CN111300380B - Six-degree-of-freedom parallel robot based on redundant drive - Google Patents
Six-degree-of-freedom parallel robot based on redundant drive Download PDFInfo
- Publication number
- CN111300380B CN111300380B CN201911210453.6A CN201911210453A CN111300380B CN 111300380 B CN111300380 B CN 111300380B CN 201911210453 A CN201911210453 A CN 201911210453A CN 111300380 B CN111300380 B CN 111300380B
- Authority
- CN
- China
- Prior art keywords
- branched chain
- central
- connecting rod
- fixed frame
- moving
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
Abstract
The invention provides a six-degree-of-freedom parallel robot based on redundant drive, which comprises a fixed frame, a movable platform, a central branched chain and four follow-up branched chains, wherein the movable platform is arranged on the fixed frame; the central branched chain comprises a central connecting rod, three moving pairs and a ball pair, the central branched chain is connected with the fixed frame through the three moving pairs, and the central branched chain is connected with the movable platform through the ball pair; the three sliding pairs are provided with three different driving units so as to drive the three sliding pairs to carry out X, Y, Z three-axis movement; the follow-up branched chain comprises a follow-up connecting rod, a moving pair, a Hooke joint and a ball pair, the follow-up branched chain is connected with the fixed frame through the moving pair, and the follow-up branched chain is connected with the movable platform through the ball pair; four moving pairs in the four following branched chains are provided with four different driving units so as to drive the four moving pairs to move in the Z-axis direction. The invention has excellent rigidity and dynamic performance, effectively avoids the limitation of joint angles, increases the size of a working space and overcomes the singularity of movement.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a six-degree-of-freedom parallel robot based on redundant driving.
Background
In manufacturing, most five-sided machining operations require five degrees of freedom, namely three translations and two rotations (3T 2R). Parallel robots (PMs) have the advantages of lower inertia, higher rigidity, higher precision and the like compared with series robots, have good application prospect in the field of five-surface processing, are particularly suitable for manufacturing high-hardness materials, and are widely applied to the manufacturing industry.
The parallel mechanism has a plurality of closed loops, the working space of the parallel mechanism is relatively small, the working space is more singular, the inclination angle capability is small, and the existing five-freedom-degree parallel mechanism is not suitable for complex surface processing application.
For example, the prior chinese patent application (200910110141.8) of the applicant discloses a six-degree-of-freedom parallel robot with a large tilt angle, which relates to a six-degree-of-freedom parallel robot capable of realizing a large-angle tilting capability. The parallel robot mechanism comprises a base, a movable platform and 5 6-freedom-degree motion branched chains connected between the movable platform and the base. The method is characterized in that: the robot comprises a base, a movable platform, a base, a central branched chain, 4 branched chains and two kinematic pairs, wherein the base is connected with the movable platform, the movable platform is connected with the base, the base is connected with the base, the central branched chain is distributed on the periphery of the movable platform, the peripheral branched chain is called as a peripheral branched chain, only one joint of the peripheral branched chain is a driving joint, the 5 th branched chain is arranged in the middle of the movable platform and is connected with the base, the central branched chain is called as a central branched chain, the central branched chain is composed of the two kinematic pairs and two Hooke hinges, the two. Based on a special structure, an infinite number of inverse kinematics solutions are provided by adopting a dual-drive central branch, in each configuration of an end effector, a central branch chain can be adjusted to the optimal flexibility in a self-adaptive manner, but more singular point positions exist in a working space, so that although the theoretical inclination angle is larger (the theoretical inclination angle can reach the tilting capability of about plus or minus 90 degrees), the kinematic determinant value is zero due to the existence of each singular point, at the moment, the mechanism speed inverse solution does not exist, certain uncontrollable freedom degree exists, and the controllability is poor; in addition, when the mechanism is near a singular configuration, the joint driving force tends to be infinite, so that the parallel robot is damaged, and the stability of the mechanism needs to be improved.
