cylinder which is arranged on the bottom plate;
the X-direction screw rod is connected with the push rod of the X-direction electric cylinder;
the XY translation stage is slidably arranged on the bottom plate, and a nut matched with the X-direction screw rod is arranged at the bottom of the bottom plate;
the Y-direction electric cylinder is arranged on the XY translation stage;
the Y-direction lead screw is connected with the push rod of the Y-direction electric cylinder;
a support slidably mounted on the XY translation stage, the support capable of positioning the heating mount;
the pressing electric cylinder is arranged on the support;
the rotary electric cylinder is connected with a push rod of the pressing electric cylinder;
the compression bar is connected with the rotating shaft of the rotary electric cylinder and can compress the heating seat on the support;
the pressing mechanism has:
a lower pressure cylinder mounted on the bracket;
the lower pressure support is connected with a push rod of the lower pressure cylinder;
clamping jaw is installed on pushing down the support, clamping jaw can centre gripping heating package and insert.
The heating device is characterized by further comprising a conveying line, the conveying line passes through the bottom plate, and a follow-up tooling plate for placing the heating seat is arranged on the conveying line.
Still have climbing mechanism, climbing mechanism has:
the jacking electric cylinder is arranged at the bottom of the bottom plate, the jacking electric cylinder is positioned below the conveying line, and a push rod of the jacking electric cylinder penetrates through the bottom plate and can jack the accompanying tooling plate on the conveying line;
the blocking electric cylinder is arranged at the bottom of the bottom plate, the blocking electric cylinder is positioned below the conveying line, and a push rod of the blocking electric cylinder penetrates through the bottom plate and can block the follow-up tooling plate on the conveying line;
the baffle is arranged on the bottom plate, and the baffle can limit the position of the follow-up tooling plate in the vertical direction.
A force sensor is arranged between the pressing support and the clamping jaw.
The XY translation stage is slidably mounted on the bottom plate through a sliding rail; the support is slidably mounted on the XY translation stage through a slide rail.
And a sensor for sensing whether the heating seat exists or not is arranged on the support.
The X-direction screw rod is perpendicular to the Y-direction screw rod.
The press-fitting method of the insert press-fitting device of the automobile PTC water heater comprises the following steps of:
1) The following tooling plate is driven by the conveying line until being blocked by the extended blocking cylinder; at the moment, after the equipment detects that the follow-up tooling plate is in place, the lifting cylinder is lifted, the follow-up tooling plate is positioned, and the equipment is pushed up until the follow-up tooling plate is fixed by the baffle plate;
2) The code reader automatically reads the two-dimensional code on the heating seat;
3) The clamping arm of the clamping lifting electric cylinder is taken out, a heating seat on the follow-up tooling plate is moved to a positioning tooling on the XY translation table, and then the clamping arm is retracted;
4) A heating seat is arranged on the part presence sensing and positioning tool, the XY translation stage moves to the position right below the lower piezoelectric cylinder, the lower piezoelectric cylinder is pressed down, and the heating bag and the insert are pressed into the heating seat in sequence; in the pressing-in process, the force sensor senses pressure and detects whether the pressing-in is repeated;
5) After the processing is completed, the equipment releases the follow-up tooling plate to the conveying line.
One of the technical schemes has the following advantages or beneficial effects that the insert press fitting is automatically completed, the degree of automation is high, and the working efficiency is high.
