CN110707593B - Electric power inspection robot - Google Patents
Electric power inspection robot Download PDFInfo
- Publication number
- CN110707593B CN110707593B CN201910819535.4A CN201910819535A CN110707593B CN 110707593 B CN110707593 B CN 110707593B CN 201910819535 A CN201910819535 A CN 201910819535A CN 110707593 B CN110707593 B CN 110707593B
- Authority
- CN
- China
- Prior art keywords
- mounting
- motor
- wheel
- module
- base plate
- 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
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Abstract
The invention relates to the technical field of electric power inspection robots, in particular to an electric power inspection robot which comprises a camera module, wherein the camera module is arranged in an installation box, the installation box is installed on a base plate through an angle adjusting mechanism, an installation plate is connected above the base plate through a support column, a lifting mechanism for driving a first rotating support to move up and down is arranged on the installation plate, at least one suspension wheel is rotatably installed on the first rotating support, a driving mechanism for driving a traveling wheel to rotate is arranged on the installation plate, the suspension wheel and the traveling wheel are respectively arranged on two sides of a guide steel cable, the guide steel cable passes through wheel grooves formed in the outer edges of the suspension wheel and the traveling wheel, second motors are fixedly installed on two sides of the base plate through installation seats, and output shafts of the second motors are coaxially connected with propellers. The robot is convenient to control and can move according to the direction of the guide steel cable.
Description
Technical Field
The invention relates to the field of electric power inspection robots, in particular to an electric power inspection robot.
Background
The power inspection robot can replace the traditional manual inspection and is suitable for being used in severe outdoor environments, the existing power inspection robot has unmanned helicopter type, suspension type and ground type robots, and the unmanned inspection robot has high operation difficulty; the suspended inspection robot is influenced by self gravity, so that the safety of a power transmission line is threatened, the ground type is limited by the terrain, and the application range is narrow.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a power inspection robot.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: the utility model provides an electric power inspection robot, includes the module of making a video recording, the module of making a video recording is established in the install bin, the install bin passes through angle adjustment mechanism and installs on the base plate, the top of base plate is connected with the mounting panel through the pillar, be equipped with the elevating system that the first rotation support of drive reciprocated on the mounting panel, rotate on the first rotation support and install and be no less than one suspension wheel, be equipped with the rotatory actuating mechanism of walking wheel on the mounting panel, suspension wheel and walking wheel divide the both sides of establishing at the direction cable wire, the wheel groove that direction cable wire process suspension wheel and walking wheel outer fringe set up, the both sides of base plate all have the second motor through mount pad fixed mounting, the output shaft coaxial coupling of second motor has the.
Preferably, angle adjustment mechanism is including rotating the mounting disc of installing on the base plate, be equipped with the rotatory rotary mechanism of drive mounting disc its axis on the base plate, one side of mounting disc is equipped with the second and rotates the support, rotate on the second and install the pivot on the support, the one end fixed connection of pivot and install bin, the mounting disc upper surface perpendicular is connected with first electric putter, the bottom of the install bin other end is supported to first electric putter's upper end.
Preferably, the rotating mechanism comprises a gear ring arranged at the edge of the mounting plate, a first motor is mounted on the base plate through a motor support, an output shaft of the first motor is coaxially connected with a driving gear, and the driving gear is meshed with the gear ring at the edge of the mounting plate.
Preferably, be equipped with portable power source in the install bin, portable power source passes through the wire and is connected with the controller, the controller passes through the signal line and is connected with camera module, first motor and first electric putter, the controller passes through the first communication module and the control master station signal connection that set up in the install bin.
Preferably, the lower part of base plate is equipped with the communication box, be equipped with second communication module in the communication box, first communication module and second communication module signal connection, second communication module is connected with central processing unit through the signal line, central processing unit is connected with motor drive module through the wire, motor drive module passes through the signal line and is connected with the second motor, the bottom of communication box is fixed with power module, power module passes through the wire and is connected with central processing unit.