In recent years, parallel machine tools have been rapidly developed in terms of machining and manufacturing capabilities, and for example, the size of a working space, tilting capability, and system rigidity have been improved to some extent. The main mode is that a series-parallel structure is adopted, a series structure is added on a movable platform of a parallel mechanism, the mechanism can realize a very large rotation range and is suitable for five-surface processing (the tilting angle reaches +/-90 degrees). And a mixed cooperative motion structure is adopted, and the relative motion of two independent mechanical arms is utilized to complete a given motion task, so that the method is also suitable for reconfigurable machine tool application. The advantages brought by this structure are: independent mechanical arms can be replaced quickly, and cooperative motion structures with different degrees of freedom or different properties can be obtained. The redundant driving scheme also exists, the redundant driving provides an effective method for eliminating the singularity of the parallel mechanism, so that the rigidity, the output force and other properties of the parallel mechanism are improved, and the redundant robot can have infinite joint configurations under the condition of giving the pose of the end effector. The extra degree of freedom of the redundant robot can be used for avoiding obstacles and motion singularity, or optimizing the motion of the robot and optimizing the torque output by each motor. In addition, redundant drives can also be used to increase the size of the workspace if joint limitations exist.
Based on the technical scheme, the six-degree-of-freedom parallel robot based on redundant driving is provided to eliminate motion singularity.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a six-degree-of-freedom parallel robot based on redundant drive, which has excellent rigidity and dynamic performance, effectively avoids the limitation of joint angles, increases the size of a working space and overcomes the singularity of motion.
In order to achieve the aim, the invention provides a six-degree-of-freedom parallel robot based on redundant drive, which comprises a fixed frame, a movable platform, a central branched chain connected between the movable platform and the fixed frame, and four follow-up branched chains connected between the movable platform and the fixed frame, wherein the four follow-up branched chains are arranged around or oppositely arranged on the outer side of the central branched chain;
the central branched chain is a six-degree-of-freedom branched chain and comprises a central connecting rod, three moving pairs positioned at one end of the central connecting rod and a ball pair positioned at the other end of the central connecting rod, one end of the central connecting rod is connected with the fixed frame through the three moving pairs, and the other end of the central connecting rod is connected with the movable platform through the ball pair; the three sliding pairs are provided with three different driving units, and the three different driving units drive the three sliding pairs to carry out X, Y, Z three-axis movement;
the servo branched chain is a six-degree-of-freedom branched chain and comprises a servo connecting rod, a moving pair and a hook hinge which are positioned at one end of the servo connecting rod, and a ball pair which is positioned at the other end of the servo connecting rod, wherein one end of the servo connecting rod is connected with the moving pair arranged on the fixed frame through the hook hinge, and the other end of the servo connecting rod is connected with the movable platform through the ball pair; the four moving pairs in the four follow-up branched chains are provided with four different driving units, and the four different driving units respectively drive the four moving pairs to move in the Z-axis direction. In the technical scheme of the invention, the central branched chain is provided with three moving pairs which respectively control the central connecting rod to move along three axes X, Y, Z, specifically three-dimensional motion in space, the three moving pairs are driving input ends of the motion, the propelling force directions of the three moving pairs in the central branched chain are vertical to the tilting axis, the four follow-up branched chains do not play a role in restraining the movable platform, and under the action of the central branched chain, the movable platform has good stress action, and can realize larger tilting capability.
Compared with a dual-drive mode in the prior art (200910110141.8), the main innovation of the invention is the improvement of the central branched chain, firstly, the other end of the central connecting rod is connected with the movable platform through a ball pair, thereby increasing the rotatable space and avoiding the limitation of the angle of a Hooke joint; and secondly, three active moving pairs are arranged at one end of the central connecting rod, so that the aim of adaptively adjusting the tilt angle can be fulfilled, the advantage of a large tilt angle is better exerted, redundant driving is realized, and the singular point crossing the parallel structure is realized through the motion of the three active moving pairs, so that the performances of rigidity, output force and the like of the parallel mechanism are improved.
In addition, tilting in the vertical direction is obviously limited in the prior art, the connecting rod in the central branched chain is inclined to provide the movement of the movable platform in the vertical range, and the provided vertical movement range is small.
In addition, in order to avoid singularity in the above prior art, it is necessary to design the base as, for example, a trapezoid, and two opposite sides of the base cannot be parallel to each other at the same time, and this is because, in the initial assembly state, if a rectangular manner is adopted, the extension lines of the four peripheral branches meet at a point, and the four peripheral branches are centrosymmetric with respect to the intersection point, at this time, the mechanism is in a singularity position, that is, in the initial assembly state, that is, at a singularity position, and a kinematic determinant value thereof is zero, at this time, a mechanism speed inverse solution thereof does not exist, and there is an uncontrollable degree of freedom, which makes it difficult to directly perform subsequent operations, resulting in a defect of poor;
in the above prior art, in order to avoid the defect, it is necessary to arrange two opposite sets of opposite sides of the base, which are not parallel to each other at the same time, for example, in a trapezoidal shape as shown in the drawings, so that the base is not in a singular point position in the initial assembly state.