Drawings
Fig. 1 is a schematic structural view of an insert press-fitting device for an automotive PTC water heater according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the insert press-fitting device of the automotive PTC water heater of FIG. 1;
the labels in the above figures are: 1. base plate, 2. Clamping mechanism, 201. Bracket, 202. Clamping and moving cylinder, 203. Clamping and lifting cylinder, 204. Bidirectional cylinder, 205. Clamping arm, 206. Clamping and moving seat, 3, moving mechanism, 301. X-direction cylinder, 302. X-direction screw, 303.XY translation stage, 304. Y-direction cylinder, 305. Y-direction screw, 306. Support, 307. Pressing cylinder, 308, rotating cylinder, 309, pressure bar, 4. Pressing mechanism, 401. Pressing cylinder, 402. Pressing support, 403. Clamping jaw, 5. Jacking mechanism, 501. Jacking cylinder, 502. Blocking cylinder, 503. Baffle.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1-2, an automotive PTC water heater insert press-fitting apparatus having:
the bottom plate is provided with a clamping mechanism, a moving mechanism and a pressing mechanism;
the clamping mechanism comprises:
the bracket is arranged on the bottom plate;
a clamping moving cylinder which is arranged on the bracket;
the clamping moving seat is slidably arranged on the bracket, and a push rod of the clamping moving cylinder is connected with the clamping moving seat;
the clamping lifting electric cylinder is arranged on the clamping moving seat;
the bidirectional electric cylinder is connected with a push rod for clamping the lifting electric cylinder;
the two clamping arms are respectively connected with the two push rods of the bidirectional electric cylinder, and can clamp the heating seat;
the moving mechanism comprises:
an X-direction electric cylinder which is arranged on the bottom plate;
the X-direction screw rod is connected with a push rod of the X-direction electric cylinder;
the XY translation stage is slidably arranged on the bottom plate, and a nut matched with the X-direction screw rod is arranged at the bottom of the bottom plate;
the Y-direction electric cylinder is arranged on the XY translation stage;
the Y-direction screw rod is connected with a push rod of the Y-direction electric cylinder;
the support is slidably arranged on the XY translation table and can position the heating seat;
the pressing electric cylinder is arranged on the support;
the rotary electric cylinder is connected with a push rod of the pressing electric cylinder;
the compression bar is connected with the rotating shaft of the rotary electric cylinder and can compress the heating seat on the support;
the pressing mechanism has:
a lower piezoelectric cylinder which is arranged on the bracket;
the lower pressure support is connected with a push rod of the lower pressure cylinder;
clamping jaw is installed on pushing down the support, and clamping jaw can centre gripping heating package and insert.
The heating device is also provided with a conveying line, the conveying line passes through the bottom plate, and a follow-up tooling plate for placing the heating seat is arranged on the conveying line.
Also provided is a jacking mechanism, which comprises:
the jacking electric cylinder is arranged at the bottom of the bottom plate, is positioned below the conveying line, and a push rod of the jacking electric cylinder penetrates through the bottom plate and can jack the follow-up tooling plate on the conveying line;
the blocking electric cylinder is arranged at the bottom of the bottom plate, is positioned below the conveying line, and can block a push rod of the electric cylinder from penetrating through the bottom plate and can block a follow-up tooling plate on the conveying line;
the baffle is arranged on the bottom plate and can limit the position of the follow-up tooling plate in the vertical direction.
A force sensor is arranged between the pressing support and the clamping jaw. The force sensor senses the stress of the part clamped on the clamping jaw, if the part is repeatedly clamped, the stress of the force sensor is rapidly increased, and the force is fed back to the system for error reporting. The force sensor prevents the repeated clamping of the parts.
The XY translation stage is slidably mounted on the bottom plate through a sliding rail; the support is slidably mounted on the XY translation stage via a slide rail.
The support is provided with a sensor for sensing whether the heating seat exists or not.
The X-direction screw rod is perpendicular to the Y-direction screw rod.
The press-fitting method of the insert press-fitting device of the automobile PTC water heater comprises the following steps of:
1) The following tooling plate is driven by the conveying line until being blocked by the extended blocking cylinder; at the moment, after the equipment detects that the follow-up tooling plate is in place, the lifting cylinder is lifted, the follow-up tooling plate is positioned, and the equipment is pushed up until the follow-up tooling plate is fixed by the baffle plate;
2) The code reader automatically reads the two-dimensional code on the heating seat;
3) The clamping arm of the clamping lifting electric cylinder is taken out, a heating seat on the follow-up tooling plate is moved to a positioning tooling on the XY translation table, and then the clamping arm is retracted;
4) A heating seat is arranged on the part presence sensing and positioning tool, the XY translation stage moves to the position right below the lower piezoelectric cylinder, the lower piezoelectric cylinder is pressed down, and the heating bag and the insert are pressed into the heating seat in sequence; in the pressing-in process, the force sensor senses pressure and detects whether the pressing-in is repeated;
5) After the processing is completed, the equipment releases the follow-up tooling plate to the conveying line.