Preferably, elevating system is including establishing the guide arm in first rotating bracket bottom both sides, the guide arm runs through the guide cylinder that sets up on the mounting panel, the inner wall sliding connection of guide arm and guide cylinder, be connected with second electric putter perpendicularly on the mounting panel, second electric putter is on a parallel with the guide arm, second electric putter's tip and first rotating bracket fixed connection, second electric putter passes through the wire and is connected with central processing unit.
Preferably, actuating mechanism includes the mounting bracket, the walking wheel rotates to be installed on the mounting bracket, the tip coaxial coupling of walking wheel has the drive wheel, the third motor is installed to the bottom of mounting bracket, the output shaft coaxial coupling of third motor has the drive wheel, be connected with the drive belt between drive wheel and the drive wheel.
Preferably, a solar electric plate which is obliquely arranged is fixed on one side of the mounting plate and is connected with the power module through a lead.
Compared with the prior art, the invention has the following beneficial effects:
1. the robot is guided by the guide steel cable, so that the control is convenient, the suspension mode is that the suspension wheel which can lift relative to the mounting plate is used for suspension, and when the robot needs to be suspended or taken down, the suspension wheel is far away from the mounting plate, so that the distance between the suspension wheel and the travelling wheel is increased, and the robot is convenient to take down from the guide steel cable;
2. the two sides of the base plate are provided with the propellers driven by the second motors to rotate, the rotation of the propellers can generate lifting force to the robot, so that the burden of the gravity of the robot on the guide steel cable is reduced, and the risk of the tension breaking of the guide steel cable caused by the gravity influence is reduced.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic view of the backside structure of the present invention;
fig. 3 is a block diagram of the system of the present invention.
In the figure: the solar energy electric plate comprises a mounting plate 1, a guide rod 2, a first rotating support 3, a suspension wheel 4, a traveling wheel 5, a solar energy electric plate 6, a guide steel cable 7, a first motor 8, a base plate 9, a driving gear 10, a first electric push rod 11, a communication box 12, a mounting box 13, a power supply module 14, a mounting disc 15, a second rotating support 16, a rotating shaft 17, a mounting seat 18, a second motor 19, a propeller 20, a guide cylinder 21, a transmission wheel 22, a transmission belt 23, a driving wheel 24, a third motor 25, a mounting frame 26, a fourth motor 27, a second electric push rod 28 and a support 29.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1-3, an electric power inspection robot comprises a camera module, the camera module is arranged in an installation box 13, the installation box 13 is installed on a base plate 9 through an angle adjusting mechanism, a mounting plate 1 is connected above the base plate 9 through a strut 29, the mounting plate 1 is provided with a lifting mechanism for driving a first rotating bracket 3 to move up and down, at least one suspension wheel 4 is rotatably installed on the first rotating bracket 3, the mounting plate 1 is provided with a driving mechanism for driving a traveling wheel 5 to rotate, the suspension wheel 4 and the traveling wheel 5 are respectively arranged at two sides of a guiding steel cable 7, the guiding steel cable 7 passes through wheel grooves arranged at the outer edges of the suspension wheel 4 and the traveling wheel 5, the guiding steel cable 7 guides the advancing of the robot and is convenient to control, the suspension mode adopts the suspension wheel 4 capable of lifting relative to the mounting plate 1 to suspend, when the suspension wheel 4 needs to be suspended or, the distance between the suspension wheel 4 and the walking wheel 5 is enlarged, the suspension wheel is convenient to take down from the guide steel cable 7, and the robot moves along the guide steel cable 7 along with the rotation of the walking wheel 5.
Both sides of the base plate 9 are fixedly provided with a second motor 19 through a mounting seat 18, and an output shaft of the second motor 19 is coaxially connected with a propeller 20. The rotation of the propeller 20 will generate a lifting force on the robot, thereby reducing the burden on the guide wire rope caused by the self gravity of the robot, and reducing the risk of the guide wire rope 7 stretching due to the influence of gravity.