However, the four peripheral branches are distributed at four vertexes of the trapezoid, which causes asymmetry of the overall structure and further asymmetry of the working space, and the common working space of the robot is in the shape of a cuboid or a cylinder. Because workspace's asymmetry can let actual robot's motion range reduce at last, adopt central branch chain to be one of the advantage of redundant drive in this application lie in, can design the base for the rectangle, overall structure is more symmetrical, can let the terminal motion's of robot scope bigger.
In addition, the central branched chain in the prior art is provided with two Hooke joints, when the movable platform is initially assembled, the movable platform is in a horizontal posture, and at the moment, planes of rotation axes of the two Hooke joints are required to be parallel to each other, so that higher requirements are provided for processing and assembling. The central branched chain in the application adopts a sliding pair and a ball pair, so that the problems are solved, and the assembling and processing processes are more convenient.
Specifically, the redundant drive is adopted to avoid the limitation of joint angles, three active moving pairs are adopted to realize the singularity crossing a parallel structure, so that the central branched chain has a determined inverse kinematics solution, and the method has the advantages of strong controllability and good stability.
According to another embodiment of the invention, the fixed frame is provided with four vertical supporting columns, and the follow-up branched chain is connected to the supporting columns in a sliding mode through the sliding pair.
According to another embodiment of the invention, four support columns are distributed at the four corners of the rectangle.
According to another specific embodiment of the invention, the three driving units of the three moving pairs in the central branched chain and the four driving units of the four moving pairs in the follow-up branched chain respectively comprise a mounting seat, a driving motor, a screw rod and a sliding block for providing the moving pairs, the mounting seat is provided with a linear groove, the screw rod is positioned in the linear groove, the driving motor is positioned on the mounting seat and is in driving connection with the screw rod, and the sliding block is positioned in the linear groove and is in driving connection with the screw rod.
According to another embodiment of the invention, the central link of the central branch is always in a vertical configuration.
The invention has the following beneficial effects:
the six-degree-of-freedom parallel robot is designed based on redundant drive, the three active sliding pairs in the central branched chain are controlled to respectively advance along the directions of three axes X, Y, Z, so that the movable platform has good stress action, and can jointly act with the four follow-up branched chains to realize larger tilting capability.
In addition, the follow-up branched chain is connected with the movable platform by adopting the ball pair, so that the stability of the movement process of the follow-up branched chain is improved, and the integral precision is conveniently improved.
In addition, the sliding blocks of the moving pairs are positioned in the linear grooves, so that the moving process is more stable, and the fluency is higher.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a six-DOF parallel robot of the present invention;
FIG. 2 is a schematic top view of a six degree-of-freedom parallel robot of the present invention;
FIG. 3 is a schematic diagram of a driving unit according to the present invention;
FIG. 4 is a schematic structural diagram of an inclination angle posture of the six-DOF parallel robot of the present invention;
FIG. 5 is a schematic structural diagram of another inclination angle attitude of the six-DOF parallel robot of the present invention;
FIG. 6 is a schematic structural diagram of another inclination angle attitude of the six-DOF parallel robot of the present invention;
fig. 7 is a schematic structural diagram of another inclination angle posture of the six-degree-of-freedom parallel robot of the invention.
Detailed Description
A six-degree-of-freedom parallel robot based on redundant driving is disclosed, and the robot is shown in figures 1 and 2 and comprises a fixed frame 10, a movable platform 20, a central branched chain 30, four following branched chains 40 and a driving unit 50, wherein the central branched chain 30 is connected between the movable platform 20 and the fixed frame 10, the four following branched chains 40 are connected between the movable platform 20 and the fixed frame 10, and the ends of the four following branched chains 40 connected with the fixed frame 10 are distributed at four corners of a rectangle.
The central branched chain 30 is a six-degree-of-freedom branched chain, and comprises a central connecting rod 31, three moving pairs 32 located at one end of the central connecting rod 31, and a ball pair 33 located at the other end of the central connecting rod 31, wherein the central branched chain 30 is connected with the fixed frame 10 through the three moving pairs 32, and the central branched chain 30 is connected with the movable platform 20 through the ball pair 33.
The three sliding pairs 32 are an X-axis sliding pair 32a, a Y-axis sliding pair 32b, and a Z-axis sliding pair 32c, and the central link 31 is driven by three different driving units 50 to perform X, Y, Z three-axis movement.