After the scheme is adopted, insert press fitting is automatically completed, the automation degree is high, and the working efficiency is high.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (6)
1. An automotive PTC water heater insert press-fitting apparatus, comprising:
the bottom plate is provided with a clamping mechanism, a moving mechanism and a pressing mechanism;
the clamping mechanism has:
the bracket is arranged on the bottom plate;
a clamping moving cylinder mounted on the bracket;
the clamping moving seat is slidably arranged on the bracket, and a push rod of the clamping moving cylinder is connected with the clamping moving seat;
the clamping lifting cylinder is arranged on the clamping moving seat;
the bidirectional electric cylinder is connected with the push rod of the clamping lifting electric cylinder;
the two clamping arms are respectively connected with the two push rods of the bidirectional electric cylinder, and can clamp the heating seat;
the moving mechanism has:
an X-direction electric cylinder which is arranged on the bottom plate;
the X-direction screw rod is connected with the push rod of the X-direction electric cylinder;
the XY translation stage is slidably arranged on the bottom plate, and a nut matched with the X-direction screw rod is arranged at the bottom of the bottom plate;
the Y-direction electric cylinder is arranged on the XY translation stage;
the Y-direction lead screw is connected with the push rod of the Y-direction electric cylinder;
a support slidably mounted on the XY translation stage, the support capable of positioning the heating mount;
the pressing electric cylinder is arranged on the support;
the rotary electric cylinder is connected with a push rod of the pressing electric cylinder;
the compression bar is connected with the rotating shaft of the rotary electric cylinder and can compress the heating seat on the support;
the pressing mechanism has:
a lower pressure cylinder mounted on the bracket;
the lower pressure support is connected with a push rod of the lower pressure cylinder;
the clamping jaw is arranged on the downward pressing support and can clamp the heating bag and the insert;
the conveying line passes through the bottom plate, and a follow-up tooling plate for placing the heating seat is arranged on the conveying line;
still have climbing mechanism, climbing mechanism has:
the jacking electric cylinder is arranged at the bottom of the bottom plate, the jacking electric cylinder is positioned below the conveying line, and a push rod of the jacking electric cylinder penetrates through the bottom plate and can jack the accompanying tooling plate on the conveying line;
the blocking electric cylinder is arranged at the bottom of the bottom plate, the blocking electric cylinder is positioned below the conveying line, and a push rod of the blocking electric cylinder penetrates through the bottom plate and can block the follow-up tooling plate on the conveying line;
the baffle is arranged on the bottom plate, and the baffle can limit the position of the follow-up tooling plate in the vertical direction.
2. An automotive PTC water heater insert press-fit apparatus as claimed in claim 1, wherein a force sensor is provided between the hold-down support and the clamping jaw.
3. The automotive PTC water heater insert press-fitting device of claim 2 wherein the XY translation stage is slidably mounted on the base plate by a slide rail; the support is slidably mounted on the XY translation stage through a slide rail.
4. A vehicle PTC water heater insert press-fit device according to claim 3, wherein the support is provided with a sensor for sensing the presence of the heating seat.
5. The automotive PTC water heater insert press-fitting apparatus of claim 4, wherein the X-direction lead screw and the Y-direction lead screw are perpendicular.
6. A method of press fitting an automotive PTC water heater insert press fitting device as claimed in any one of claims 1 to 5, comprising the steps of:
1) The following tooling plate is driven by the conveying line until being blocked by the extended blocking cylinder; at the moment, after the equipment detects that the follow-up tooling plate is in place, the lifting cylinder is lifted, the follow-up tooling plate is positioned, and the equipment is pushed up until the follow-up tooling plate is fixed by the baffle plate;
2) The code reader automatically reads the two-dimensional code on the heating seat;
3) The clamping arm of the clamping lifting electric cylinder is taken out, a heating seat on the follow-up tooling plate is moved to a positioning tooling on the XY translation table, and then the clamping arm is retracted;
4) A heating seat is arranged on the part presence sensing and positioning tool, the XY translation stage moves to the position right below the lower piezoelectric cylinder, the lower piezoelectric cylinder is pressed down, and the heating bag and the insert are pressed into the heating seat in sequence; in the pressing-in process, the force sensor senses pressure and detects whether the pressing-in is repeated;