Angle adjustment mechanism is including rotating mounting panel 15 of installing on base plate 9, is equipped with the rotary mechanism that drive mounting panel 15 is rotatory around its axis on the base plate 9, and one side of mounting panel 15 is equipped with second rotating bracket 16, and the second rotates and rotates on the bracket 16 and install pivot 17, and pivot 17 and the one end fixed connection of installing bin 13, mounting panel 15 upper surface vertical is connected with first electric putter 11, and the bottom of the installing bin 13 other end is supported to the upper end of first electric putter 11. The upper end of the first electric push rod 11 is a hemispherical surface, and the extension and contraction of the first electric push rod 11 can push the installation box 13 to rotate around the rotating shaft 17, so that the pitching angle of the camera shooting module is changed.
The rotating mechanism comprises a gear ring arranged at the edge of the mounting disc 15, a first motor 8 is mounted on the base plate 9 through a motor support, an output shaft of the first motor 8 is coaxially connected with a driving gear 10, and the driving gear 10 is meshed with the gear ring at the edge of the mounting disc 15. The rotation of the first motor 8 drives the mounting plate 15 to rotate about its axis, thereby changing the horizontal shooting angle of the camera module.
Be equipped with portable power source in the install bin 13, portable power source passes through the wire and is connected with the controller, and the controller passes through the signal line and is connected with camera module, first motor 8 and first electric putter 11, and the controller passes through the first communication module and the control master station signal connection that set up in the install bin 13. The first communication module is used for receiving signals for controlling the master station, so that remote control over the inspection robot is achieved.
The lower part of base plate 9 is equipped with communication box 12, be equipped with second communication module in the communication box 12, first communication module and second communication module signal connection, second communication module is connected with central processing unit through the signal line, central processing unit is connected with motor drive module through the wire, motor drive module passes through the signal line and is connected with second motor 19, the bottom of communication box 12 is fixed with power module 14, power module 14 passes through the wire and is connected with central processing unit. The second communication module is used for communicating with the first communication module and the control central station so as to control the action of the robot.
The lifting mechanism comprises guide rods 2 arranged on two sides of the bottom of the first rotating support 3, the guide rods 2 penetrate through a guide cylinder 21 arranged on the mounting plate 1, the guide rods 2 are connected with the inner wall of the guide cylinder 21 in a sliding mode, a second electric push rod 28 is perpendicularly connected to the mounting plate 1, the second electric push rod 28 is parallel to the guide rods 2, the end portion of the second electric push rod 28 is fixedly connected with the first rotating support 3, and the second electric push rod 28 is connected with the central processing unit through a wire. The second electric push rod is used for controlling the lifting of the first rotating bracket 3, and the guide rod 2 is matched with the guide cylinder 21 to guide the lifting of the first rotating bracket 3.
The driving mechanism comprises a mounting frame 26, the walking wheels 5 are rotatably mounted on the mounting frame 26, the end portions of the walking wheels 5 are coaxially connected with driving wheels 22, a third motor 25 is mounted at the bottom of the mounting frame 26, output shafts of the third motor 25 are coaxially connected with driving wheels 24, and a driving belt 23 is connected between the driving wheels 24 and the driving wheels 22. The third motor 25 is used for driving the road wheels 5 to rotate, thereby controlling the movement of the robot.