The following branched chains 40 are all four same branched chains with six degrees of freedom, and are respectively a first following branched chain, a second following branched chain, a third following branched chain and a fourth following branched chain. Referring to fig. 1, a moving pair 41a, a hooke joint 41b, a follower link 41c, and a ball pair 41d connected in sequence form a first follower branch 41, a moving pair 42a, a hooke joint 42b, a follower link 42c, and a ball pair 42d connected in sequence form a second follower branch 42, a moving pair 43a, a hooke joint 43b, a follower link 43c, and a ball pair 43d connected in sequence form a third follower branch 43, and a moving pair 44a, a hooke joint 44b, a follower link 44c, and a ball pair 44d connected in sequence form a fourth follower branch 44.
The fixed frame 10 is provided with four vertical supporting columns 11, four moving pairs of the four following branched chains 40 are Z- axis moving pairs 41a, 42a, 43a, and 44a, and the four following branched chains 40 are respectively driven to move along the Z-axis direction by four different driving units 50. The driving unit 50 is configured as shown in fig. 3, and includes a mounting base 51, a driving motor 52, a lead screw 53, and a slider 54 providing a moving pair, wherein the mounting base 51 is provided with a linear groove 55, the lead screw 53 is located in the linear groove 55, the driving motor 52 is located on the mounting base 51, the lead screw 53 is in driving connection, and the slider 54 is located in the linear groove 55 and is in driving connection with the lead screw 53.
Accordingly, in order to stabilize the moving process of the Y-axis moving pair 32b, a slide rail 13 for balancing is further provided.
In the present invention, the movement of the X-axis moving pair 32a, the Y-axis moving pair 32b, and the Z-axis moving pair 32c is an active propulsion process, the driving units 50 corresponding to the driving units are driving input ends, and the driving units are always in a vertical state during the movement of the central link 31 in X, Y, Z three-axis movement, and the propulsion directions of the X-axis moving pair 32a, the Y-axis moving pair 32b, and the Z-axis moving pair 32c are perpendicular to the tilting axis of the movable platform 20, so that the movable platform 20 has a good stress action to realize a large tilting capability.
Furthermore, the redundant drive can avoid the limitation of joint angles, and three active X-axis moving pairs 32a, Y-axis moving pairs 32b and Z-axis moving pairs 32c can realize a singular point crossing a parallel structure, so that the central branched chain 30 has a determined inverse kinematics solution.
Referring to fig. 4-7, the movable platform with different position postures is shown, and the large tilting capability of the six-degree-of-freedom parallel robot is shown.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that variations may be made without departing from the scope of the invention, and equivalents may be resorted to without departing from the scope of the invention.
Claims (5)
1. A six-degree-of-freedom parallel robot based on redundant drive is characterized by comprising a fixed frame, a movable platform, a central branched chain connected between the movable platform and the fixed frame, and four follow-up branched chains connected between the movable platform and the fixed frame, wherein the four follow-up branched chains are arranged around or oppositely arranged on the outer side of the central branched chain;
the central branched chain is a six-degree-of-freedom branched chain and comprises a central connecting rod, three moving pairs positioned at one end of the central connecting rod and a ball pair positioned at the other end of the central connecting rod, one end of the central connecting rod is connected with the fixed frame through the three moving pairs, and the other end of the central connecting rod is connected with the movable platform through the ball pair;
the three sliding pairs are provided with three different driving units, and the three different driving units drive the three sliding pairs to carry out X, Y, Z three-axis movement;
the servo branched chain is a six-degree-of-freedom branched chain and comprises a servo connecting rod, a moving pair and a hook hinge which are positioned at one end of the servo connecting rod, and a ball pair which is positioned at the other end of the servo connecting rod, wherein one end of the servo connecting rod is connected with the moving pair arranged on the fixed frame through the hook hinge, and the other end of the servo connecting rod is connected with the movable platform through the ball pair;
four moving pairs in the four follow-up branched chains are provided with four different driving units, and the four different driving units respectively drive the four moving pairs to move in the Z-axis direction.
2. The six-degree-of-freedom parallel robot based on redundant drive as claimed in claim 1, wherein the fixed frame is provided with four vertical support columns, and the follow-up branched chain is slidably connected to the support columns through a sliding pair.
3. The six-degree-of-freedom parallel robot based on redundant driving according to claim 2, wherein four supporting columns are distributed at four corners of the fixed frame having a rectangular shape.
4. The six-degree-of-freedom parallel robot based on redundant driving as claimed in claim 1, wherein the three driving units of the three moving pairs of the central branched chain and the four driving units of the four moving pairs of the follower branched chain each comprise: the mounting base is provided with a linear groove, the screw rod is located in the linear groove, the driving motor is located on the mounting base and is in driving connection with the screw rod, and the sliding block is located in the linear groove and is in driving connection with the screw rod.
5. The six-degree-of-freedom parallel robot based on redundant drive according to claim 1, wherein the central link in the central branched chain is always in a vertical configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911210453.6A CN111300380B (en) | 2019-11-27 | 2019-11-27 | Six-degree-of-freedom parallel robot based on redundant drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911210453.6A CN111300380B (en) | 2019-11-27 | 2019-11-27 | Six-degree-of-freedom parallel robot based on redundant drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111300380A CN111300380A (en) | 2020-06-19 |
| CN111300380B true CN111300380B (en) | 2021-06-29 |
Family
ID=71154358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911210453.6A Active CN111300380B (en) | 2019-11-27 | 2019-11-27 | Six-degree-of-freedom parallel robot based on redundant drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111300380B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112238444B (en) * | 2020-10-19 | 2022-08-05 | 中国民航大学 | Parallel mechanism containing vertical non-coplanar linear driving branched chain |
| CN116829311A (en) * | 2021-03-25 | 2023-09-29 | 苏州迈澜科技有限公司 | Six-degree-of-freedom motion mechanism |
| CN113464780B (en) * | 2021-05-25 | 2022-12-09 | 哈尔滨工业大学（深圳） | Spatial three-translation-degree-of-freedom flexible positioning platform |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101712151A (en) * | 2009-11-11 | 2010-05-26 | 哈尔滨工业大学深圳研究生院 | Large-inclination six-degree-of-freedom parallel robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005120780A1 (en) * | 2004-06-10 | 2005-12-22 | Abb Ab | Parallel kinematic robot and method for controlling this robot |
| CN101269463B (en) * | 2008-04-25 | 2010-06-02 | 清华大学 | Multi-shaft linkage series-parallel machine tool |
| CN109311150B (en) * | 2016-07-07 | 2020-09-01 | Abb瑞士股份有限公司 | Base for parallel kinematic robot |
| CN108858144B (en) * | 2018-07-11 | 2024-03-15 | 天津大学 | Six-degree-of-freedom parallel mechanism with redundant drive |
-
2019
- 2019-11-27 CN CN201911210453.6A patent/CN111300380B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101712151A (en) * | 2009-11-11 | 2010-05-26 | 哈尔滨工业大学深圳研究生院 | Large-inclination six-degree-of-freedom parallel robot |
Non-Patent Citations (1)
| Title |
|---|
| Design and Kinematic Analysis of a Novel Flight;Sheng Guo, Dian Li, Huan Chen, Haibo Qu;《Springer》;20141231;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111300380A (en) | 2020-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111300380B (en) | Six-degree-of-freedom parallel robot based on redundant drive | |
| EP1084802B1 (en) | Four-degree-of-freedom parallel robot | |
| CN105729450B (en) | Four-freedom parallel mechanism | |
| EP1755838B1 (en) | Parallel kinematic robot and method for controlling this robot | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN114227648B (en) | High-rigidity five-degree-of-freedom parallel driving robot | |
| CN205588291U (en) | Four degree of freedom parallel mechanism | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| US11731265B2 (en) | Parallel-kinematic machine with versatile tool orientation | |
| KR101244462B1 (en) | Parallel Manipulator with Variable Length Links | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| CN106826767B (en) | Six-degree-of-freedom parallel mechanism based on grabbing parallel structure | |
| CN110653799A (en) | Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn | |
| CN210161141U (en) | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN106625591B (en) | Three-translation two-rotation five-degree-of-freedom parallel mechanism | |
| CN210161140U (en) | External rotating pair driving two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN104626118A (en) | Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism | |
| CN210081731U (en) | Three-dimensional translation and one-dimensional rotation grabbing robot mechanism with synchronous belt transmission structure | |
| CN210061122U (en) | Electric cylinder driving two-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN210081729U (en) | Three-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN210081730U (en) | Three-dimensional translation and one-dimensional rotation independent rotating platform grabbing robot mechanism with synchronous belt transmission structure | |
| CN211193871U (en) | Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism | |
| CN217372341U (en) | Branched chain asymmetric parallel robot | |
| JPH1029178A (en) | Manipulator |
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 |