5) After the steps 1) to 4) are completed, the equipment releases the follow-up tooling plate to the conveying line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910852544.3A CN110524221B (en) | 2019-09-10 | 2019-09-10 | Automobile PTC water heater insert press-fitting device and press-fitting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910852544.3A CN110524221B (en) | 2019-09-10 | 2019-09-10 | Automobile PTC water heater insert press-fitting device and press-fitting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110524221A CN110524221A (en) | 2019-12-03 |
| CN110524221B true CN110524221B (en) | 2024-01-05 |
Family
ID=68667972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910852544.3A Active CN110524221B (en) | 2019-09-10 | 2019-09-10 | Automobile PTC water heater insert press-fitting device and press-fitting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110524221B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168383B (en) * | 2020-01-21 | 2021-03-16 | 苏州市瑞昌机电工程有限公司 | Automatic press fitting device for motor PCB |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105775678A (en) * | 2016-04-13 | 2016-07-20 | 浙江中智机器人有限公司 | Resistor disc feeder suitable for ceramic PTC assembly |
| CN107570995A (en) * | 2017-09-29 | 2018-01-12 | 芜湖全程智能科技有限公司 | A kind of electronic parking kinetic energy motor knob roller box method |
| CN107717396A (en) * | 2017-10-31 | 2018-02-23 | 芜湖全程智能科技有限公司 | A kind of electronic parking kinetic energy motor drive press-loading apparatus press-loading device |
| CN107756005A (en) * | 2017-10-31 | 2018-03-06 | 芜湖全程智能科技有限公司 | A kind of electronic parking kinetic energy motor drive pressing method |
| CN108620841A (en) * | 2017-12-31 | 2018-10-09 | 芜湖瑞佑工程设备技术有限公司 | A kind of automatic pressing equipment of automobile instrument |
| CN209352206U (en) * | 2018-11-27 | 2019-09-06 | 吴江市博奕机械有限公司 | A kind of automatic circulating plate machine of PTC heating component processing electrode slice |
| CN210789911U (en) * | 2019-09-10 | 2020-06-19 | 芜湖全程智能科技有限公司 | Press mounting device for insert of automobile PTC water heater |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433436B (en) * | 2016-05-28 | 2019-06-04 | 鸿富锦精密工业（深圳）有限公司 | Insert equipment |
-
2019
- 2019-09-10 CN CN201910852544.3A patent/CN110524221B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105775678A (en) * | 2016-04-13 | 2016-07-20 | 浙江中智机器人有限公司 | Resistor disc feeder suitable for ceramic PTC assembly |
| CN107570995A (en) * | 2017-09-29 | 2018-01-12 | 芜湖全程智能科技有限公司 | A kind of electronic parking kinetic energy motor knob roller box method |
| CN107717396A (en) * | 2017-10-31 | 2018-02-23 | 芜湖全程智能科技有限公司 | A kind of electronic parking kinetic energy motor drive press-loading apparatus press-loading device |
| CN107756005A (en) * | 2017-10-31 | 2018-03-06 | 芜湖全程智能科技有限公司 | A kind of electronic parking kinetic energy motor drive pressing method |
| CN108620841A (en) * | 2017-12-31 | 2018-10-09 | 芜湖瑞佑工程设备技术有限公司 | A kind of automatic pressing equipment of automobile instrument |
| CN209352206U (en) * | 2018-11-27 | 2019-09-06 | 吴江市博奕机械有限公司 | A kind of automatic circulating plate machine of PTC heating component processing electrode slice |
| CN210789911U (en) * | 2019-09-10 | 2020-06-19 | 芜湖全程智能科技有限公司 | Press mounting device for insert of automobile PTC water heater |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110524221A (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110524221B (en) | Automobile PTC water heater insert press-fitting device and press-fitting method thereof | |
| CN108705277A (en) | Automobile gearbox parking cam ring automatic press mounting device | |
| CN210789911U (en) | Press mounting device for insert of automobile PTC water heater | |
| CN210139002U (en) | Punching clamp | |
| CN110480317A (en) | A kind of turntable type trident bearing press-fitting device | |
| CN214003243U (en) | Connector terminal detection and carrying mechanism | |
| CN211955745U (en) | Plastic envelope motor automatic test equipment is with holding device tightly | |
| CN113865529A (en) | New forms of energy motor nut equipment check out test set | |
| CN209095388U (en) | A kind of sheet metal component clamp device | |
| CN209783821U (en) | Leakage detection positioning device of motor driver | |
| CN108067794A (en) | Sheet metal component clamping tooling | |
| CN210966467U (en) | Shackling correction device | |
| CN217666821U (en) | Machining device for mechanical parts | |
| CN214517207U (en) | Positioning device of open press | |
| CN113714773B (en) | Automatic C-shaped clamp spring mounting device of automobile EPB and mounting method thereof | |
| CN215379348U (en) | Clamping device | |
| CN219004653U (en) | Auto-parts quick perforating device | |
| CN221133813U (en) | Clamping and feeding mechanism for steel cabinet plate production | |
| CN215616243U (en) | Motor end cover press-fitting mechanism | |
| CN218503063U (en) | Automatic pressfitting bending device of apron card foot | |
| CN221231939U (en) | Pressing equipment for workpiece production | |
| CN114029392A (en) | Motorcycle part stamping equipment | |
| CN220946756U (en) | Nut thermal implantation equipment | |
| CN220178481U (en) | Workpiece spot welding tool | |
| CN221352454U (en) | Automatic wire clamping and twisting machine for automobile wire harness production |
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 |