An obliquely arranged solar panel 6 is fixed on one side of the mounting plate 1, and the solar panel 6 is connected with a power module 14 through a lead. The solar panel 6 is used for supplementing electric energy to the power module 14, and the cruising ability of the robot is improved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides an electric power inspection robot, includes the module of making a video recording, its characterized in that, the module of making a video recording is established in install bin (13), install bin (13) on base plate (9) through angle adjustment mechanism, the top of base plate (9) is connected with mounting panel (1) through pillar (29), be equipped with the elevating system that the first support (3) of rotating of drive reciprocated on mounting panel (1), it is no less than one suspension wheel (4) to rotate to install on first support (3), be equipped with the rotatory actuating mechanism of driving walking wheel (5) on mounting panel (1), suspension wheel (4) and walking wheel (5) divide the both sides of establishing in direction cable wire (7), direction cable wire (7) are through the race that suspension wheel (4) and walking wheel (5) outer fringe set up, the both sides of base plate (9) all have second motor (19) through mount pad (18) fixed mounting, an output shaft of the second motor (19) is coaxially connected with a propeller (20); the angle adjusting mechanism comprises a mounting disc (15) rotatably mounted on a base plate (9), a rotating mechanism for driving the mounting disc (15) to rotate around the axis of the rotating mechanism is arranged on the base plate (9), a second rotating support (16) is arranged on one side of the mounting disc (15), a rotating shaft (17) is rotatably mounted on the second rotating support (16), the rotating shaft (17) is fixedly connected with one end of the mounting box (13), a first electric push rod (11) is vertically connected to the upper surface of the mounting disc (15), and the upper end of the first electric push rod (11) abuts against the bottom of the other end of the mounting box (13); the rotating mechanism comprises a gear ring arranged at the edge of the mounting disc (15), a first motor (8) is mounted on the base plate (9) through a motor support, an output shaft of the first motor (8) is coaxially connected with a driving gear (10), and the driving gear (10) is meshed with the gear ring at the edge of the mounting disc (15); a mobile power supply is arranged in the installation box (13), the mobile power supply is connected with a controller through a lead, the controller is connected with a camera module, a first motor (8) and a first electric push rod (11) through signal lines, and the controller is in signal connection with a control master station through a first communication module arranged in the installation box (13); a communication box (12) is arranged at the lower part of the substrate (9), a second communication module is arranged in the communication box (12), the first communication module is in signal connection with the second communication module, the second communication module is connected with a central processing unit through a signal line, the central processing unit is connected with a motor driving module through a lead, the motor driving module is connected with a second motor (19) through a signal line, a power supply module (14) is fixed at the bottom of the communication box (12), and the power supply module (14) is connected with the central processing unit through a lead; the lifting mechanism comprises guide rods (2) arranged on two sides of the bottom of the first rotating support (3), the guide rods (2) penetrate through a guide cylinder (21) arranged on the mounting plate (1), the guide rods (2) are connected with the inner wall of the guide cylinder (21) in a sliding mode, a second electric push rod (28) is vertically connected onto the mounting plate (1), the second electric push rod (28) is parallel to the guide rods (2), the end portion of the second electric push rod (28) is fixedly connected with the first rotating support (3), and the second electric push rod (28) is connected with the central processing unit through a wire; actuating mechanism includes mounting bracket (26), walking wheel (5) rotate to be installed on mounting bracket (26), the tip coaxial coupling of walking wheel (5) has drive wheel (22), third motor (25) are installed to the bottom of mounting bracket (26), the output shaft coaxial coupling of third motor (25) has drive wheel (24), be connected with drive belt (23) between drive wheel (24) and drive wheel (22).
2. The electric power inspection robot according to claim 1, wherein an obliquely arranged solar electric panel (6) is fixed on one side of the mounting plate (1), and the solar electric panel (6) is connected with the power supply module (14) through a lead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819535.4A CN110707593B (en) | 2019-08-31 | 2019-08-31 | Electric power inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819535.4A CN110707593B (en) | 2019-08-31 | 2019-08-31 | Electric power inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110707593A CN110707593A (en) | 2020-01-17 |
| CN110707593B true CN110707593B (en) | 2021-04-16 |
Family
ID=69194038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910819535.4A Active CN110707593B (en) | 2019-08-31 | 2019-08-31 | Electric power inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110707593B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113554780B (en) * | 2021-08-02 | 2023-06-23 | 深圳市联之有物智能科技有限公司 | Intelligent inspection system for farm |
| CN117833105A (en) * | 2024-03-05 | 2024-04-05 | 山东源泰电力科技有限公司 | Power transmission and transformation circuit installation maintenance device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04355612A (en) * | 1991-05-30 | 1992-12-09 | Hitachi Cable Ltd | Automatic damage detecting/repairing device for overhead wire |
| US8666553B2 (en) * | 2010-02-10 | 2014-03-04 | Electric Power Research Institute, Inc. | Line inspection robot and system |
| CN104822052B (en) * | 2015-04-23 | 2018-10-09 | 暨南大学 | A kind of Substation Electric Equipment cruising inspection system and method |
| CN206041346U (en) * | 2016-09-13 | 2017-03-22 | 广东科凯达智能机器人有限公司 | Terminal portable electric operating robot of removable operation |
| CN107069538A (en) * | 2017-03-15 | 2017-08-18 | 王忠阳 | Wire walking type line data-logging device based on multi-rotor unmanned aerial vehicle technology |
| CN206861207U (en) * | 2017-05-23 | 2018-01-09 | 天津星空数字科技有限公司 | The filming apparatus of electrodynamic type adjustable-angle |
| CN107681540A (en) * | 2017-09-25 | 2018-02-09 | 国网安徽省电力公司宿州供电公司 | Electric device maintenance locomotive |
| CN107546638A (en) * | 2017-10-17 | 2018-01-05 | 陕西来复科技发展有限公司 | A kind of tunnel is without dead angle crusing robot |
| CN208337023U (en) * | 2018-06-07 | 2019-01-04 | 广州供电局有限公司 | Crusing robot |
| CN209160031U (en) * | 2018-12-11 | 2019-07-26 | 山东长翔智能科技有限公司 | A kind of civilian unmanned plane of included wide-angle camera |
-
2019
- 2019-08-31 CN CN201910819535.4A patent/CN110707593B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110707593A (en) | 2020-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209329565U (en) | A kind of self-balancing steering barrier-surpassing robot for transmission line of electricity | |
| CN110707593B (en) | Electric power inspection robot | |
| CN209104683U (en) | A kind of overhead transmission line circuit scanning test robot obstacle crossing device | |
| CN113922272A (en) | Inspection platform and method moving along overhead ground wire | |
| CN104496165A (en) | Compact type glass overturning platform | |
| CN203727652U (en) | Multipurpose holder of unmanned aerial vehicle | |
| CN213094341U (en) | Mobile monitoring equipment for industrial Internet of things | |
| CN116902240A (en) | In-service wind power blade girder hidden danger detection robot and detection method thereof | |
| CN114684384B (en) | Installation device and installation method of aircraft engine | |
| CN112985760B (en) | Model angle controllable adjusting device for water tunnel test | |
| CN209719895U (en) | A kind of rotary attitude regulating mechanism of aircraft | |
| CN209320732U (en) | Vehicle with vehicle-mounted collector-shoe gear | |
| CN110014411B (en) | Transformer substation inspection robot | |
| CN112649496A (en) | Pipeline outer surface flaw detection device capable of walking along pipeline for ocean engineering | |
| CN113432087B (en) | LED road lighting monitoring system | |
| CN210884942U (en) | Walking module for truss gantry of escalator | |
| CN110395665A (en) | A kind of rubber tired crane column jack up unit and method | |
| CN110884359B (en) | Self-abandoning self-adaptive area-variable multi-sail-driven polar region scientific investigation vehicle | |
| CN212503814U (en) | Lifting glass door turnover machine | |
| CN215601240U (en) | Photovoltaic power generation device of light storage microgrid | |
| CN213541881U (en) | Omnibearing rotary video monitoring device for electric power construction site | |
| CN216969840U (en) | Intelligent fin device of car | |
| CN219750797U (en) | Movably-installed double-layer power roller elevator | |
| CN217178103U (en) | Cooperative vision holder | |
| CN220453249U (en) | Multi-turn rotary cradle head |
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 | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xin Yizhen Inventor after: Hong Shengyong Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210325 Address after: 016000 No.1 Jinghai Road, kabuqi Town, Haibowan District, Wuhai City, Inner Mongolia Autonomous Region Applicant after: Inner Mongolia Jinghai Coal Gangue Power Generation Co.,Ltd. Applicant after: Nanjing suoxing Information Technology Development Co.,Ltd. Address before: No.49, Yongning Road, Yunhe Town, Yuhang District, Hangzhou City, Zhejiang Province, 310000 Applicant before: Wang Yuanlun |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |